DDS Entities

The main classes extend an abstract base class called a DDS Entity. Every DDS Entity has a set of associated events known as statuses and a set of associated Quality of Service Policies (QosPolicies). In addition, a Listener may be registered with the Entity to be called when status changes occur. DDS Entities may also have attached DDS Conditions, which provide a way to wait for status changes. Figure 1 presents an overview in a UML diagram.

This section describes the common operations and general designed patterns shared by all DDS Entities including DomainParticipants, Topics, Publishers, DataWriters, Subscribers, and DataReaders. In subsequent chapters, the specific statuses, Listeners, Conditions, and QosPolicies for each class will be discussed in detail.

Figure 1 Overview of DDS Entities

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