<<reference-type>> Container for all dds::core::Entity objects. More...

#include <dds/domain/DomainParticipant.hpp>

Inheritance diagram for dds::domain::DomainParticipant:

Public Types
typedef DomainParticipantListener	Listener
	The Listener type that DomainParticipants use.

Public Member Functions
	DomainParticipant (int32_t the_domain_id)
	Create a new DomainParticipant with default Qos.

	DomainParticipant (int32_t the_domain_id, const dds::domain::qos::DomainParticipantQos &the_qos, dds::domain::DomainParticipantListener *the_listener=NULL, const dds::core::status::StatusMask &mask=dds::core::status::StatusMask::all())
	Create a new DomainParticipant.=.

void	listener (Listener *l, const dds::core::status::StatusMask &mask)
	Register a listener with the DomainParticipant.

Listener *	listener () const
	Get the DomainParticipant listener.

dds::domain::qos::DomainParticipantQos	qos () const
	Gets the current QoS policies of this DomainParticipant.

void	qos (const dds::domain::qos::DomainParticipantQos &the_qos)
	Set the DomainParticipantQos setting for this DomainParticipant instance.

DomainParticipant &	operator<< (const dds::domain::qos::DomainParticipantQos &the_qos)

const DomainParticipant &	operator>> (dds::domain::qos::DomainParticipantQos &the_qos) const

int32_t	domain_id () const
	Get the unique domain identifier.

void	assert_liveliness ()
	Manually assert the liveliness of the DomainParticipant.

bool	contains_entity (const dds::core::InstanceHandle &a_handle)
	Check whether or not the given handle represents an Entity that was created from the DomainParticipant.

dds::core::Time	current_time ()
	Get the current time.

dds::pub::qos::PublisherQos	default_publisher_qos () const
	Get the current default dds::pub::qos::PublisherQos.

DomainParticipant &	default_publisher_qos (const dds::pub::qos::PublisherQos &the_qos)
	Set the default dds::pub::qos::PublisherQos for this DomainParticipant.

dds::sub::qos::SubscriberQos	default_subscriber_qos () const
	Get the current default dds::sub::qos::SubscriberQos.

DomainParticipant &	default_subscriber_qos (const dds::sub::qos::SubscriberQos &the_qos)
	Set the default dds::sub::qos::SubscriberQos for this DomainParticipant.

dds::topic::qos::TopicQos	default_topic_qos () const
	Get the current default dds::topic::qos::TopicQos.

DomainParticipant &	default_topic_qos (const dds::topic::qos::TopicQos &the_qos)
	Set the default dds::topic::qos::TopicQos for this DomainParticipant.

dds::pub::qos::DataWriterQos	default_datawriter_qos () const
	<<extension>> Get the current default dds::pub::qos::DataWriterQos.

void	default_datawriter_qos (const ::dds::pub::qos::DataWriterQos &qos)
	<<extension>> Set the default dds::pub::qos::DataWriterQos for this DomainParticipant.

dds::sub::qos::DataReaderQos	default_datareader_qos () const
	<<extension>> Get the current default dds::sub::qos::DataReaderQos.

void	default_datareader_qos (const ::dds::sub::qos::DataReaderQos &qos)
	<<extension>> Set the default dds::sub::qos::DataReaderQos for this DomainParticipant.

void	register_contentfilter (const rti::topic::CustomFilter< rti::topic::ContentFilterBase > &custom_filter, const std::string &filter_name)
	<<extension>> Register a content filter which can be used to create a dds::topic::ContentFilteredTopic.

void	unregister_contentfilter (const std::string &filter_name)
	<<extension>> Unregister a content filter previously registered with dds::domain::DomainParticipant::register_contentfilter( const rti::topic::CustomFilter<rti::topic::ContentFilterBase>& custom_filter, const std::string& filter_name).

void	unregister_type (const std::string &name)
	<<extension>> Unregister a type that has previously been registered to this dds::domain::DomainParticipant.

bool	is_type_registered (const std::string &name) const
	<<extension>> Check if a type has previously been registered to this dds::domain::DomainParticipant.

void	add_peer (const std::string &peer_descr_string)
	<<extension>> Attempt to contact one or more additional peer participants.

void	remove_peer (const std::string &peer_descr_string)
	<<extension>> Remove one or more peer participants from the list of peers with which this dds::domain::DomainParticipant will try to communicate.

void	resume_endpoint_discovery (const dds::core::InstanceHandle &remote_participant_handle)
	<<extension>> Initiates endpoint discovery with the remote dds::domain::DomainParticipant identified by its InstanceHandle.

void	delete_durable_subscription (const rti::core::EndpointGroup &group)
	<<extension>> Deletes an existing Durable Subscription on all Persistence Services.

void	register_durable_subscription (const rti::core::EndpointGroup &group, const std::string &topic_name)
	<<extension>> Registers a Durable Subscription on the specified dds::topic::Topic on all Persistence Services.

rti::core::status::DomainParticipantProtocolStatus	participant_protocol_status ()
	<<extension>> Get the protocol status for this participant

Public Member Functions inherited from dds::core::Entity
void	enable ()
	Enables this entity (if it was created disabled)

const dds::core::status::StatusMask	status_changes ()
	Retrieves the list of communication statuses that are triggered.

const dds::core::InstanceHandle	instance_handle () const
	Get the instance handle that represents this entity.

void	close ()
	Forces the destruction of this entity.

void	retain ()
	Disables the automatic destruction of this entity.

Static Public Member Functions
static void	participant_factory_qos (const dds::domain::qos::DomainParticipantFactoryQos &qos)
	Set the dds::domain::qos::DomainParticipantFactoryQos.

static dds::domain::qos::DomainParticipantFactoryQos	participant_factory_qos ()
	Get the current dds::domain::qos::DomainParticipantFactoryQos.

static void	finalize_participant_factory ()
	Finalize the DomainParticipantFactory.

static dds::domain::qos::DomainParticipantQos	default_participant_qos ()
	Get the current DomainParticipantQos for this instance.

static void	default_participant_qos (const dds::domain::qos::DomainParticipantQos &qos)
	Set the DomainParticipantQos.

Related Functions
(Note that these are not member functions.)
void	ignore (const dds::domain::DomainParticipant &participant, const dds::core::InstanceHandle &handle)
	Instructs RTI Connext to locally ignore a remote dds::domain::DomainParticipant.

template<typename FwdIterator >
void	ignore (const dds::domain::DomainParticipant &participant, FwdIterator begin, FwdIterator end)
	Instructs RTI Connext to locally ignore a group of remote dds::domain::DomainParticipant.

DomainParticipant	find (int32_t domain_id)
	Locates an existing dds::domain::DomainParticipant.

dds::core::InstanceHandleSeq	discovered_participants (dds::domain::DomainParticipant &participant)
	<<extension>> Retrieves the list of other participants discovered by this participant

dds::topic::ParticipantBuiltinTopicData	discovered_participant_data (dds::domain::DomainParticipant &participant, const dds::core::InstanceHandle &participant_handle)
	<<extension>> Retrieves the information about one participant discovered by this participant

dds::domain::DomainParticipant	find_participant_by_name (const std::string &participant_name)
	<<extension>> Locates an existing dds::domain::DomainParticipant by name.

template<typename ParticipantFwdIterator >
uint32_t	find_participants (ParticipantFwdIterator begin, uint32_t max_size)
	<<extension>> Retrieves all the participants created by the application up to a maximum number

template<typename ParticipantFwdIterator >
uint32_t	find_participants (ParticipantFwdIterator begin)
	<<extension>> Retrieves all the participants created by the application

void	register_type (dds::domain::DomainParticipant &participant, const std::string &name, const dds::core::xtypes::DynamicType &type, const rti::core::xtypes::DynamicDataTypeSerializationProperty &serialization_property=rti::core::xtypes::DynamicDataTypeSerializationProperty::DEFAULT)
	<<extension>> Registers a DynamicType with specific serialization properties

template<typename T >
void	register_type (const std::string &registered_type_name=dds::topic::topic_type_name< T >::value())
	<<extension>> Registers a User-Generated Type with RTI Connext. This function is used along with XML Application Creation.

Related Functions inherited from dds::core::Entity
template<typename TO , typename FROM >
TO	polymorphic_cast (FROM &from)
	Downcasts an Entity to a subclass.

Detailed Description

<<reference-type>> Container for all dds::core::Entity objects.

It acts as a container for all other dds::core::Entity objects.

It acts as a factory for the dds::pub::Publisher, dds::sub::Subscriber, dds::topic::Topic and MultiTopic dds::core::Entity objects.

It represents the participation of the application on a communication plane that isolates applications running on the same set of physical computers from each other. A domain establishes a virtual network linking all applications that share the same domainId and isolating them from applications running on different domains. In this way, several independent distributed applications can coexist in the same physical network without interfering, or even being aware of each other.

It provides administration services in the domain, offering operations that allow the application to ignore locally any information about a given participant (dds::domain::DomainParticipant::ignore(const dds::domain::DomainParticipant & participant, const dds::core::InstanceHandle & handle)), publication (dds::pub::ignore), subscription (dds::sub::ignore()) or topic (dds::topic::ignore()()).

The following operations may be called even if the dds::domain::DomainParticipant is not enabled. Operations NOT in this list will fail with dds::core::NotEnabledError \ if called on a disabled DomainParticipant.

Operations for looking up topics: dds::topic::find();

Operations that access status: dds::core::cond::StatusCondition::StatusCondition(const dds::core::Entity&), dds::core::Entity::status_changes().

QoS:: dds::domain::qos::DomainParticipantQos

Status:: Status Kinds

Listener:: DomainParticipantListener

Other operations related to a DomainParticipant in other namespaces:

Related to dds::topic::Topic: dds::topic::find(), dds::topic::discover_any_topic, dds::topic::discover_topic_data, dds::topic::ignore() and similar operations
Related to dds::sub::Subscriber: rti::sub::find_subscribers(), dds::sub::builtin_subscriber(), rti::sub::implicit_subscriber()
Related to dds::sub::DataReader: dds::sub::ignore(), rti::sub::find_datareader_by_name()
Related to dds::pub::Publisher: rti::pub::find_publishers(), rti::pub::implicit_publisher()
Related to dds::pub::DataWriter: dds::pub::ignore(), rti::pub::find_datawriter_by_name()
Related to rti::pub::FlowController: rti::pub::find_flow_controller()

A DomainParticipant can also be created from an XML definition, see dds::core::QosProvider::create_participant_from_config.

Participant Use Cases

Entity Use Cases

Examples:: Foo.hpp, Foo_publisher.cxx, and Foo_subscriber.cxx.

Member Typedef Documentation

typedef DomainParticipantListener dds::domain::DomainParticipant::Listener

The Listener type that DomainParticipants use.

Constructor & Destructor Documentation

dds::domain::DomainParticipant::DomainParticipant ( int32_t the_domain_id )

inlineexplicit

Create a new DomainParticipant with default Qos.

Same as DomainParticipant(int32_t, const dds::domain::qos::DomainParticipantQos&, dds::domain::DomainParticipantListener*, const dds::core::status::StatusMask&) except that it uses the default DomainParticipantQos

dds::domain::DomainParticipant::DomainParticipant	(	int32_t	the_domain_id,
		const dds::domain::qos::DomainParticipantQos &	the_qos,
		dds::domain::DomainParticipantListener *	the_listener = `NULL`,
		const dds::core::status::StatusMask &	mask = `dds::core::status::StatusMask::all()`
	)

inline

Create a new DomainParticipant.=.

The DomainParticipant signifies that the application intends to join the Domain identified by the domain_id argument.

Parameters

the_domain_id	the id of the domain joined by this DomainParticipant. [range] [>=0], and does not violate guidelines stated in rti::core::RtpsWellKnownPorts.
the_qos	The QoS settings for this DomainParticipant. See also set_qos().
the_listener	The listener (NULL by default)
mask	Changes of communication status to be invoked on the listener (all by default)

Precondition: The specified QoS policies must be consistent or the operation will fail and no dds::domain::DomainParticipant will be created.

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 rti::core::policy::WireProtocol). 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).

Returns: domain participant or NULL on failure

See Also: Specifying QoS on entities for information on setting QoS before entity creation; dds::domain::qos::DomainParticipantQos for rules on consistency among QoS; NDDS_DISCOVERY_PEERS; dds::core::QosProvider; dds::domain::DomainParticipant::default_participant_qos(); dds::domain::DomainParticipant::listener(Listener*, const dds::core::status::StatusMask&)

Member Function Documentation

void dds::domain::DomainParticipant::listener	(	Listener *	l,
		const dds::core::status::StatusMask &	mask
	)

inline

Register a listener with the DomainParticipant.

Parameters

l	<<in>> Listener to be installed on the entity.
mask	<<in>> Changes of communication status to be invoked on the listener. See dds::core::status::StatusMask.

MT Safety:: Unsafe. This method is not synchronized with the listener callbacks, so it is possible to set a new listener on a participant when the old listener is in a callback.

Care should therefore be taken not to delete any listener that has been set on an enabled participant unless some application-specific means are available of ensuring that the old listener cannot still be in use.

Exceptions

One	of the Standard Exceptions

See Also: set_listener (abstract); rti::core::ListenerBinder for an alternative way of setting the listener.

Listener* dds::domain::DomainParticipant::listener ( ) const

inline

Get the DomainParticipant listener.

Returns: The existing listener attached to the DomainParticipant or NULL if no listener has been set.

dds::domain::qos::DomainParticipantQos dds::domain::DomainParticipant::qos ( ) const

inline

Gets the current QoS policies of this DomainParticipant.

Returns: The current QoS policies.

void dds::domain::DomainParticipant::qos ( const dds::domain::qos::DomainParticipantQos & the_qos )

inline

Set the DomainParticipantQos setting for this DomainParticipant instance.

Parameters

the_qos Set of policies to be applied to the DomainParticipant. Immutable policies cannot be changed after this entity has been enabled.

Exceptions

dds::core::ImmutablePolicyError	if `the_qos` contains a different value for an immutable policy.
dds::core::InconsistentPolicyError	if some policies are inconsistent.

See Also: dds::domain::qos::DomainParticipantQos for rules on consistency among QoS policies; set_qos (abstract); default_participant_qos(); dds::core::QosProvider::participant_qos()

DomainParticipant& dds::domain::DomainParticipant::operator<< ( const dds::domain::qos::DomainParticipantQos & the_qos )

inline

Get the DomainParticipant QoS.

const DomainParticipant& dds::domain::DomainParticipant::operator>> ( dds::domain::qos::DomainParticipantQos & the_qos ) const

inline

Set the DomainParticipant QoS.

Parameters

the_qos the new qos for this DomainParticipant.

int32_t dds::domain::DomainParticipant::domain_id ( ) const

inline

Get the unique domain identifier.

This operation retrieves the domain id used to create the dds::domain::DomainParticipant. The domain id identifies the DDS domain to which the dds::domain::DomainParticipant belongs. Each DDS domain represents a separate data 'communication plane' isolated from other domains.

Returns: the domain id

void dds::domain::DomainParticipant::assert_liveliness ( )

inline

Manually assert the liveliness of the DomainParticipant.

This is used in combination with the dds::core::policy::Liveliness to indicate to RTI Connext that the entity remains active.

You need to use this operation if the dds::domain::DomainParticipant conatins dds::pub::DataWriter entities with the dds::core::policy::Liveliness::kind set to dds::core::policy::LivelinessKind::MANUAL_BY_PARTICIPANT and it only affects the liveliness of those dds::pub::DataWriter entities. Otherwise, it has no effect.

Note: writing data via the dds::pub::DataWriter::write() or dds::pub::DataWriter::write(const T&,const dds::core::Time&) operation asserts liveliness on the dds::pub::DataWriter itself and its dds::domain::DomainParticipant. Consequently the use of assert_liveliness() is only needed if the application is not writing data regularly.

bool dds::domain::DomainParticipant::contains_entity ( const dds::core::InstanceHandle & a_handle )

inline

Check whether or not the given handle represents an Entity that was created from the DomainParticipant.

This operation checks whether or not the given a_handle represents an dds::core::Entity that was created from the dds::domain::DomainParticipant. The containment applies recursively. That is, it applies both to entities (TopicDescription, dds::pub::Publisher, or dds::sub::Subscriber) created directly using the dds::domain::DomainParticipant as well as entities created using a contained dds::pub::Publisher, or dds::sub::Subscriber as the factory, and so forth.

The instance handle for an dds::core::Entity may be obtained from built-in topic data, from various statuses, or from the operation dds::core::Entity::instance_handle().

Parameters

a_handle <<in>> dds::core::InstanceHandle of the dds::core::Entity to be checked.

Returns: true if dds::core::Entity is contained by the dds::domain::DomainParticipant, or false otherwise.

dds::core::Time dds::domain::DomainParticipant::current_time ( )

inline

Get the current time.

The current value of the time that RTI Connext uses to time-stamp dds::pub::DataWriter and to set the reception-timestamp for the data updates that it receives.

Exceptions

One	of the Standard Exceptions

Returns: The current time

static void dds::domain::DomainParticipant::participant_factory_qos ( const dds::domain::qos::DomainParticipantFactoryQos & qos )

inlinestatic

Set the dds::domain::qos::DomainParticipantFactoryQos.

Parameters

qos	The DomainParticipantFactoryQos to set.

static dds::domain::qos::DomainParticipantFactoryQos dds::domain::DomainParticipant::participant_factory_qos ( )

inlinestatic

Get the current dds::domain::qos::DomainParticipantFactoryQos.

Returns: The current DomainParticipantFactoryQos

static void dds::domain::DomainParticipant::finalize_participant_factory ( )

inlinestatic

Finalize the DomainParticipantFactory.

The DomainParticipantFactory is a singleton that the C++ API uses implicitly to create participants. RTI Connext provides this operation for users who want to release memory used by the participant factory.

Warning: This method uses a static variable. To avoid undefined behavior in the order of destruction it shouldn't be called in the destructor of a type for which other global or static variables exist.

static dds::domain::qos::DomainParticipantQos dds::domain::DomainParticipant::default_participant_qos ( )

inlinestatic

Get the current DomainParticipantQos for this instance.

Returns: The current DomainParticipantQos

See Also: Default QoS

static void dds::domain::DomainParticipant::default_participant_qos ( const dds::domain::qos::DomainParticipantQos & qos )

inlinestatic

Set the DomainParticipantQos.

The UserData and EntityFactory policies can be changed. The other policies are immutable.

Parameters

qos	The DomainParticipantQos to set.

See Also: Default QoS

dds::pub::qos::PublisherQos dds::domain::DomainParticipant::default_publisher_qos ( ) const

inline

Get the current default dds::pub::qos::PublisherQos.

The retrieved qos will match the set of values specified on the last successful call to default_publisher_qos(const dds::pub::qos::PublisherQos& qos), or else, if the call was never made, the RTI Connext default values for the dds::pub::qos::PublisherQos.

This method may potentially allocate memory depending on the sequences contained in some QoS policies.

If no PublisherQos is specified when a dds::pub::Publisher is constructed, the default value of the QoS set in the factory, equivalent to the value obtained by calling this method, will be used to create the Publisher.

MT Safety:: UNSAFE. It is not safe to retrieve the default publisher QoS from a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_publisher_qos

Returns: The current default PublisherQos

DomainParticipant& dds::domain::DomainParticipant::default_publisher_qos ( const dds::pub::qos::PublisherQos & the_qos )

inline

Set the default dds::pub::qos::PublisherQos for this DomainParticipant.

This set of default values will be used for a newly created dds::pub::Publisher if no dds::pub::qos::PublisherQos is specified when constructing the Publisher.

Precondition: The specified QoS policies must be consistent, or else the operation will have no effect and fail with dds::core::InconsistentPolicyError

MT Safety:: UNSAFE. It is not safe to set the default publisher QoS for a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_publisher_qos, dds::domain::DomainParticipant::default_publisher_qos() or creating a Publisher with default QoS values.

Parameters

the_qos The PublisherQos to set.

Returns: This DomainParticipant instance

Exceptions

One	of the standard Exceptions, or dds::core::InconsistentPolicyError

dds::sub::qos::SubscriberQos dds::domain::DomainParticipant::default_subscriber_qos ( ) const

inline

Get the current default dds::sub::qos::SubscriberQos.

The retrieved qos will match the set of values specified on the last successful call to dds::domain::DomainParticipant::default_subscriber_qos(const dds::sub::qos::SubscriberQos & qos ), or dds::domain::DomainParticipant::set_default_subscriber_qos_with_profile, or else, if the call was never made, the default values listed in dds::sub::qos::SubscriberQos.

This method may potentially allocate memory depending on the sequences contained in some QoS policies.

If no SubscriberQos is specified when a dds::sub::Subscriber is constructed, the default value of the QoS set in the factory, equivalent to the value obtained by calling this method, will be used to create the Subscriber.

MT Safety:: UNSAFE. It is not safe to retrieve the default Subscriber QoS from a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_subscriber_qos(const dds::sub::qos::SubscriberQos & qos ).

One of the Standard Exceptions

See Also: SUBSCRIBER_QOS_DEFAULT; dds::sub::Subscriber::Subscriber

Returns: The current default SubscriberQos

DomainParticipant& dds::domain::DomainParticipant::default_subscriber_qos ( const dds::sub::qos::SubscriberQos & the_qos )

inline

Set the default dds::sub::qos::SubscriberQos for this DomainParticipant.

This set of default values will be used for a newly created dds::sub::Subscriber if SUBSCRIBER_QOS_DEFAULT is specified as the qos parameter when dds::sub::Subscriber::Subscriber is called.

Precondition: The specified QoS policies must be consistent, or else the operation will have no effect and fail with dds::core::InconsistentPolicyError

MT Safety:: UNSAFE. It is not safe to set the default Subscriber QoS for a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_subscriber_qos(const dds::sub::qos::SubscriberQos & qos ), dds::domain::DomainParticipant::default_subscriber_qos or calling dds::sub::Subscriber::Subscriber with SUBSCRIBER_QOS_DEFAULT as the qos parameter.

One of the Standard Exceptions, or dds::core::InconsistentPolicyError

Parameters

the_qos The SubscriberQos to set.

Exceptions

One	of the standard Exceptions, or dds::core::InconsistentPolicyError

dds::topic::qos::TopicQos dds::domain::DomainParticipant::default_topic_qos ( ) const

inline

Get the current default dds::topic::qos::TopicQos.

The retrieve d qos will match the set of values specified on the last successful call to default_topic_qos(const dds::topic::qos::TopicQos& qos), or else, if the call was never made, the RTI Connext default values for the dds::topic::qos::TopicQos.

This method may potentially allocate memory depending on the sequences contained in some QoS policies.

If no TopicQos is specified when a dds::topic::Topic is constructed, the default value of the QoS set in the factory, equivalent to the value obtained by calling this method, will be used to create the Topic.

MT Safety:: UNSAFE. It is not safe to retrieve the default Topic QoS from a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_topic_qos

Returns: The current default TopicQos

DomainParticipant& dds::domain::DomainParticipant::default_topic_qos ( const dds::topic::qos::TopicQos & the_qos )

inline

Set the default dds::topic::qos::TopicQos for this DomainParticipant.

This set of default values will be used for a newly created dds::topic::Topic if no dds::topic::qos::TopicQos is specified when constructing the Topic.

Precondition: The specified QoS policies must be consistent, or else the operation will have no effect and fail with dds::core::InconsistentPolicyError

MT Safety:: UNSAFE. It is not safe to set the default topic QoS for a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_topic_qos, dds::domain::DomainParticipant::default_topic_qos() or creating a Topic with default QoS values.

Parameters

the_qos The TopicQos to set.

Returns: This DomainParticipant instance

Exceptions

One	of the standard Exceptions, or dds::core::InconsistentPolicyError

dds::pub::qos::DataWriterQos default_datawriter_qos ( ) const

<<extension>> Get the current default dds::pub::qos::DataWriterQos.

The retrieved qos will match the set of values specified on the last successful call to default_datawriter_qos(const ::dds::pub::qos::DataWriterQos& qos), or else, if the call was never made, the RTI Connext default values for the dds::pub::qos::DataWriterQos.

This method may potentially allocate memory depending on the sequences contained in some QoS policies.

If no DataWriterQos is specified when a dds::pub::DataWriter is constructed, the default value of the QoS set in the factory, equivalent to the value obtained by calling this method, will be used to create the DataWriter.

MT Safety:: UNSAFE. It is not safe to retrieve the default DataWriterQoS from a DomainPartipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_datawriter_qos.

Returns: The current default DataWriterQos

void default_datawriter_qos ( const ::dds::pub::qos::DataWriterQos & qos )

<<extension>> Set the default dds::pub::qos::DataWriterQos for this DomainParticipant.

This set of default values will be used for a newly created dds::pub::DataWriter if no dds::pub::qos::DataWriterQos is specified when constructing the DataWriter.

Precondition: The specified QoS policies must be consistent, or else the operation will have no effect and fail with dds::core::InconsistentPolicyError

MT Safety:: UNSAFE. It is not safe to set the default DataWriter QoS for a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_datawriter_qos or dds::domain::DomainParticipant::default_datawriter_qos() or creating a DataWriter with default QoS values.

Parameters

qos	The DataWriterQos to set.

Exceptions

One	of the standard Exceptions, or dds::core::InconsistentPolicyError

dds::sub::qos::DataReaderQos default_datareader_qos ( ) const

<<extension>> Get the current default dds::sub::qos::DataReaderQos.

The retrieved qos will match the set of values specified on the last successful call to default_datareader_qos(const ::dds::sub::qos::DataReaderQos& qos), or else, if the call was never made, the RTI Connext default values for the dds::sub::qos::DataReaderQos.

This method may potentially allocate memory depending on the sequences contained in some QoS policies.

If no DataReaderQos is specified when a dds::sub::DataReader is constructed, the default value of the QoS set in the factory, equivalent to the value obtained by calling this method, will be used to create the DataReader.

MT Safety:: UNSAFE. It is not safe to retrieve the default DataReader QoS from a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_datareader_qos.

Returns: The current default DataReaderQos

void default_datareader_qos ( const ::dds::sub::qos::DataReaderQos & qos )

<<extension>> Set the default dds::sub::qos::DataReaderQos for this DomainParticipant.

This set of default values will be used for a newly created dds::sub::DataReader if no dds::sub::qos::DataReaderQos is specified when constructing the DataReader.

Precondition: The specified QoS policies must be consistent, or else the operation will have no effect and fail with dds::core::InconsistentPolicyError

MT Safety:: UNSAFE. It is not safe to set the default DataReader QoS for a DomainParticipant while another thread may be simultaneously calling dds::domain::DomainParticipant::default_datareader_qos or dds::domain::DomainParticipant::default_datareader_qos(). or creating a DataReader with default QoS values.

Parameters

qos	The DataReaderQos to set.

Exceptions

One	of the standard Exceptions, or dds::core::InconsistentPolicyError

void register_contentfilter	(	const rti::topic::CustomFilter< rti::topic::ContentFilterBase > &	custom_filter,
		const std::string &	filter_name
	)

<<extension>> Register a content filter which can be used to create a dds::topic::ContentFilteredTopic.

DDS specifies a SQL-like content filter for use by content filtered topics. If this filter does not meet your filtering requirements, you can register a custom filter.

To use a custom filter, it must be registered in the following places:

In any application that uses the custom filter to create a dds::topic::ContentFilteredTopic and the corresponding dds::sub::DataReader.
In each application that writes the data to the applications mentioned above.

For example, suppose Application A on the subscription side creates a Topic named X and a ContentFilteredTopic named filteredX (and a corresponding DataReader), using a previously registered content filter, myFilter. With only that, you will have filtering at the subscription side. If you also want to perform filtering in any application that publishes Topic X, then you also need to register the same definition of the ContentFilter myFilter in that application.

Each filter_name can only be used to registered a content filter once with a dds::domain::DomainParticipant.

<<in>> Content filter to be registered. Cannot be NULL.

One of the Standard Exceptions

See Also: dds::domain::DomainParticipant::unregister_contentfilter(const std::string & filter_name)

Parameters

custom_filter	A custom filter
filter_name	Name of the filter. The name must be unique within the DomainParticipant and must not exceed 255 characters.

Exceptions

One	of the standard Exceptions

void unregister_contentfilter ( const std::string & filter_name )

<<extension>> Unregister a content filter previously registered with dds::domain::DomainParticipant::register_contentfilter( const rti::topic::CustomFilter<rti::topic::ContentFilterBase>& custom_filter, const std::string& filter_name).

A filter_name can be unregistered only if it has been previously registered to the dds::domain::DomainParticipant with dds::domain::DomainParticipant::register_contentfilter(const rti::topic::CustomFilter < rti::topic::ContentFilterBase > & custom_filter, const std::string & filter_name).

The unregistration of filter is not allowed if there are any existing dds::topic::ContentFilteredTopic objects that are using the filter. If the operation is called on a filter with existing dds::topic::ContentFilteredTopic objects attached to it, this operation will fail with dds::core::PreconditionNotMetError.

If there are still existing discovered dds::sub::DataReader s with the same filter_name and the filter's compile method of the filter have previously been called on the discovered dds::sub::DataReader s, finalize method of the filter will be called on those discovered dds::sub::DataReader s before the content filter is unregistered. This means filtering will now be performed on the application that is creating the dds::sub::DataReader.

Parameters

filter_name Name of the filter to unregister.

Exceptions

One	of the standard Exceptions, or dds::core::PreconditionNotMetError

void unregister_type ( const std::string & name )

<<extension>> Unregister a type that has previously been registered to this dds::domain::DomainParticipant.

Parameters

name	The name of the type to unregister

bool is_type_registered ( const std::string & name ) const

<<extension>> Check if a type has previously been registered to this dds::domain::DomainParticipant.

Parameters

name	The name of the type to check

Returns: bool true if it is registered, false otherwise

void add_peer ( const std::string & peer_descr_string )

<<extension>> Attempt to contact one or more additional peer participants.

Add the given peer description to the list of peers with which this dds::domain::DomainParticipant will try to communicate.

This method may be called at any time after this dds::domain::DomainParticipant has been created (before or after it has been enabled).

If this method is called after dds::core::Entity::enable, an attempt will be made to contact the new peer(s) immediately.

If this method is called before the DomainParticipant is enabled, the peer description will simply be added to the list that was populated by rti::core::policy::Discovery::initial_peers(const dds::core::StringSeq & the_initial_peers); the first attempted contact will take place after this dds::domain::DomainParticipant is enabled.

Adding a peer description with this method does not guarantee that any peer(s) discovered as a result will exactly correspond to those described:

This dds::domain::DomainParticipant will attempt to discover peer participants at the given locations but may not succeed if no such participants are available. In this case, this method will not wait for contact attempt(s) to be made and it will not report an error.

If remote participants described by the given peer description are discovered, the distributed application is configured with asymmetric peer lists, and rti::core::policy::Discovery::accept_unknown_peers is set to true. Thus, this dds::domain::DomainParticipant may actually discover more peers than are described in the given peer description.

To be informed of the exact remote participants that are discovered, regardless of which peers this dds::domain::DomainParticipant attempts to discover, use the built-in participant topic: dds::topic::participant_topic_name().

To remove specific peer locators, you may use dds::domain::DomainParticipant::remove_peer(const std::string & peer_descr_string). If a peer is removed, the add_peer operation will add it back to the list of peers.

To stop communicating with a peer dds::domain::DomainParticipant that has been discovered, use dds::domain::DomainParticipant::ignore(const dds::domain::DomainParticipant & participant, const dds::core::InstanceHandle & handle).

Adding a peer description with this method has no effect on the rti::core::policy::Discovery::initial_peers(const dds::core::StringSeq & the_initial_peers) that may be subsequently retrieved with dds::domain::DomainParticipant::qos() const() (because rti::core::policy::Discovery is immutable).

Parameters

peer_descr_string New peer descriptor to be added. The format is specified in Peer Descriptor Format.

Exceptions

One	of the standard Exceptions

void remove_peer ( const std::string & peer_descr_string )

<<extension>> Remove one or more peer participants from the list of peers with which this dds::domain::DomainParticipant will try to communicate.

This method may be called any time after this dds::domain::DomainParticipant has been enabled

Calling this method has the following effects:

If a dds::domain::DomainParticipant was already discovered, it will be locally removed along with all its entities.
Any further requests coming from a dds::domain::DomainParticipant located on any of the removed peers will be ignored.
All the locators contained in the peer description will be removed from the peer list. The local dds::domain::DomainParticipant will stop sending announcement to those locators.

If remote participants located on a peer that was previously removed are discovered, they will be ignored untill the related peer is added back by using dds::domain::DomainParticipant::add_peer(const std::string & peer_descr_string).

Removing a peer description with this method has no effect on the rti::core::policy::Discovery::initial_peers(const dds::core::StringSeq & the_initial_peers) that may be subsequently retrieved with dds::domain::DomainParticipant::qos() const() (because rti::core::policy::Discovery is immutable).

Parameters

peer_descr_string Peer descriptor to be removed. The format is specified in Peer Descriptor Format.

Exceptions

One	of the standard Exceptions

void resume_endpoint_discovery ( const dds::core::InstanceHandle & remote_participant_handle )

<<extension>> Initiates endpoint discovery with the remote dds::domain::DomainParticipant identified by its InstanceHandle.

If the operation completes successfully, the dds::domain::DomainParticipant will initiate endpoint discovery with the remote dds::domain::DomainParticipant provided as a parameter.

When rti::core::policy::Discovery::enable_endpoint_discovery is set to false, this operation allows the RTI Connext application to select for which remote DomainParticipants endpoint discovery is performed. By disabling endpoint discovery, the DomainParticipant will not store any state about remote endpoints and will not send local endpoint information to remote DomainParticipants.

If rti::core::policy::Discovery::enable_endpoint_discovery is set to true, endpoint discovery will automatically occur for every discovered dds::domain::DomainParticipant. In this case, invoking this operation will have no effect and will return successfully.

When rti::core::policy::Discovery::enable_endpoint_discovery is set to false, you have two options after a remote dds::domain::DomainParticipant is discovered:

Call this operation to enable endpoint discovery. After invoking this operation, the dds::domain::DomainParticipant will start to exchange endpoint information so that matching and communication can occur with the remote dds::domain::DomainParticipant.
Call the dds::domain::DomainParticipant::ignore(const dds::domain::DomainParticipant & participant, const dds::core::InstanceHandle & handle) operation to permanently ignore endpoint discovery with the remote dds::domain::DomainParticipant.

Setting rti::core::policy::Discovery::enable_endpoint_discovery to false enables application-level authentication use cases, in which a dds::domain::DomainParticipant will initiate endpoint discovery with a remote dds::domain::DomainParticipant after successful authentication at the application level.

The remote_participant_handle paremeter is the one that appears in the dds::sub::SampleInfo retrieved when reading the data samples available for the built-in ParticipantBuiltinTopicDataDataReader.

If the specified remote dds::domain::DomainParticipant is not in the database of discovered DomainParticipants or has been previously ignored, this operation will fail with dds::core::Error.

This operation can be called multiple times on the same remote participant. If endpoint discovery has already been resumed, successive calls will have no effect and will return successfully.

Parameters

remote_participant_handle <<in>> Handle of a discovered dds::domain::DomainParticipant for which endpoint discovery is to be resumed.

Exceptions

One	of the Standard Exceptions,or dds::core::NotEnabledError

See Also: rti::core::policy::Discovery

void delete_durable_subscription ( const rti::core::EndpointGroup & group )

<<extension>> Deletes an existing Durable Subscription on all Persistence Services.

The Persistence Service will delete the Durable Subscription and the quorum of the existing samples will be considered satisfied.

Parameters

group <<in>> rti::core::EndpointGroup specifying the Durable Subscription name. Quorum is not required for this operation.

Exceptions

One	of the Standard Exceptions

void register_durable_subscription	(	const rti::core::EndpointGroup &	group,
		const std::string &	topic_name
	)

<<extension>> Registers a Durable Subscription on the specified dds::topic::Topic on all Persistence Services.

If you need to receive all samples published on a dds::topic::Topic, including the ones published while a dds::sub::DataReader is inactive or before it may be created, create a Durable Subscription using this method.

In this way, the Persistence Service will ensure that all the samples on that dds::topic::Topic are retained until they are acknowledged by at least N DataReaders belonging to the Durable Subscription where N is the quorum count.

If the same Durable Subscription is created on a different dds::topic::Topic, the Persistence Service will implicitly delete the previous Durable Subscription and create a new one on the new dds::topic::Topic.

Parameters

group	<<in>> rti::core::EndpointGroup The Durable Subscription name and quorum.
topic_name	<<in>> The topic name for which the Durable Subscription is created.

Exceptions

One	of the Standard Exceptions

rti::core::status::DomainParticipantProtocolStatus participant_protocol_status ( )

<<extension>> Get the protocol status for this participant

This also resets the status so that it is no longer considered changed.

Exceptions

One	of the Standard Exceptions or dds::core::NotEnabledError.

Friends And Related Function Documentation

void ignore	(	const dds::domain::DomainParticipant &	participant,
		const dds::core::InstanceHandle &	handle
	)

From the time of this call onwards, RTI Connext will locally behave as if the remote participant did not exist. This means it will ignore any topic, publication, or subscription that originates on that dds::domain::DomainParticipant.

There is no way to reverse this operation.

This operation can be used in conjunction with the discovery of remote participants offered by means of the dds::topic::ParticipantBuiltinTopicData to provide access control.

Application data can be associated with a dds::domain::DomainParticipant by means of the USER_DATA policy. This application data is propagated as a field in the built-in topic and can be used by an application to implement its own access control policy.

The dds::domain::DomainParticipant to ignore is identified by the handle argument. This handle is the one that appears in the dds::sub::SampleInfo retrieved when reading the data-samples available for the built-in dds::sub::DataReader to the dds::domain::DomainParticipant topic. The built-in dds::sub::DataReader is read with the same dds::sub::DataReader::read and dds::sub::DataReader::take operations used for any dds::sub::DataReader.

Parameters

participant	The DomainParticipant for which the remote entity will be ignored.
handle	The dds::core::InstanceHandle of the remote entity that will be ignored.

template<typename FwdIterator >

void ignore	(	const dds::domain::DomainParticipant &	participant,
		FwdIterator	begin,
		FwdIterator	end
	)

The series of entities whose instance handles are made available via the provided iterators will be ignored.

Parameters

participant	The DomainParticipant for which the remote entity will be ignored
begin	The begin iterator for the series of InstanceHandles to ignore
end	The end iterator for the series of InstanceHandles to ignore

See Also: ignore(const dds::domain::DomainParticipant& participant, const dds::core::InstanceHandle& handle)

DomainParticipant find ( int32_t domain_id )

If no such DomainParticipant exists, the operation will return dds::core::null.

If multiple DomainParticipants belonging to that domain id exist, then the operation will return one of them. It is not specified which one.

Parameters

domain_id The domain id of the DomainParticipant to find

dds::core::InstanceHandleSeq discovered_participants ( dds::domain::DomainParticipant & participant )

This operation retrieves the list of dds::domain::DomainParticipant entities that have been discovered in the domain and that the application has not indicated should be "ignored" by means of the dds::domain::DomainParticipant::ignore(const dds::domain::DomainParticipant & participant, const dds::core::InstanceHandle & handle) operation.

Parameters

participant The DomainParticipant where to look up the discovered participants

Returns: The list of InstanceHandles that can be passed to rti::domain::discovered_participant_data().

Exceptions

One	of the Standard Exceptions or dds::core::NotEnabledError

dds::topic::ParticipantBuiltinTopicData discovered_participant_data	(	dds::domain::DomainParticipant &	participant,
		const dds::core::InstanceHandle &	participant_handle
	)

This operation retrieves information on a dds::domain::DomainParticipant that has been discovered on the network. The participant must be in the same domain as the participant on which this operation is invoked and must not have been "ignored" by means of the dds::domain::DomainParticipant::ignore(const dds::domain::DomainParticipant & participant, const dds::core::InstanceHandle & handle) operation.

The participant_handle must correspond to such a DomainParticipant. Otherwise, the operation will fail with dds::core::PreconditionNotMetError.

Use the operation rti::domain::discovered_participants() to find the dds::domain::DomainParticipant entities that are currently discovered.

Note: This operation does not retrieve the dds::topic::ParticipantBuiltinTopicData::property. This information is available through dds::sub::DataReaderListener::on_data_available() (if a reader listener is installed on the ParticipantBuiltinTopicDataDataReader).

MT Safety:: Unsafe. It is not safe to call this operation from multiple threads at the same time.

Parameters

participant	The DomainParticipant where to look up the information
participant_handle	<<in>> dds::core::InstanceHandle of dds::domain::DomainParticipant.

Returns: The participant information about participant_handle

Exceptions

One	of the Standard Exceptions, dds::core::PreconditionNotMetError or dds::core::NotEnabledError

See Also: dds::topic::ParticipantBuiltinTopicData; rti::domain::discovered_participants()

dds::domain::DomainParticipant find_participant_by_name ( const std::string & participant_name )

#include <rti/domain/find.hpp>

If no such DomainParticipant exists, the operation will return dds::core::null.

template<typename ParticipantFwdIterator >

uint32_t find_participants	(	ParticipantFwdIterator	begin,
		uint32_t	max_size
	)

#include <rti/domain/find.hpp>

If no such DomainParticipant exists, the operation will return dds::core::null.

Template Parameters

ParticipantFwdIterator A forward iterator whose value type is dds::domain::DomainParticipant

Parameters

begin	The iterator where to begin adding DomainParticipants.
max_size	The maximum number of elements to add

Returns: The number of elements added

template<typename ParticipantFwdIterator >

uint32_t find_participants ( ParticipantFwdIterator begin )

#include <rti/domain/find.hpp>

Template Parameters

ParticipantFwdIterator A forward iterator whose value type is dds::domain::DomainParticipant

Parameters

begin The iterator where to begin adding DomainParticipants.

Returns: The number of elements added

void register_type	(	dds::domain::DomainParticipant &	participant,
		const std::string &	name,
		const dds::core::xtypes::DynamicType &	type,
		const rti::core::xtypes::DynamicDataTypeSerializationProperty &	serialization_property = `rti::core::xtypes::DynamicDataTypeSerializationProperty::DEFAULT`
	)

Typically you don't need to call this function, since this topic constructor takes care of that automatically. You do need to call this function before creating the topic if you want to change the default data-serialization property.

Calling this function also allows to change the registered name of the type, which by default is type.name().

Parameters

participant	The participant where to register this type
name	The name to use to register this type
type	The type definition
serialization_property	The data-serialization property

See Also: dds::core::xtypes::DynamicType; dds::core::xtypes::DynamicData

template<typename T >

void register_type ( const std::string & registered_type_name = dds::topic::topic_type_name<T>::value() )

When using XML Application creation, you must use this function to register any user-generated types with RTI Connext before creating your system.

Typically you don't need to call this function, since the topic constructor takes care of that automatically.

Template Parameters

T	The user-generated type that is being registered

Parameters

registered_type_name The name to use when registering the type. This is the name that will be used in your XML configuration file to refer to the type.

See Also: dds::domain::DomainParticipant::create_participant_from_config; XML Application Creation

Public Types

Public Member Functions

Static Public Member Functions

Related Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation