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RTI Connext Traditional C++ API
Version 6.0.0
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<<interface>> A publisher is the object responsible for the actual dissemination of publications. More...
Public Member Functions | |
| virtual DDS_ReturnCode_t | get_default_datawriter_qos (DDS_DataWriterQos &qos)=0 |
| Copies the default DDS_DataWriterQos values into the provided DDS_DataWriterQos instance. | |
| virtual DDS_ReturnCode_t | set_default_datawriter_qos (const DDS_DataWriterQos &qos)=0 |
| Sets the default DDS_DataWriterQos values for this publisher. | |
| virtual DDS_ReturnCode_t | set_default_datawriter_qos_with_profile (const char *library_name, const char *profile_name)=0 |
| <<extension>> Set the default DDS_DataWriterQos values for this publisher based on the input XML QoS profile. | |
| virtual DDS_ReturnCode_t | set_default_library (const char *library_name)=0 |
| <<extension>> Sets the default XML library for a DDSPublisher. | |
| virtual const char * | get_default_library ()=0 |
| <<extension>> Gets the default XML library associated with a DDSPublisher. | |
| virtual DDS_ReturnCode_t | set_default_profile (const char *library_name, const char *profile_name)=0 |
| <<extension>> Sets the default XML profile for a DDSPublisher. | |
| virtual const char * | get_default_profile ()=0 |
| <<extension>> Gets the default XML profile associated with a DDSPublisher. | |
| virtual const char * | get_default_profile_library ()=0 |
| <<extension>> Gets the library where the default XML QoS profile is contained for a DDSPublisher. | |
| virtual DDSDataWriter * | create_datawriter (DDSTopic *topic, const DDS_DataWriterQos &qos, DDSDataWriterListener *listener, DDS_StatusMask mask)=0 |
| Creates a DDSDataWriter that will be attached and belong to the DDSPublisher. | |
| virtual DDSDataWriter * | create_datawriter_with_profile (DDSTopic *topic, const char *library_name, const char *profile_name, DDSDataWriterListener *listener, DDS_StatusMask mask)=0 |
| <<extension>> Creates a DDSDataWriter object using the DDS_DataWriterQos associated with the input XML QoS profile. | |
| virtual DDS_ReturnCode_t | delete_datawriter (DDSDataWriter *a_datawriter)=0 |
| Deletes a DDSDataWriter that belongs to the DDSPublisher. | |
| virtual DDSDataWriter * | lookup_datawriter (const char *topic_name)=0 |
| Retrieves the DDSDataWriter for a specific DDSTopic. | |
| virtual DDS_ReturnCode_t | get_all_datawriters (DDSDataWriterSeq &writers)=0 |
| Retrieve all the DataWriters created from this Publisher. | |
| virtual DDS_ReturnCode_t | suspend_publications ()=0 |
| Indicates to RTI Connext that the application is about to make multiple modifications using DDSDataWriter objects belonging to the DDSPublisher. | |
| virtual DDS_ReturnCode_t | resume_publications ()=0 |
| Indicates to RTI Connext that the application has completed the multiple changes initiated by the previous DDSPublisher::suspend_publications. | |
| virtual DDS_ReturnCode_t | begin_coherent_changes ()=0 |
| Indicates that the application will begin a coherent set of modifications using DDSDataWriter objects attached to the DDSPublisher. | |
| virtual DDS_ReturnCode_t | end_coherent_changes ()=0 |
| Terminates the coherent set initiated by the matching call to DDSPublisher::begin_coherent_changes. | |
| virtual DDSDomainParticipant * | get_participant ()=0 |
| Returns the DDSDomainParticipant to which the DDSPublisher belongs. | |
| virtual DDS_ReturnCode_t | delete_contained_entities ()=0 |
| Deletes all the entities that were created by means of the "create" operation on the DDSPublisher. | |
| virtual DDS_ReturnCode_t | copy_from_topic_qos (DDS_DataWriterQos &a_datawriter_qos, const DDS_TopicQos &a_topic_qos)=0 |
| Copies the policies in the DDS_TopicQos to the corresponding policies in the DDS_DataWriterQos. | |
| virtual DDS_ReturnCode_t | wait_for_acknowledgments (const DDS_Duration_t &max_wait)=0 |
| Blocks the calling thread until all data written by the Publisher's reliable DataWriters is acknowledged, or until timeout expires. | |
| virtual DDS_ReturnCode_t | wait_for_asynchronous_publishing (const DDS_Duration_t &max_wait)=0 |
| <<extension>> Blocks the calling thread until asynchronous sending is complete. | |
| virtual DDS_ReturnCode_t | set_qos (const DDS_PublisherQos &qos)=0 |
| Sets the publisher QoS. | |
| virtual DDS_ReturnCode_t | set_qos_with_profile (const char *library_name, const char *profile_name)=0 |
| <<extension>> Change the QoS of this publisher using the input XML QoS profile. | |
| virtual DDS_ReturnCode_t | get_qos (DDS_PublisherQos &qos)=0 |
| Gets the publisher QoS. | |
| virtual DDS_ReturnCode_t | set_listener (DDSPublisherListener *l, DDS_StatusMask mask=DDS_STATUS_MASK_ALL)=0 |
| Sets the publisher listener. | |
| virtual DDSPublisherListener * | get_listener ()=0 |
| Get the publisher listener. | |
| virtual DDSDataWriter * | lookup_datawriter_by_name (const char *datawriter_name)=0 |
| <<extension>> Retrieves a DDSDataWriter contained within the DDSPublisher the DDSDataWriter entity name. | |
<<interface>> A publisher is the object responsible for the actual dissemination of publications.
A publisher acts on the behalf of one or several DDSDataWriter objects that belong to it. When it is informed of a change to the data associated with one of its DDSDataWriter objects, it decides when it is appropriate to actually send the data-update message. In making this decision, it considers any extra information that goes with the data (timestamp, writer, etc.) as well as the QoS of the DDSPublisher and the DDSDataWriter.
The following operations may be called even if the DDSPublisher is not enabled. Other operations will fail with the value DDS_RETCODE_NOT_ENABLED if called on a disabled DDSPublisher:
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Copies the default DDS_DataWriterQos values into the provided DDS_DataWriterQos instance.
The retrieved qos will match the set of values specified on the last successful call to DDSPublisher::set_default_datawriter_qos or DDSPublisher::set_default_datawriter_qos_with_profile, or else, if the call was never made, the default values from its owning DDSDomainParticipant.
This method may potentially allocate memory depending on the sequences contained in some QoS policies.
| qos | <<inout>> DDS_DataWriterQos to be filled-up. |
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Sets the default DDS_DataWriterQos values for this publisher.
This call causes the default values inherited from the owning DDSDomainParticipant to be overridden.
This default value will be used for newly created DDSDataWriter if DDS_DATAWRITER_QOS_DEFAULT is specified as the qos parameter when DDSPublisher::create_datawriter is called.
qos parameter. | qos | <<in>> Default qos to be set. The special value DDS_DATAREADER_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 DDSPublisher::set_default_datawriter_qos had never been called. |
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<<extension>> Set the default DDS_DataWriterQos values for this publisher based on the input XML QoS profile.
This default value will be used for newly created DDSDataWriter if DDS_DATAWRITER_QOS_DEFAULT is specified as the qos parameter when DDSPublisher::create_datawriter is called.
qos parameter. | library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSPublisher::set_default_library). |
| profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSPublisher::set_default_profile). |
If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.
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<<extension>> Sets the default XML library for a DDSPublisher.
This method specifies the library that will be used as the default the next time a default library is needed during a call to one of this Publisher's operations.
Any API requiring a library_name as a parameter can use null to refer to the default library.
If the default library is not set, the DDSPublisher inherits the default from the DDSDomainParticipant (see DDSDomainParticipant::set_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 DDSPublisher.
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<<extension>> Sets the default XML profile for a DDSPublisher.
This method specifies the profile that will be used as the default the next time a default Publisher profile is needed during a call to one of this Publisher's operations. When calling a DDSPublisher 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.)
If the default profile is not set, the DDSPublisher inherits the default from the DDSDomainParticipant (see DDSDomainParticipant::set_default_profile).
This method does not set the default QoS for DDSDataWriter objects created by the DDSPublisher; for this functionality, use DDSPublisher::set_default_datawriter_qos_with_profile (you may pass in NULL after having called set_default_profile()).
This method does not set the default QoS for newly created Publishers; for this functionality, use DDSDomainParticipant::set_default_publisher_qos_with_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 DDSPublisher.
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<<extension>> Gets the library where the default XML QoS profile is contained for a DDSPublisher.
The default profile library is automatically set when DDSPublisher::set_default_profile is called.
This library can be different than the DDSPublisher default library (see DDSPublisher::get_default_library).
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Creates a DDSDataWriter that will be attached and belong to the DDSPublisher.
For each application-defined type, Foo, there is an implied, auto-generated class FooDataWriter that extends DDSDataWriter and contains the operations to write data of type Foo.
Note that a common application pattern to construct the QoS for the DDSDataWriter is to:
When a DDSDataWriter is created, only those transports already registered are available to the DDSDataWriter. See Built-in Transport Plugins for details on when a builtin transport is registered.
qos parameter, it is not safe to create the datawriter while another thread may be simultaneously calling DDSPublisher::set_default_datawriter_qos. | topic | <<in>> The DDSTopic that the DDSDataWriter will be associated with. Cannot be NULL. |
| qos | <<in>> QoS to be used for creating the new DDSDataWriter. The special value DDS_DATAWRITER_QOS_DEFAULT can be used to indicate that the DDSDataWriter should be created with the default DDS_DataWriterQos set in the DDSPublisher. The special value DDS_DATAWRITER_QOS_USE_TOPIC_QOS can be used to indicate that the DDSDataWriter should be created with the combination of the default DDS_DataWriterQos set on the DDSPublisher and the DDS_TopicQos of the DDSTopic. |
| listener | <<in>> The listener of the DDSDataWriter. |
| mask | <<in>>. Changes of communication status to be invoked on the listener. See DDS_StatusMask. |
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<<extension>> Creates a DDSDataWriter object using the DDS_DataWriterQos associated with the input XML QoS profile.
The DDSDataWriter will be attached and belong to the DDSPublisher.
For each application-defined type, Foo, there is an implied, auto-generated class FooDataWriter that extends DDSDataWriter and contains the operations to write data of type Foo.
When a DDSDataWriter is created, only those transports already registered are available to the DDSDataWriter. See Built-in Transport Plugins for details on when a builtin transport is registered.
| topic | <<in>> The DDSTopic that the DDSDataWriter will be associated with. 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 DDSPublisher::set_default_library). |
| profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSPublisher::set_default_profile). |
| listener | <<in>> The listener of the DDSDataWriter. |
| mask | <<in>>. Changes of communication status to be invoked on the listener. See DDS_StatusMask. |
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Deletes a DDSDataWriter that belongs to the DDSPublisher.
The deletion of the DDSDataWriter will automatically unregister all instances. Depending on the settings of the WRITER_DATA_LIFECYCLE QosPolicy, the deletion of the DDSDataWriter may also dispose all instances.
If the DataWriter's DDS_DestinationOrderQosPolicy::kind is DDS_BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS, deleting the DataWriter may fail if your application has previously used the operations that receive a timestamp (FooDataWriter::write_w_timestamp, FooDataWriter::register_instance_w_timestamp, FooDataWriter::unregister_instance_w_timestamp, or FooDataWriter::dispose_w_timestamp) with a timestamp larger (later) than the time at which the writer is deleted. To prevent the deletion from failing in this situation, either:
| a_datawriter | <<in>> The DDSDataWriter to be deleted. |
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Retrieves the DDSDataWriter for a specific DDSTopic.
This returned DDSDataWriter is either enabled or disabled.
If more than one DDSDataWriter is attached to the DDSPublisher with the same topic_name, then this operation may return any one of them.
| topic_name | <<in>> Name of the DDSTopic associated with the DDSDataWriter that is to be looked up. Cannot be NULL. |
topic_name. If no such DDSDataWriter exists, this operation returns NULL.
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Retrieve all the DataWriters created from this Publisher.
| writers | <<inout>> Sequence where the DataWriters will be added |
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Indicates to RTI Connext that the application is about to make multiple modifications using DDSDataWriter objects belonging to the DDSPublisher.
It is a hint to RTI Connext so it can optimize its performance by e.g., holding the dissemination of the modifications and then batching them.
The use of this operation must be matched by a corresponding call to DDSPublisher::resume_publications indicating that the set of modifications has completed.
If the DDSPublisher is deleted before DDSPublisher::resume_publications is called, any suspended updates yet to be published will be discarded.
RTI Connext is not required and does not currently make use of this hint in any way. However, similar results can be achieved by using asynchronous publishing. Combined with DDSFlowController, DDS_ASYNCHRONOUS_PUBLISH_MODE_QOS DDSDataWriter instances allow the user even finer control of traffic shaping and sample coalescing.
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Indicates to RTI Connext that the application has completed the multiple changes initiated by the previous DDSPublisher::suspend_publications.
This is a hint to RTI Connext that can be used for example, to batch all the modifications made since the DDSPublisher::suspend_publications.
RTI Connext is not required and does not currently make use of this hint in any way. However, similar results can be achieved by using asynchronous publishing. Combined with DDSFlowController, DDS_ASYNCHRONOUS_PUBLISH_MODE_QOS DDSDataWriter instances allow the user even finer control of traffic shaping and sample coalescing.
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Indicates that the application will begin a coherent set of modifications using DDSDataWriter objects attached to the DDSPublisher.
A 'coherent set' is a set of modifications that must be propagated in such a way that they are interpreted at the receiver's side as a consistent set of modifications; that is, the receiver will only be able to access the data after all the modifications in the set are available at the receiver end.
A connectivity change may occur in the middle of a set of coherent changes; for example, the set of partitions used by the DDSPublisher or one of its DDSSubscriber s may change, a late-joining DDSDataReader may appear on the network, or a communication failure may occur. In the event that such a change prevents an entity from receiving the entire set of coherent changes, that entity must behave as if it had received none of the set.
These calls can be nested. In that case, the coherent set terminates only with the last call to DDSPublisher::end_coherent_changes.
The support for coherent changes enables a publishing application to change the value of several data-instances that could belong to the same or different topics and have those changes be seen atomically by the readers. This is useful in cases where the values are inter-related (for example, if there are two data-instances representing the altitude and velocity vector of the same aircraft and both are changed, it may be useful to communicate those values in a way the reader can see both together; otherwise, it may e.g., erroneously interpret that the aircraft is on a collision course).
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Terminates the coherent set initiated by the matching call to DDSPublisher::begin_coherent_changes.
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Returns the DDSDomainParticipant to which the DDSPublisher belongs.
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Deletes all the entities that were created by means of the "create" operation on the DDSPublisher.
Deletes all contained DDSDataWriter objects. Once DDSPublisher::delete_contained_entities completes successfully, the application may delete the DDSPublisher, knowing that it has no contained DDSDataWriter objects.
The operation will fail with DDS_RETCODE_PRECONDITION_NOT_MET if any of the contained entities is in a state where it cannot be deleted.
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Copies the policies in the DDS_TopicQos to the corresponding policies in the DDS_DataWriterQos.
Copies the policies in the DDS_TopicQos to the corresponding policies in the DDS_DataWriterQos (replacing values in the DDS_DataWriterQos, if present).
This is a "convenience" operation most useful in combination with the operations DDSPublisher::get_default_datawriter_qos and DDSTopic::get_qos. The operation DDSPublisher::copy_from_topic_qos can be used to merge the DDSDataWriter default QoS policies with the corresponding ones on the DDSTopic. The resulting QoS can then be used to create a new DDSDataWriter, or set its QoS.
This operation does not check the resulting DDS_DataWriterQos for consistency. This is because the 'merged' DDS_DataWriterQos may not be the final one, as the application can still modify some policies prior to applying the policies to the DDSDataWriter.
| a_datawriter_qos | <<inout>> DDS_DataWriterQos to be filled-up. |
| a_topic_qos | <<in>> DDS_TopicQos to be merged with DDS_DataWriterQos. |
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Blocks the calling thread until all data written by the Publisher's reliable DataWriters is acknowledged, or until timeout expires.
This operation blocks the calling thread until either all data written by the reliable DataWriters entities is acknowledged by (a) all reliable DDSDataReader entities that are matched and alive and (b) by all required subscriptions, or until the duration specified by the max_wait parameter elapses, whichever happens first. A successful completion indicates that all the samples written have been acknowledged; a timeout indicates that max_wait elapsed before all the data was acknowledged.
Note that if a thread is blocked in the call to this operation on a DDSPublisher and a different thread writes new samples on any of the reliable DataWriters that belong to this Publisher, the new samples must be acknowledged before unblocking the thread that is waiting on this operation.
If none of the DDSDataWriter instances have DDS_ReliabilityQosPolicy kind set to RELIABLE, the operation will complete successfully.
| max_wait | <<in>> Specifies maximum time to wait for acknowledgements DDS_Duration_t . |
Referenced by DDSDataWriter::wait_for_acknowledgments().
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<<extension>> Blocks the calling thread until asynchronous sending is complete.
This operation blocks the calling thread (up to max_wait) until all data written by the asynchronous DDSDataWriter entities is sent and acknowledged (if reliable) by all matched DDSDataReader entities. A successful completion indicates that all the samples written have been sent and acknowledged where applicable; if it times out, this indicates that max_wait elapsed before all the data was sent and/or acknowledged.
In other words, this guarantees that sending to best effort DDSDataReader is complete in addition to what DDSPublisher::wait_for_acknowledgments provides.
If none of the DDSDataWriter instances have DDS_PublishModeQosPolicy::kind set to DDS_ASYNCHRONOUS_PUBLISH_MODE_QOS, the operation will complete immediately , with DDS_RETCODE_OK.
| max_wait | <<in>> Specifies maximum time to wait for acknowledgements DDS_Duration_t. |
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Sets the publisher QoS.
This operation modifies the QoS of the DDSPublisher.
The DDS_PublisherQos::group_data, DDS_PublisherQos::partition and DDS_PublisherQos::entity_factory can be changed. The other policies are immutable.
| qos | <<in>> DDS_PublisherQos to be set to. Policies must be consistent. Immutable policies cannot be changed after DDSPublisher is enabled. The special value DDS_PUBLISHER_QOS_DEFAULT can be used to indicate that the QoS of the DDSPublisher should be changed to match the current default DDS_PublisherQos set in the DDSDomainParticipant. |
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<<extension>> Change the QoS of this publisher using the input XML QoS profile.
This operation modifies the QoS of the DDSPublisher.
The DDS_PublisherQos::group_data, DDS_PublisherQos::partition and DDS_PublisherQos::entity_factory can be changed. The other policies are immutable.
| library_name | <<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSPublisher::set_default_library). |
| profile_name | <<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSPublisher::set_default_profile). |
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Gets the publisher QoS.
This method may potentially allocate memory depending on the sequences contained in some QoS policies.
| qos | <<in>> DDS_PublisherQos to be filled in. |
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Sets the publisher listener.
| l | <<in>> DDSPublisherListener to set to. |
| mask | <<in>> DDS_StatusMask associated with the DDSPublisherListener. |
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Get the publisher listener.
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<<extension>> Retrieves a DDSDataWriter contained within the DDSPublisher the DDSDataWriter entity name.
Every DDSDataWriter in the system has an entity name which is configured and stored in the <<extension>> EntityName policy, ENTITY_NAME.
This operation retrieves the DDSDataWriter within the DDSPublisher whose name matches the one specified. If there are several DDSDataWriter with the same name within the DDSPublisher, the operation returns the first matching occurrence.
| datawriter_name | <<in>> Entity name of the DDSDataWriter. |
RTI Connext Traditional C++ API Version 6.0.0
Copyright © Sun Mar 3 2019
Real-Time Innovations, Inc