Struct AstuteDDSContext

Struct AstuteDDSContext

ClassList > AstuteDDSContext

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  • #include <types.hpp>

Classes

Type Name
struct NodeEndpoint

Public Attributes

Type Name
std::vector< std::string > clients
Service names of every rmw_client_t alive in this context.
AstuteDDS_Publisher dds_pub = { nullptr }
Factory for all DataWriters created by this context.
AstuteDDS_Subscriber dds_sub = { nullptr }
Factory for all DataReaders created by this context.
std::mutex endpoint_mtx
std::vector< NodeEndpoint > local_clients
std::vector< NodeEndpoint > local_publishers
std::vector< NodeEndpoint > local_services
std::vector< NodeEndpoint > local_subscriptions
std::mutex node_mtx
Protects nodes .
std::vector< std::pair< std::string, std::string > > nodes
(name, namespace) of every node created in this context.
AstuteDDS_Participant participant = { nullptr }
The one DomainParticipant this RMW context owns.
std::vector< std::string > services
Service names of every rmw_service_t alive in this context.
std::mutex svc_mtx
Protects services andclients .
std::mutex topic_mtx
std::map< std::string, int > topic_refcount

Detailed Description

Per-context state pointed to by rmw_context_t::impl.

Owns the DomainParticipant plus the two DDS entity factories (a Publisher for DataWriters, a Subscriber for DataReaders). Also holds in-process registries — nodes and service/client names — so graph queries and rmw_service_server_is_available() can answer sensibly when everything lives in one process.

Public Attributes Documentation

variable clients

Service names of every rmw_client_t alive in this context. 

std::vector<std::string> AstuteDDSContext::clients;

variable dds_pub

Factory for all DataWriters created by this context. 

AstuteDDS_Publisher AstuteDDSContext::dds_pub;

variable dds_sub

Factory for all DataReaders created by this context. 

AstuteDDS_Subscriber AstuteDDSContext::dds_sub;

variable endpoint_mtx

std::mutex AstuteDDSContext::endpoint_mtx;

variable local_clients

std::vector<NodeEndpoint> AstuteDDSContext::local_clients;

variable local_publishers

std::vector<NodeEndpoint> AstuteDDSContext::local_publishers;

variable local_services

std::vector<NodeEndpoint> AstuteDDSContext::local_services;

variable local_subscriptions

std::vector<NodeEndpoint> AstuteDDSContext::local_subscriptions;

variable node_mtx

Protects nodes . 

std::mutex AstuteDDSContext::node_mtx;

variable nodes

(name, namespace) of every node created in this context. 

std::vector<std::pair<std::string, std::string> > AstuteDDSContext::nodes;

variable participant

The one DomainParticipant this RMW context owns. 

AstuteDDS_Participant AstuteDDSContext::participant;

variable services

Service names of every rmw_service_t alive in this context. 

std::vector<std::string> AstuteDDSContext::services;

variable svc_mtx

Protects services andclients . 

std::mutex AstuteDDSContext::svc_mtx;

variable topic_mtx

std::mutex AstuteDDSContext::topic_mtx;

Reference count per DDS topic name.

astutedds::dcps::DomainParticipant::create_topic() deduplicates by name: a second astutedds_create_topic() call for a topic name that already exists on this participant returns the SAME Topic* rather than creating a new one (e.g. when a publisher and a subscription, or several of either, share a topic). astutedds_delete_topic() has no refcounting of its own, so deleting it as soon as the first side is torn down frees memory a still-live DataWriter/DataReader on the other side continues to reference. Every rmw_create_publisher/ rmw_create_subscription call must increment this counter after a successful astutedds_create_topic(), and every rmw_destroy_ publisher/rmw_destroy_subscription (and any later failure path in create) must go through release_topic_ref() instead of calling astutedds_delete_topic() directly, only actually deleting once the count reaches zero. Protected by topic_mtx.

variable topic_refcount

std::map<std::string, int> AstuteDDSContext::topic_refcount;

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