DomainParticipant

DomainParticipants are the focal point for creating, destroying, and managing other Connext DDS objects. A DDS domain is a logical network of applications: only applications that belong to the same DDS domain may communicate using Connext DDS. A DDS domain is identified by a unique integer value known as a domain ID. An application participates in a DDS domain by creating a DomainParticipant for that domain ID.

The following code creates a DomainParticipant on domain 0.

import rti.connextdds as dds
DOMAIN_ID = 0
participant = dds.DomainParticipant(DOMAIN_ID)

You can also create a participant using a with statement so it gets deleted when the block ends.

import rti.connextdds as dds
DOMAIN_ID = 0
with dds.DomainParticipant(DOMAIN_ID) as participant:
    pass

Like all IEntity types, DomainParticipants have QoS policies and listeners.

The following code shows how to specify the DomainParticipantQos:

import rti.connextdds as dds
DOMAIN_ID = 0
qos = dds.DomainParticipantQos()
qos.database.shutdown_cleanup_period = dds.Duration.from_milliseconds(10)
participant = dds.DomainParticipant(DOMAIN_ID, qos)

A DomainParticpant and its contained entities can also be created from an XML definition with the QosProvider.create_participant_from_config() function.