Namespace astutedds::rtps

Namespace List > astutedds > rtps

Namespaces

Type	Name
namespace	PID

Classes

Type	Name
struct	CacheChange Represents a single sample in the history cache.
struct	DataFragSubmessage DATA_FRAG submessage for fragmented data.
struct	DiscoveredParticipant Discovered participant info from SPDP.
struct	DiscoveredReader Discovered reader info from SEDP.
struct	DiscoveredWriter Discovered writer info from SEDP.
struct	DiscoveryConfig
class	DiscoveryConfigLoader
struct	DiscoveryInterfaceConfig
struct	DiscoveryPeerConfig
struct	DiscoveryRuntimeInfo
struct	EntityId_t
struct	FragmentKey Key for tracking fragmented samples.
struct	FragmentNumberSet Bitmap for tracking fragment reception.
class	FragmentationManager Manages fragmentation for a reader.
class	FragmentedSample Tracks fragments for a single sample being assembled.
struct	GUID_t
struct	GuidPrefix_t
struct	HeartbeatFragSubmessage HEARTBEAT_FRAG submessage for fragment availability.
struct	Locator_t
struct	NackFragSubmessage NACK_FRAG submessage for requesting missing fragments.
struct	Parameter
struct	ParameterId_t
class	ParameterListBuilder Helper class for building parameter lists in little-endian CDR.
struct	ParsedTypeLookupReply
struct	ParsedTypeLookupRequest
struct	ProtocolVersion_t
class	ReaderHistoryCache History cache for a DataReader.
struct	ReaderProxy Model for a DDS DataReader endpoint to be announced via SEDP.
class	ReliabilityManagerReader Manages reliability protocol for a DataReader.
class	ReliabilityManagerWriter Manages reliability protocol for a DataWriter.
class	RtpsUdpTransport RTPS UDP transport with full discovery and reliable delivery.
struct	SequenceNumber_t
class	ShmPort Represents a communication endpoint in shared memory.
class	ShmRingBuffer Lock-free ring buffer in shared memory.
class	ShmSegment Manages a single shared memory segment.
struct	ShmSegmentHeader Header at the start of each shared memory segment.
struct	ShmSlotHeader Header for each message slot in the ring buffer.
class	ShmTransport High-performance shared memory transport.
struct	SubmessageHeader
class	TCPConnection Represents a single TCP connection.
struct	TCPMessageHeader TCP message frame header.
class	TCPServer TCP server listening for incoming connections.
class	TCPTransport Manages TCP connections for RTPS.
struct	Time_t
struct	VendorId_t
class	WriterHistoryCache History cache for a DataWriter.
struct	WriterProxy Model for a DDS DataWriter endpoint to be announced via SEDP.

Public Types

Type	Name
enum uint32_t	ChangeKind_t
typedef int32_t	Count_t
typedef std::function< void(const std::string &topicName, const std::vector< uint8_t > &data, const GUID_t &writerGuid, const SequenceNumber_t &sequenceNumber)>	DataReceivedCallback Callback types for DCPS integration.
typedef Time_t	Duration_t
typedef std::function< void(const GUID_t &writer_guid, const SequenceNumber_t &seq_num, std::vector< uint8_t > &&data)>	FragmentAssemblyCallback Callback when a complete sample is assembled.
typedef std::function< void(const GUID_t &writer_guid, const SequenceNumber_t &seq_num, const std::vector< FragmentNumber_t > &missing)>	FragmentNackCallback Callback when missing fragments should be NACKed.
typedef uint32_t	FragmentNumber_t Fragment starting number (1-based per RTPS spec)
enum int32_t	LocatorKind_t
typedef std::vector< Locator_t >	LocatorList_t
enum	LogLevel Log severity levels (increasing verbosity).
typedef std::vector< Parameter >	ParameterList
typedef std::function< void(const GuidPrefix_t &guidPrefix)>	ParticipantDiscoveredCallback
typedef std::function< void(const DiscoveredReader &reader)>	ReaderDiscoveredCallback
typedef std::function< void(const GuidPrefix_t &sender, const std::vector< uint8_t > &data)>	ShmReceiveCallback Callback for received data.
enum uint8_t	SubmessageKind
typedef std::function< void(std::shared_ptr< TCPConnection >)>	TCPAcceptCallback Callback for new connections.
enum	TCPConnectionMode TCP connection mode.
enum	TCPConnectionState TCP connection states.
typedef std::function< void(const std::vector< uint8_t > &data)>	TCPReceiveCallback Callback for received data.
typedef std::function< void(TCPConnectionState state)>	TCPStateCallback Callback for connection state changes.
typedef std::function< void(const DiscoveredWriter &writer)>	WriterDiscoveredCallback

Public Attributes

Type	Name
constexpr uint32_t	DEFAULT_FRAGMENT_SIZE = 1344 Default maximum fragment size (fits in standard MTU with headers)
constexpr size_t	DEFAULT_RING_BUFFER_SLOTS = 256 Default ring buffer slot count.
constexpr size_t	DEFAULT_SHM_SEGMENT_SIZE = 16 \* 1024 \* 1024 Default shared memory segment size (16 MB)
constexpr int32_t	LOCATOR_KIND_SHM = 16 Extended locator kind for shared memory.
constexpr int32_t	LOCATOR_KIND_TCPv4 = 4 Extended locator kind for TCP.
constexpr int32_t	LOCATOR_KIND_TCPv6 = 5
constexpr uint32_t	MAX_FRAGMENT_NUMBER = 0xFFFFFF Maximum fragment number (24-bit field)
constexpr size_t	MAX_SHM_MESSAGE_SIZE = 1024 \* 1024 Maximum message size in shared memory (1 MB)

Public Static Attributes

Type	Name
constexpr uint8_t	ASTUTEDDS_VENDOR_ID = {0x01, 0x21}
constexpr uint16_t	CDR_BE = 0x0000
constexpr uint16_t	CDR_LE = 0x0001
constexpr uint16_t	PL_CDR_BE = 0x0002
constexpr uint16_t	PL_CDR_LE = 0x0003
constexpr const char *	RTPS_DEFAULT_USER_MULTICAST_ADDRESS = "239.255.0.2"
constexpr const char *	RTPS_DISCOVERY_MULTICAST_ADDRESS = "239.255.0.1"
constexpr uint16_t	RTPS_DOMAIN_GAIN = 250
constexpr uint8_t	RTPS_MAGIC = {'R', 'T', 'P', 'S'}
constexpr uint16_t	RTPS_PARTICIPANT_GAIN = 2
constexpr uint16_t	RTPS_PORT_BASE = 7400
constexpr uint8_t	RTPS_VERSION_MAJOR = 2
constexpr uint8_t	RTPS_VERSION_MINOR = 5

Public Functions

Type	Name
size_t	align4 (size_t offset) Helper to align an offset to a 4-byte boundary.
uint32_t	calculate_fragment_size (uint32_t mtu=1500, bool include_security_overhead=false) Calculate optimal fragment size for network conditions.
void	cleanup_shm_domain (uint32_t domain_id) Cleanup shared memory resources for a domain.
void	enableLogging (const char * path) Enable logging to the specified file.
bool	extract_complete_type_id_hash_from_type_information (const uint8_t * data, size_t len, std::array< uint8_t, 14 > & outHash)
std::vector< DataFragSubmessage >	fragment_sample (const std::vector< uint8_t > & sample, const EntityId_t & writer_id, const EntityId_t & reader_id, const SequenceNumber_t & seq_num, uint32_t fragment_size=DEFAULT_FRAGMENT_SIZE) Fragment a large sample into DATA_FRAG submessages.
bool	is_tcp_locator (const Locator_t & locator) Check if locator is TCP.
std::string	locator_to_address (const Locator_t & locator) Get address string from locator.
void	log_message (LogLevel level, const char * format, ...) Emit a timestamped log line when logging is enabled and level is within the active log level.
bool	lookup_type_information_hash (const std::string & typeName, xtypes::EquivalenceHash & outHash)
bool	lookup_type_name_by_hash (const xtypes::EquivalenceHash & hash, std::string & outTypeName)
bool	lookup_type_schema_fields (const std::string & typeName, std::vector< std::string > & outFields)
Locator_t	make_shm_locator (uint32_t domain_id, uint32_t participant_id) Create shared memory locator.
Locator_t	make_tcp_locator (const std::string & address, uint16_t port) Create TCP locator from address and port.
bool	needs_fragmentation (size_t data_size, size_t max_message_size=DEFAULT_FRAGMENT_SIZE) Check if data needs fragmentation.
void	parse_shm_locator (const Locator_t & locator, uint32_t & domain_id, uint32_t & participant_id) Extract domain and participant ID from SHM locator.
bool	parse_type_lookup_reply_payload (const uint8_t * data, size_t len, ParsedTypeLookupReply & out)
bool	parse_type_lookup_request_payload (const uint8_t * data, size_t len, ParsedTypeLookupRequest & out)
void	register_type_information_hash (const std::string & typeName, const xtypes::EquivalenceHash & hash)
void	register_type_schema_fields (const std::string & typeName, const std::vector< std::string > & fields)
void	setLogLevel (LogLevel level) Set the minimum log level that will be emitted.
std::map< xtypes::EquivalenceHash, std::string > &	type_info_hash_alias_map ()
std::map< std::string, xtypes::EquivalenceHash > &	type_info_registry_map ()
std::mutex &	type_info_registry_mutex ()
std::map< std::string, std::vector< std::string > > &	type_schema_registry_map ()

Public Types Documentation

enum ChangeKind_t

enum astutedds::rtps::ChangeKind_t {
    ALIVE = 0,
    ALIVE_FILTERED = 1,
    NOT_ALIVE_DISPOSED = 2,
    NOT_ALIVE_UNREGISTERED = 3
};

---

typedef Count_t

using astutedds::rtps::Count_t = typedef int32_t;

---

typedef DataReceivedCallback

Callback types for DCPS integration.

using astutedds::rtps::DataReceivedCallback = typedef std::function<void( const std::string &topicName, const std::vector<uint8_t> &data, const GUID_t &writerGuid, const SequenceNumber_t &sequenceNumber)>;

---

typedef Duration_t

using astutedds::rtps::Duration_t = typedef Time_t;

---

typedef FragmentAssemblyCallback

Callback when a complete sample is assembled.

using astutedds::rtps::FragmentAssemblyCallback = typedef std::function<void(const GUID_t& writer_guid, const SequenceNumber_t& seq_num, std::vector<uint8_t>&& data)>;

---

typedef FragmentNackCallback

Callback when missing fragments should be NACKed.

using astutedds::rtps::FragmentNackCallback = typedef std::function<void(const GUID_t& writer_guid, const SequenceNumber_t& seq_num, const std::vector<FragmentNumber_t>& missing)>;

---

typedef FragmentNumber_t

Fragment starting number (1-based per RTPS spec)

using astutedds::rtps::FragmentNumber_t = typedef uint32_t;

---

enum LocatorKind_t

enum astutedds::rtps::LocatorKind_t {
    LOCATOR_KIND_INVALID = -1,
    LOCATOR_KIND_RESERVED = 0,
    LOCATOR_KIND_UDPv4 = 1,
    LOCATOR_KIND_UDPv6 = 2
};

---

typedef LocatorList_t

using astutedds::rtps::LocatorList_t = typedef std::vector<Locator_t>;

---

enum LogLevel

Log severity levels (increasing verbosity).

enum astutedds::rtps::LogLevel {
    ERROR = 0,
    WARN = 1,
    INFO = 2,
    DEBUG = 3,
    TRACE = 4
};

Only messages whose level is ≤ the active log level are emitted. The active level defaults to DEBUG; set ASTUTEDDS_LOG_LEVEL to change it.

---

typedef ParameterList

using astutedds::rtps::ParameterList = typedef std::vector<Parameter>;

---

typedef ParticipantDiscoveredCallback

using astutedds::rtps::ParticipantDiscoveredCallback = typedef std::function<void( const GuidPrefix_t &guidPrefix)>;

---

typedef ReaderDiscoveredCallback

using astutedds::rtps::ReaderDiscoveredCallback = typedef std::function<void( const DiscoveredReader &reader)>;

---

typedef ShmReceiveCallback

Callback for received data.

using astutedds::rtps::ShmReceiveCallback = typedef std::function<void(const GuidPrefix_t& sender, const std::vector<uint8_t>& data)>;

---

enum SubmessageKind

enum astutedds::rtps::SubmessageKind {
    PAD = 0x01,
    ACKNACK = 0x06,
    HEARTBEAT = 0x07,
    GAP = 0x08,
    INFO_TS = 0x09,
    INFO_SRC = 0x0c,
    INFO_REPLY_IP4 = 0x0d,
    INFO_DST = 0x0e,
    INFO_REPLY = 0x0f,
    NACK_FRAG = 0x12,
    HEARTBEAT_FRAG = 0x13,
    DATA = 0x15,
    DATA_FRAG = 0x16
};

---

typedef TCPAcceptCallback

Callback for new connections.

using astutedds::rtps::TCPAcceptCallback = typedef std::function<void(std::shared_ptr<TCPConnection>)>;

---

enum TCPConnectionMode

TCP connection mode.

enum astutedds::rtps::TCPConnectionMode {
    CLIENT,
    SERVER
};

---

enum TCPConnectionState

TCP connection states.

enum astutedds::rtps::TCPConnectionState {
    DISCONNECTED,
    CONNECTING,
    CONNECTED,
    CLOSING,
    ERRORED
};

---

typedef TCPReceiveCallback

Callback for received data.

using astutedds::rtps::TCPReceiveCallback = typedef std::function<void(const std::vector<uint8_t>& data)>;

---

typedef TCPStateCallback

Callback for connection state changes.

using astutedds::rtps::TCPStateCallback = typedef std::function<void(TCPConnectionState state)>;

---

typedef WriterDiscoveredCallback

using astutedds::rtps::WriterDiscoveredCallback = typedef std::function<void( const DiscoveredWriter &writer)>;

---

Public Attributes Documentation

variable DEFAULT_FRAGMENT_SIZE

Default maximum fragment size (fits in standard MTU with headers)

constexpr uint32_t astutedds::rtps::DEFAULT_FRAGMENT_SIZE;

---

variable DEFAULT_RING_BUFFER_SLOTS

Default ring buffer slot count.

constexpr size_t astutedds::rtps::DEFAULT_RING_BUFFER_SLOTS;

---

variable DEFAULT_SHM_SEGMENT_SIZE

Default shared memory segment size (16 MB)

constexpr size_t astutedds::rtps::DEFAULT_SHM_SEGMENT_SIZE;

---

variable LOCATOR_KIND_SHM

Extended locator kind for shared memory.

constexpr int32_t astutedds::rtps::LOCATOR_KIND_SHM;

---

variable LOCATOR_KIND_TCPv4

Extended locator kind for TCP.

constexpr int32_t astutedds::rtps::LOCATOR_KIND_TCPv4;

---

variable LOCATOR_KIND_TCPv6

constexpr int32_t astutedds::rtps::LOCATOR_KIND_TCPv6;

---

variable MAX_FRAGMENT_NUMBER

Maximum fragment number (24-bit field)

constexpr uint32_t astutedds::rtps::MAX_FRAGMENT_NUMBER;

---

variable MAX_SHM_MESSAGE_SIZE

Maximum message size in shared memory (1 MB)

constexpr size_t astutedds::rtps::MAX_SHM_MESSAGE_SIZE;

---

Public Static Attributes Documentation

variable ASTUTEDDS_VENDOR_ID

constexpr uint8_t astutedds::rtps::ASTUTEDDS_VENDOR_ID[2];

---

variable CDR_BE

constexpr uint16_t astutedds::rtps::CDR_BE;

---

variable CDR_LE

constexpr uint16_t astutedds::rtps::CDR_LE;

---

variable PL_CDR_BE

constexpr uint16_t astutedds::rtps::PL_CDR_BE;

---

variable PL_CDR_LE

constexpr uint16_t astutedds::rtps::PL_CDR_LE;

---

variable RTPS_DEFAULT_USER_MULTICAST_ADDRESS

constexpr const char* astutedds::rtps::RTPS_DEFAULT_USER_MULTICAST_ADDRESS;

---

variable RTPS_DISCOVERY_MULTICAST_ADDRESS

constexpr const char* astutedds::rtps::RTPS_DISCOVERY_MULTICAST_ADDRESS;

---

variable RTPS_DOMAIN_GAIN

constexpr uint16_t astutedds::rtps::RTPS_DOMAIN_GAIN;

---

variable RTPS_MAGIC

constexpr uint8_t astutedds::rtps::RTPS_MAGIC[4];

---

variable RTPS_PARTICIPANT_GAIN

constexpr uint16_t astutedds::rtps::RTPS_PARTICIPANT_GAIN;

---

variable RTPS_PORT_BASE

constexpr uint16_t astutedds::rtps::RTPS_PORT_BASE;

---

variable RTPS_VERSION_MAJOR

constexpr uint8_t astutedds::rtps::RTPS_VERSION_MAJOR;

---

variable RTPS_VERSION_MINOR

constexpr uint8_t astutedds::rtps::RTPS_VERSION_MINOR;

---

Public Functions Documentation

function align4

Helper to align an offset to a 4-byte boundary.

inline size_t astutedds::rtps::align4 (
    size_t offset
) 

---

function calculate_fragment_size

Calculate optimal fragment size for network conditions.

uint32_t astutedds::rtps::calculate_fragment_size (
    uint32_t mtu=1500,
    bool include_security_overhead=false
) 

Parameters:

• mtu Network MTU
• include_security_overhead Whether to account for security headers

Returns:

Recommended fragment size

---

function cleanup_shm_domain

Cleanup shared memory resources for a domain.

void astutedds::rtps::cleanup_shm_domain (
    uint32_t domain_id
) 

Parameters:

• domain_id Domain to cleanup

---

function enableLogging

Enable logging to the specified file.

void astutedds::rtps::enableLogging (
    const char * path
) 

If path is nullptr or empty, log output goes to stderr. May be called before the first DomainParticipant is created. Calling multiple times reopens the file.

Parameters:

• path Absolute or relative path for the output log file.

---

function extract_complete_type_id_hash_from_type_information

bool astutedds::rtps::extract_complete_type_id_hash_from_type_information (
    const uint8_t * data,
    size_t len,
    std::array< uint8_t, 14 > & outHash
) 

---

function fragment_sample

Fragment a large sample into DATA_FRAG submessages.

std::vector< DataFragSubmessage > astutedds::rtps::fragment_sample (
    const std::vector< uint8_t > & sample,
    const EntityId_t & writer_id,
    const EntityId_t & reader_id,
    const SequenceNumber_t & seq_num,
    uint32_t fragment_size=DEFAULT_FRAGMENT_SIZE
) 

Parameters:

• sample Full sample data
• writer_id Writer entity ID
• reader_id Reader entity ID (or ENTITYID_UNKNOWN for multicast)
• seq_num Sequence number
• fragment_size Size of each fragment

Returns:

Vector of DATA_FRAG submessages

---

function is_tcp_locator

Check if locator is TCP.

inline bool astutedds::rtps::is_tcp_locator (
    const Locator_t & locator
) 

---

function locator_to_address

Get address string from locator.

inline std::string astutedds::rtps::locator_to_address (
    const Locator_t & locator
) 

---

function log_message

Emit a timestamped log line when logging is enabled and level is within the active log level.

void astutedds::rtps::log_message (
    LogLevel level,
    const char * format,
    ...
) 

Parameters:

• level Severity of the message.
• format printf-style format string.

---

function lookup_type_information_hash

inline bool astutedds::rtps::lookup_type_information_hash (
    const std::string & typeName,
    xtypes::EquivalenceHash & outHash
) 

---

function lookup_type_name_by_hash

inline bool astutedds::rtps::lookup_type_name_by_hash (
    const xtypes::EquivalenceHash & hash,
    std::string & outTypeName
) 

---

function lookup_type_schema_fields

inline bool astutedds::rtps::lookup_type_schema_fields (
    const std::string & typeName,
    std::vector< std::string > & outFields
) 

---

function make_shm_locator

Create shared memory locator.

inline Locator_t astutedds::rtps::make_shm_locator (
    uint32_t domain_id,
    uint32_t participant_id
) 

Parameters:

• domain_id Domain ID
• participant_id Participant ID

Returns:

SHM locator

---

function make_tcp_locator

Create TCP locator from address and port.

inline Locator_t astutedds::rtps::make_tcp_locator (
    const std::string & address,
    uint16_t port
) 

---

function needs_fragmentation

Check if data needs fragmentation.

inline bool astutedds::rtps::needs_fragmentation (
    size_t data_size,
    size_t max_message_size=DEFAULT_FRAGMENT_SIZE
) 

Parameters:

• data_size Size of data to send
• max_message_size Maximum message size (typically MTU - headers)

Returns:

true if fragmentation is needed

---

function parse_shm_locator

Extract domain and participant ID from SHM locator.

inline void astutedds::rtps::parse_shm_locator (
    const Locator_t & locator,
    uint32_t & domain_id,
    uint32_t & participant_id
) 

---

function parse_type_lookup_reply_payload

bool astutedds::rtps::parse_type_lookup_reply_payload (
    const uint8_t * data,
    size_t len,
    ParsedTypeLookupReply & out
) 

---

function parse_type_lookup_request_payload

bool astutedds::rtps::parse_type_lookup_request_payload (
    const uint8_t * data,
    size_t len,
    ParsedTypeLookupRequest & out
) 

---

function register_type_information_hash

inline void astutedds::rtps::register_type_information_hash (
    const std::string & typeName,
    const xtypes::EquivalenceHash & hash
) 

---

function register_type_schema_fields

inline void astutedds::rtps::register_type_schema_fields (
    const std::string & typeName,
    const std::vector< std::string > & fields
) 

---

function setLogLevel

Set the minimum log level that will be emitted.

void astutedds::rtps::setLogLevel (
    LogLevel level
) 

Messages with a level above level are suppressed. The default is LogLevel::DEBUG (all messages except TRACE).

Parameters:

• level Maximum level to emit.

---

function type_info_hash_alias_map

inline std::map< xtypes::EquivalenceHash , std::string > & astutedds::rtps::type_info_hash_alias_map () 

---

function type_info_registry_map

inline std::map< std::string, xtypes::EquivalenceHash > & astutedds::rtps::type_info_registry_map () 

---

function type_info_registry_mutex

inline std::mutex & astutedds::rtps::type_info_registry_mutex () 

---

function type_schema_registry_map

inline std::map< std::string, std::vector< std::string > > & astutedds::rtps::type_schema_registry_map () 

---

---

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