Class astutedds::rtps::RtpsUdpTransport

ClassList > astutedds > rtps > RtpsUdpTransport

RTPS UDP transport with full discovery and reliable delivery. More...

#include <udp_transport.hpp>

Classes

Type	Name
struct	TopicTrafficStats Per-topic traffic counters (user data only, not discovery traffic)

Public Types

Type	Name
typedef std::function< void(const std::string &topicName, const std::vector< std::string > &fieldNames)>	TypeLookupCallback

Public Functions

Type	Name
	RtpsUdpTransport (uint32_t domainId=0)
	RtpsUdpTransport (uint32_t domainId, uint32_t participantId)
	RtpsUdpTransport (const RtpsUdpTransport &) = delete
const DiscoveryConfig &	discovery_config () const
std::vector< DiscoveredReader >	get_all_discovered_readers () const Get all discovered readers across all topics (§8.5.4)
std::vector< DiscoveredWriter >	get_all_discovered_writers () const Get all discovered writers across all topics (§8.5.3)
std::map< std::string, TopicTrafficStats >	get_all_traffic_stats () const Get current per-topic traffic statistics.
std::vector< DiscoveredParticipant >	get_discovered_participants () const Get discovered participants.
std::vector< DiscoveredReader >	get_discovered_readers (const std::string & topicName) const Get discovered readers for a topic.
std::vector< DiscoveredWriter >	get_discovered_writers (const std::string & topicName) const Get discovered writers for a topic.
DiscoveryRuntimeInfo	get_discovery_runtime_info () const Returns effective runtime discovery settings and peers.
const GuidPrefix_t &	guid_prefix () const Get the GUID prefix for this participant.
bool	init () Initialize the transport (creates sockets, starts discovery)
bool	is_running () const Check if transport is running.
bool	load_discovery_config_file (const std::string & path)
RtpsUdpTransport &	operator= (const RtpsUdpTransport &) = delete
uint32_t	participant_id () const Get the participant ID.
bool	publish (const std::string & topicName, const std::vector< uint8_t > & data) Publish data on a topic.
bool	publish (const std::string & topicName, const std::vector< uint8_t > & xcdr1Data, const std::vector< uint8_t > & xcdr2Data) Publish data on a topic with dual encoding.
EntityId_t	register_reader (const std::string & topicName, const std::string & typeName, const std::vector< std::string > & partitions={}, const dcps::DataReaderQos & qos={}) Register a reader for a topic.
EntityId_t	register_writer (const std::string & topicName, const std::string & typeName, const std::vector< std::string > & partitions={}, const dcps::DataWriterQos & qos={}) Register a writer for a topic.
bool	reload_discovery_config () Reload the existing discovery JSON path (if configured).
void	send_type_lookup_request (const GuidPrefix_t & remoteGuid, const std::array< uint8_t, 4 > & metatrafficAddr, uint16_t metatrafficPort, const std::string & topicName, const std::array< uint8_t, 14 > & hash)
void	set_data_callback (DataReceivedCallback callback) Set callback for received data.
void	set_discovery_config (const DiscoveryConfig & config) Apply discovery config (explicit peers and interface filters).
void	set_participant_discovered_callback (ParticipantDiscoveredCallback callback) Set callback for participant discovery.
void	set_reader_discovered_callback (ReaderDiscoveredCallback callback) Set callback for reader discovery.
void	set_type_lookup_callback (TypeLookupCallback cb) Register a callback to receive type schema from TLS replies.
void	set_writer_discovered_callback (WriterDiscoveredCallback callback) Set callback for writer discovery.
void	stop () Stop the transport.
void	subscribe (const std::string & topicName) Subscribe to a topic (enables reception)
void	unregister_reader (const EntityId_t & entityId) Unregister a reader.
void	unregister_writer (const EntityId_t & entityId) Unregister a writer.
void	unsubscribe (const std::string & topicName) Unsubscribe from a topic.
	~RtpsUdpTransport ()

Detailed Description

Provides interoperability with: * eProsima Fast DDS * Eclipse Cyclone DDS * RTI Connext DDS * OpenDDS

Public Types Documentation

typedef TypeLookupCallback

using astutedds::rtps::RtpsUdpTransport::TypeLookupCallback =  std::function<void(const std::string& topicName, const std::vector<std::string>& fieldNames)>;

Callback fired when a TypeLookup_Reply delivers field names for a topic. Invoked from the receive thread — callers must marshal to their own thread.

Public Functions Documentation

function RtpsUdpTransport [1/3]

explicit astutedds::rtps::RtpsUdpTransport::RtpsUdpTransport (
    uint32_t domainId=0
)

function RtpsUdpTransport [2/3]

astutedds::rtps::RtpsUdpTransport::RtpsUdpTransport (
    uint32_t domainId,
    uint32_t participantId
)

function RtpsUdpTransport [3/3]

astutedds::rtps::RtpsUdpTransport::RtpsUdpTransport (
    const RtpsUdpTransport &
) = delete

function discovery_config

inline const DiscoveryConfig & astutedds::rtps::RtpsUdpTransport::discovery_config () const

function get_all_discovered_readers

Get all discovered readers across all topics (§8.5.4)

std::vector< DiscoveredReader > astutedds::rtps::RtpsUdpTransport::get_all_discovered_readers () const

function get_all_discovered_writers

Get all discovered writers across all topics (§8.5.3)

std::vector< DiscoveredWriter > astutedds::rtps::RtpsUdpTransport::get_all_discovered_writers () const

function get_all_traffic_stats

Get current per-topic traffic statistics.

std::map< std::string, TopicTrafficStats > astutedds::rtps::RtpsUdpTransport::get_all_traffic_stats () const

function get_discovered_participants

Get discovered participants.

std::vector< DiscoveredParticipant > astutedds::rtps::RtpsUdpTransport::get_discovered_participants () const

function get_discovered_readers

Get discovered readers for a topic.

std::vector< DiscoveredReader > astutedds::rtps::RtpsUdpTransport::get_discovered_readers (
    const std::string & topicName
) const

function get_discovered_writers

Get discovered writers for a topic.

std::vector< DiscoveredWriter > astutedds::rtps::RtpsUdpTransport::get_discovered_writers (
    const std::string & topicName
) const

function get_discovery_runtime_info

Returns effective runtime discovery settings and peers.

DiscoveryRuntimeInfo astutedds::rtps::RtpsUdpTransport::get_discovery_runtime_info () const

function guid_prefix

Get the GUID prefix for this participant.

inline const GuidPrefix_t & astutedds::rtps::RtpsUdpTransport::guid_prefix () const

function init

Initialize the transport (creates sockets, starts discovery)

bool astutedds::rtps::RtpsUdpTransport::init ()

Returns:

true on success

function is_running

Check if transport is running.

inline bool astutedds::rtps::RtpsUdpTransport::is_running () const

function load_discovery_config_file

bool astutedds::rtps::RtpsUdpTransport::load_discovery_config_file (
    const std::string & path
)

Load discovery config from JSON file. Returns true on successful parse.

function operator=

RtpsUdpTransport & astutedds::rtps::RtpsUdpTransport::operator= (
    const RtpsUdpTransport &
) = delete

function participant_id

Get the participant ID.

inline uint32_t astutedds::rtps::RtpsUdpTransport::participant_id () const

function publish [1/2]

Publish data on a topic.

bool astutedds::rtps::RtpsUdpTransport::publish (
    const std::string & topicName,
    const std::vector< uint8_t > & data
)

Parameters:

topicName Topic name
data Serialized data (XCDR1 format)

Returns:

true on success

function publish [2/2]

Publish data on a topic with dual encoding.

bool astutedds::rtps::RtpsUdpTransport::publish (
    const std::string & topicName,
    const std::vector< uint8_t > & xcdr1Data,
    const std::vector< uint8_t > & xcdr2Data
)

Parameters:

topicName Topic name
xcdr1Data Serialized data in XCDR1 format
xcdr2Data Serialized data in XCDR2 format

Returns:

true on success

Sends XCDR1 to multicast and readers that advertise XCDR1 (or no preference). Sends XCDR2 to readers that only advertise XCDR2.

function register_reader

Register a reader for a topic.

EntityId_t astutedds::rtps::RtpsUdpTransport::register_reader (
    const std::string & topicName,
    const std::string & typeName,
    const std::vector< std::string > & partitions={},
    const dcps::DataReaderQos & qos={}
)

Parameters:

topicName Topic name to subscribe to
typeName IDL type name as registered via TypeSupport (e.g., "MyModule::MyType")
qos Optional DataReaderQos (defaults to interop-friendly settings)

Returns:

EntityId for the new reader

function register_writer

Register a writer for a topic.

EntityId_t astutedds::rtps::RtpsUdpTransport::register_writer (
    const std::string & topicName,
    const std::string & typeName,
    const std::vector< std::string > & partitions={},
    const dcps::DataWriterQos & qos={}
)

Returns:

EntityId for the new writer

function reload_discovery_config

Reload the existing discovery JSON path (if configured).

bool astutedds::rtps::RtpsUdpTransport::reload_discovery_config ()

function send_type_lookup_request

void astutedds::rtps::RtpsUdpTransport::send_type_lookup_request (
    const GuidPrefix_t & remoteGuid,
    const std::array< uint8_t, 4 > & metatrafficAddr,
    uint16_t metatrafficPort,
    const std::string & topicName,
    const std::array< uint8_t, 14 > & hash
)

Send a TypeLookup GET_TYPES request (§7.6.3.3) to the remote participant.

Parameters:

remoteGuid GUID prefix of the target participant
metatrafficAddr Remote metatraffic unicast IPv4 address
metatrafficPort Remote metatraffic unicast port
topicName Topic whose type we are querying (for callback routing)
hash 14-byte EK_COMPLETE EquivalenceHash from PID_TYPE_INFORMATION

function set_data_callback

Set callback for received data.

inline void astutedds::rtps::RtpsUdpTransport::set_data_callback (
    DataReceivedCallback callback
)

function set_discovery_config

Apply discovery config (explicit peers and interface filters).

void astutedds::rtps::RtpsUdpTransport::set_discovery_config (
    const DiscoveryConfig & config
)

function set_participant_discovered_callback

Set callback for participant discovery.

inline void astutedds::rtps::RtpsUdpTransport::set_participant_discovered_callback (
    ParticipantDiscoveredCallback callback
)

function set_reader_discovered_callback

Set callback for reader discovery.

inline void astutedds::rtps::RtpsUdpTransport::set_reader_discovered_callback (
    ReaderDiscoveredCallback callback
)

function set_type_lookup_callback

Register a callback to receive type schema from TLS replies.

inline void astutedds::rtps::RtpsUdpTransport::set_type_lookup_callback (
    TypeLookupCallback cb
)

function set_writer_discovered_callback

Set callback for writer discovery.

inline void astutedds::rtps::RtpsUdpTransport::set_writer_discovered_callback (
    WriterDiscoveredCallback callback
)

function stop

Stop the transport.

void astutedds::rtps::RtpsUdpTransport::stop ()

Subscribe to a topic (enables reception)

void astutedds::rtps::RtpsUdpTransport::subscribe (
    const std::string & topicName
)

function unregister_reader

Unregister a reader.

void astutedds::rtps::RtpsUdpTransport::unregister_reader (
    const EntityId_t & entityId
)

function unregister_writer

Unregister a writer.

void astutedds::rtps::RtpsUdpTransport::unregister_writer (
    const EntityId_t & entityId
)

function unsubscribe

Unsubscribe from a topic.

void astutedds::rtps::RtpsUdpTransport::unsubscribe (
    const std::string & topicName
)

function ~RtpsUdpTransport

astutedds::rtps::RtpsUdpTransport::~RtpsUdpTransport ()

The documentation for this class was generated from the following file include/astutedds/rtps/udp_transport.hpp

Class astutedds::rtps::RtpsUdpTransport

Classes

Public Types

Public Functions

Detailed Description

Public Types Documentation

typedef TypeLookupCallback

Public Functions Documentation

function RtpsUdpTransport [1/3]

function RtpsUdpTransport [2/3]

function RtpsUdpTransport [3/3]

function discovery_config

function get_all_discovered_readers

function get_all_discovered_writers

function get_all_traffic_stats

function get_discovered_participants

function get_discovered_readers

function get_discovered_writers

function get_discovery_runtime_info

function guid_prefix

function init

function is_running

function load_discovery_config_file

function operator=

function participant_id

function publish [1/2]

function publish [2/2]

function register_reader

function register_writer

function reload_discovery_config

function send_type_lookup_request

function set_data_callback

function set_discovery_config

function set_participant_discovered_callback

function set_reader_discovered_callback

function set_type_lookup_callback

function set_writer_discovered_callback

function stop

function subscribe

function unregister_reader

function unregister_writer

function unsubscribe

function ~RtpsUdpTransport