RTI Connext C++ API
Version 5.0.0
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<<singleton>> <<interface>> Allows creation and destruction of DDSDomainParticipant objects. More...
Public Member Functions | |
virtual DDS_ReturnCode_t | set_default_participant_qos (const DDS_DomainParticipantQos &qos)=0 |
Sets the default DDS_DomainParticipantQos values for this domain participant factory. | |
virtual DDS_ReturnCode_t | set_default_participant_qos_with_profile (const char *library_name, const char *profile_name)=0 |
<<eXtension>> Sets the default DDS_DomainParticipantQos values for this domain participant factory based on the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_default_participant_qos (DDS_DomainParticipantQos &qos)=0 |
Initializes the DDS_DomainParticipantQos instance with default values. | |
virtual DDS_ReturnCode_t | set_default_library (const char *library_name)=0 |
<<eXtension>> Sets the default XML library for a DDSDomainParticipantFactory. | |
virtual const char * | get_default_library ()=0 |
<<eXtension>> Gets the default XML library associated with a DDSDomainParticipantFactory. | |
virtual DDS_ReturnCode_t | set_default_profile (const char *library_name, const char *profile_name)=0 |
<<eXtension>> Sets the default XML profile for a DDSDomainParticipantFactory. | |
virtual const char * | get_default_profile ()=0 |
<<eXtension>> Gets the default XML profile associated with a DDSDomainParticipantFactory. | |
virtual const char * | get_default_profile_library ()=0 |
<<eXtension>> Gets the library where the default XML profile is contained for a DDSDomainParticipantFactory. | |
virtual DDS_ReturnCode_t | get_participant_qos_from_profile (DDS_DomainParticipantQos &qos, const char *library_name, const char *profile_name)=0 |
<<eXtension>> Gets the DDS_DomainParticipantQos values associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_publisher_qos_from_profile (DDS_PublisherQos &qos, const char *library_name, const char *profile_name)=0 |
<<eXtension>> Gets the DDS_PublisherQos values associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_subscriber_qos_from_profile (DDS_SubscriberQos &qos, const char *library_name, const char *profile_name)=0 |
<<eXtension>> Gets the DDS_SubscriberQos values associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_datawriter_qos_from_profile (DDS_DataWriterQos &qos, const char *library_name, const char *profile_name)=0 |
<<eXtension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_datawriter_qos_from_profile_w_topic_name (DDS_DataWriterQos &qos, const char *library_name, const char *profile_name, const char *topic_name)=0 |
<<eXtension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile while applying topic filters to the input topic name. | |
virtual DDS_ReturnCode_t | get_datareader_qos_from_profile (DDS_DataReaderQos &qos, const char *library_name, const char *profile_name)=0 |
<<eXtension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_datareader_qos_from_profile_w_topic_name (DDS_DataReaderQos &qos, const char *library_name, const char *profile_name, const char *topic_name)=0 |
<<eXtension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile while applying topic filters to the input topic name. | |
virtual DDS_ReturnCode_t | get_topic_qos_from_profile (DDS_TopicQos &qos, const char *library_name, const char *profile_name)=0 |
<<eXtension>> Gets the DDS_TopicQos values associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | get_topic_qos_from_profile_w_topic_name (DDS_TopicQos &qos, const char *library_name, const char *profile_name, const char *topic_name)=0 |
<<eXtension>> Gets the DDS_TopicQos values associated with the input XML QoS profile while applying topic filters to the input topic name. | |
virtual DDS_ReturnCode_t | get_qos_profile_libraries (struct DDS_StringSeq &library_names)=0 |
<<eXtension>> Gets the names of all XML QoS profile libraries associated with the DDSDomainParticipantFactory | |
virtual DDS_ReturnCode_t | get_qos_profiles (struct DDS_StringSeq &profile_names, const char *library_name)=0 |
<<eXtension>> Gets the names of all XML QoS profiles associated with the input XML QoS profile library. | |
virtual DDSDomainParticipant * | create_participant (DDS_DomainId_t domainId, const DDS_DomainParticipantQos &qos, DDSDomainParticipantListener *listener, DDS_StatusMask mask)=0 |
Creates a new DDSDomainParticipant object. | |
virtual DDSDomainParticipant * | create_participant_with_profile (DDS_DomainId_t domainId, const char *library_name, const char *profile_name, DDSDomainParticipantListener *listener, DDS_StatusMask mask)=0 |
<<eXtension>> Creates a new DDSDomainParticipant object using the DDS_DomainParticipantQos associated with the input XML QoS profile. | |
virtual DDS_ReturnCode_t | delete_participant (DDSDomainParticipant *a_participant)=0 |
Deletes an existing DDSDomainParticipant. | |
virtual DDSDomainParticipant * | lookup_participant (DDS_DomainId_t domainId)=0 |
Locates an existing DDSDomainParticipant. | |
virtual DDS_ReturnCode_t | set_qos (const DDS_DomainParticipantFactoryQos &qos)=0 |
Sets the value for a participant factory QoS. | |
virtual DDS_ReturnCode_t | get_qos (DDS_DomainParticipantFactoryQos &qos)=0 |
Gets the value for participant factory QoS. | |
virtual DDS_ReturnCode_t | load_profiles ()=0 |
<<eXtension>> Loads the XML QoS profiles. | |
virtual DDS_ReturnCode_t | reload_profiles ()=0 |
<<eXtension>> Reloads the XML QoS profiles. | |
virtual DDS_ReturnCode_t | unload_profiles ()=0 |
<<eXtension>> Unloads the XML QoS profiles. | |
virtual DDS_ReturnCode_t | unregister_thread ()=0 |
<<eXtension>> Allows the user to release thread specific resources kept by the middleware. | |
virtual DDSDomainParticipant * | create_participant_from_config_exp (const char *configuration_name, const char *participant_name)=0 |
<<experimental>> <<eXtension>> Creates a DDSDomainParticipant given its configuration name from a description provided in an XML configuration file. | |
virtual DDSDomainParticipant * | lookup_participant_by_name_exp (const char *participant_name)=0 |
<<experimental>> <<eXtension>> Looks up a DDSDomainParticipant by its entity name in the DDSDomainParticipantFactory. | |
virtual DDS_ReturnCode_t | register_type_support_exp (DDSDomainParticipantFactory_RegisterTypeFunction register_type_fcn, const char *type_name)=0 |
<<experimental>> <<eXtension>> Registers a DDSTypeSupport with the DDSDomainParticipantFactory to enable automatic registration if the corresponding type, should it be needed by a DDSDomainParticipant. | |
Static Public Member Functions | |
static DDSDomainParticipantFactory * | get_instance () |
Gets the singleton instance of this class. | |
static DDS_ReturnCode_t | finalize_instance () |
<<eXtension>> Destroys the singleton instance of this class. | |
<<singleton>> <<interface>> Allows creation and destruction of DDSDomainParticipant objects.
The sole purpose of this class is to allow the creation and destruction of DDSDomainParticipant objects. This class itself is a <<singleton>>, and accessed via the get_instance() method, and destroyed with finalize_instance() method.
A single application can participate in multiple domains by instantiating multiple DDSDomainParticipant objects.
An application may even instantiate multiple participants in the same domain. Participants in the same domain exchange data in the same way regardless of whether they are in the same application or different applications or on the same node or different nodes; their location is transparent.
There are two important caveats:
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Gets the singleton instance of this class.
::DDS_TheParticipantFactory can be used as an alias for the singleton factory returned by this operation.
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<<eXtension>> Destroys the singleton instance of this class.
Only necessary to explicitly reclaim resources used by the participant factory singleton. Note that on many OSs, these resources are automatically reclaimed by the OS when the program terminates. However, some memory-check tools still flag these as unreclaimed. So this method provides a way to clean up memory used by the participant factory.
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Sets the default DDS_DomainParticipantQos values for this domain participant factory.
This method may potentially allocate memory depending on the sequences contained in some QoS policies.
qos | <<inout>> Qos to be filled up. The special value DDS_PARTICIPANT_QOS_DEFAULT may be passed as qos to indicate that the default QoS should be reset back to the initial values the factory would used if DDSDomainParticipantFactory::set_default_participant_qos had never been called. |
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<<eXtension>> Sets the default DDS_DomainParticipantQos values for this domain participant factory based on the input XML QoS profile.
This method may potentially allocate memory depending on the sequences contained in some QoS policies.
This default value will be used for newly created DDSDomainParticipant if DDS_PARTICIPANT_QOS_DEFAULT is specified as the qos
parameter when DDSDomainParticipantFactory::create_participant is called.
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found the method fails with DDS_RETCODE_ERROR.
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Initializes the DDS_DomainParticipantQos instance with default values.
The retrieved qos
will match the set of values specified on the last successful call to DDSDomainParticipantFactory::set_default_participant_qos, or DDSDomainParticipantFactory::set_default_participant_qos_with_profile, or else, if the call was never made, the default values listed in DDS_DomainParticipantQos.
This method may potentially allocate memory depending on the sequences contained in some QoS policies.
qos | <<out>> the domain participant's QoS |
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<<eXtension>> Sets the default XML library for a DDSDomainParticipantFactory.
Any API requiring a library_name as a parameter can use null to refer to the default library.
library_name | <<in>> Library name. If library_name is null any previous default is unset. |
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<<eXtension>> Gets the default XML library associated with a DDSDomainParticipantFactory.
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<<eXtension>> Sets the default XML profile for a DDSDomainParticipantFactory.
This method specifies the profile that will be used as the default the next time a default DomainParticipantFactory profile is needed during a call to a DomainParticipantFactory method. When calling a DDSDomainParticipantFactory method that requires a profile_name
parameter, you can use NULL to refer to the default profile. (This same information applies to setting a default library.)
This method does not set the default QoS for newly created DomainParticipants; for this functionality, use DDSDomainParticipantFactory::set_default_participant_qos_with_profile (you may pass in NULL after having called set_default_profile()).
library_name | <<in>> The library name containing the profile. |
profile_name | <<in>> The profile name. If profile_name is null any previous default is unset. |
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<<eXtension>> Gets the default XML profile associated with a DDSDomainParticipantFactory.
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<<eXtension>> Gets the library where the default XML profile is contained for a DDSDomainParticipantFactory.
The default profile library is automatically set when DDSDomainParticipantFactory::set_default_profile is called.
This library can be different than the DDSDomainParticipantFactory default library (see DDSDomainParticipantFactory::get_default_library).
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<<eXtension>> Gets the DDS_DomainParticipantQos values associated with the input XML QoS profile.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_PublisherQos values associated with the input XML QoS profile.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_SubscriberQos values associated with the input XML QoS profile.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile while applying topic filters to the input topic name.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
topic_name | <<in>> Topic name that will be evaluated against the topic_filter attribute in the XML QoS profile. If topic_name is null, RTI Connext will match only QoSs without explicit topic_filter expressions. |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile while applying topic filters to the input topic name.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
topic_name | <<in>> Topic name that will be evaluated against the topic_filter attribute in the XML QoS profile. If topic_name is null, RTI Connext will match only QoSs without explicit topic_filter expressions. |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_TopicQos values associated with the input XML QoS profile.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the DDS_TopicQos values associated with the input XML QoS profile while applying topic filters to the input topic name.
qos | <<out>> Qos to be filled up. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
topic_name | <<in>> Topic name that will be evaluated against the topic_filter attribute in the XML QoS profile. If topic_name is null, RTI Connext will match only QoSs without explicit topic_filter expressions. |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<eXtension>> Gets the names of all XML QoS profile libraries associated with the DDSDomainParticipantFactory
library_names | <<out>> DDS_StringSeq to be filled with names of XML QoS profile libraries. Cannot be NULL. |
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<<eXtension>> Gets the names of all XML QoS profiles associated with the input XML QoS profile library.
profile_names | <<out>> DDS_StringSeq to be filled with names of XML QoS profiles. Cannot be NULL. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
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Creates a new DDSDomainParticipant object.
If you want to create multiple participants on a given host in the same domain, make sure each one has a different participant index (set in the DDS_WireProtocolQosPolicy). This in turn will ensure each participant uses a different port number (since the unicast port numbers are calculated from the participant index and the domain ID).
Note that if there is a single participant per host in a given domain, the participant index can be left at the default value (-1).
domainId | <<in>> ID of the domain that the application intends to join. [range] [>=0], and does not violate guidelines stated in DDS_RtpsWellKnownPorts_t. |
qos | <<in>> the DomainParticipant's QoS. The special value DDS_PARTICIPANT_QOS_DEFAULT can be used to indicate that the DDSDomainParticipant should be created with the default DDS_DomainParticipantQos set in the DDSDomainParticipantFactory. |
listener | <<in>> the domain participant's listener. |
mask | <<in>>. Changes of communication status to be invoked on the listener. See DDS_StatusMask. |
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<<eXtension>> Creates a new DDSDomainParticipant object using the DDS_DomainParticipantQos associated with the input XML QoS profile.
If you want to create multiple participants on a given host in the same domain, make sure each one has a different participant index (set in the DDS_WireProtocolQosPolicy). This in turn will ensure each participant uses a different port number (since the unicast port numbers are calculated from the participant index and the domain ID).
Note that if there is a single participant per host in a given domain, the participant index can be left at the default value (-1).
domainId | <<in>> ID of the domain that the application intends to join. [range] [>=0], and does not violate guidelines stated in DDS_RtpsWellKnownPorts_t. |
library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library). |
profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile). |
listener | <<in>> the DomainParticipant's listener. |
mask | <<in>>. Changes of communication status to be invoked on the listener. See DDS_StatusMask. |
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Deletes an existing DDSDomainParticipant.
a_participant | <<in>> DDSDomainParticipant to be deleted. |
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Locates an existing DDSDomainParticipant.
If no such DDSDomainParticipant exists, the operation will return NULL value.
If multiple DDSDomainParticipant entities belonging to that domainId exist, then the operation will return one of them. It is not specified which one.
domainId | <<in>> ID of the domain participant to lookup. |
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Sets the value for a participant factory QoS.
The DDS_DomainParticipantFactoryQos::entity_factory can be changed. The other policies are immutable.
Note that despite having QoS, the DDSDomainParticipantFactory is not an DDSEntity.
qos | <<in>> Set of policies to be applied to DDSDomainParticipantFactory. Policies must be consistent. Immutable policies can only be changed before calling any other RTI Connext methods except for DDSDomainParticipantFactory::get_qos |
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Gets the value for participant factory QoS.
qos | <<inout>> QoS to be filled up. |
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<<eXtension>> Loads the XML QoS profiles.
The XML QoS profiles are loaded implicitly after the first DDSDomainParticipant is created or explicitly, after a call to this method.
This has the same effect as DDSDomainParticipantFactory::reload_profiles().
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<<eXtension>> Reloads the XML QoS profiles.
The XML QoS profiles are loaded implicitly after the first DDSDomainParticipant is created or explicitly, after a call to this method.
This has the same effect as DDSDomainParticipantFactory::load_profiles().
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<<eXtension>> Unloads the XML QoS profiles.
The resources associated with the XML QoS profiles are freed. Any reference to the profiles after calling this method will fail with an error.
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<<eXtension>> Allows the user to release thread specific resources kept by the middleware.
This function should be called by the user right before exiting a thread where DDS API were used. In this way the middleware will be able to free all the resources related to this specific thread. The best approach is to call the function during the thread deletion after all the DDS related API have have been called.
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<<experimental>> <<eXtension>> Creates a DDSDomainParticipant given its configuration name from a description provided in an XML configuration file.
This operation creates a DDSDomainParticipant registering all the necessary data types and creating all the contained entities (DDSTopic, DDSPublisher, DDSSubscriber, DDSDataWriter, DDSDataReader) from a description given in an XML configuration file.
The configuration name is the fully qualified name of the XML participant object, consisting of the name of the participant library plus the name of participant configuration.
For example the name "MyParticipantLibrary::PublicationParticipant" can be used to create the domain participant from the description in an XML file with contents shown in the snippet below:
The entities belonging to the newly created DDSDomainParticipant can be retrieved with the help pf lookup operations such as: DDSDomainParticipant::lookup_datareader_by_name_exp
configuration_name | <<in>> Name of the participant configuration in the XML file. |
participant_name | <<in>> Entity name that is given to the DDSDomainParticipant |
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<<experimental>> <<eXtension>> Looks up a DDSDomainParticipant by its entity name in the DDSDomainParticipantFactory.
Every DDSDomainParticipant in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.
This operation retrieves a DDSDomainParticipant within the DDSDomainParticipantFactory given the entity's name. If there are several DDSDomainParticipant with the same name within the DDSDomainParticipantFactory this function returns the first matching occurrence.
participant_name | <<in>> Entity name of the DDSDomainParticipant. |
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<<experimental>> <<eXtension>> Registers a DDSTypeSupport with the DDSDomainParticipantFactory to enable automatic registration if the corresponding type, should it be needed by a DDSDomainParticipant.
Types refered by the DDSTopic entities within a DDSDomainParticipant must be registered with the DDSDomainParticipant.
Type registration in a DDSDomainParticipant is performed by a call to the FooTypeSupport::register_type operation. This can be done directly from the application code or indirectly by the RTI Connext infrastructure as a result of parsing an XML configuration file that refers to that type.
The DDSDomainParticipantFactory::register_type_support_exp operation provides the DDSDomainParticipantFactory with the information it needs to automatically call the FooTypeSupport::register_type operation and register the corresponding type if the type is needed as a result of parsing an XML configuration file.
Automatic type registration while parsing XML files can also be done by the RTI Connext infrastructure based on the type description provided in the XML files. If the DDSTypeSupport has been registered with the DDSDomainParticipantFactory this definition takes precedence over the description of the type given in the XML file.
The DDSDomainParticipantFactory::register_type_support_exp operation receives a FooTypeSupport::register_type function as a parameter. This function is normally generated using rtiddsgen from a description of the corresponsing type in IDL, XML, or XSD.
The typical workflow when using this function is as follows: Define the data-type in IDL (or XML, or XSD) in a file. E.g. Foo.idl Run rtiddsgen in that file to generate the TypeSuppory files, for the desired programming language. E.g. in C++ FooTypeSupport.h FooTypeSupport.cxx Include the proper header file (e.g. FooTypeSupport.h) in your program and call DDSDomainParticipantFactory::register_type_support_exp passing the function that was generated by rtiddsgen. E.g. FooTypeSupport::register_type Include the TypeSupport source file in your project such that it is compiled and linked. E.g. FooTypeSupport.cxx
You may refer to the Getting Started Guide for additional details in this process.
Note that only one register function is allowed per registered type name.
register_type_fcn | <<in>> ::DDS_RegisterTypeFunction to be used for registering the type with a DDSDomainParticipant. |
type_name | <<in>> Name the type is registered with. |