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
IEntity types, DomainParticipants have QoS policies and listeners.
The following code shows how to specify the
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