<<singleton>> <<interface>> Allows creation and destruction of DDSDomainParticipant objects. More...

Public Member Functions
virtual DDS_ReturnCode_t	set_default_participant_qos (const DDS_DomainParticipantQos &qos)=0
	Sets the default DDS_DomainParticipantQos values for this domain participant factory. More...

virtual DDS_ReturnCode_t	set_default_participant_qos_with_profile (const char library_name, const char profile_name)=0
	<<extension>> Sets the default DDS_DomainParticipantQos values for this domain participant factory based on the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_default_participant_qos (DDS_DomainParticipantQos &qos)=0
	Initializes the DDS_DomainParticipantQos instance with default values. More...

virtual DDS_ReturnCode_t	set_default_library (const char *library_name)=0
	<<extension>> Sets the default XML library for a DDSDomainParticipantFactory. More...

virtual const char *	get_default_library ()=0
	<<extension>> Gets the default XML library associated with a DDSDomainParticipantFactory. More...

virtual DDS_ReturnCode_t	set_default_profile (const char library_name, const char profile_name)=0
	<<extension>> Sets the default XML profile for a DDSDomainParticipantFactory. More...

virtual const char *	get_default_profile ()=0
	<<extension>> Gets the default XML profile associated with a DDSDomainParticipantFactory. More...

virtual const char *	get_default_profile_library ()=0
	<<extension>> Gets the library where the default XML profile is contained for a DDSDomainParticipantFactory. More...

virtual DDS_ReturnCode_t	get_participant_factory_qos_from_profile (DDS_DomainParticipantFactoryQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_DomainParticipantFactoryQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_participant_qos_from_profile (DDS_DomainParticipantQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_DomainParticipantQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_publisher_qos_from_profile (DDS_PublisherQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_PublisherQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_subscriber_qos_from_profile (DDS_SubscriberQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_SubscriberQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_datawriter_qos_from_profile (DDS_DataWriterQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_datawriter_qos_from_profile_w_topic_name (DDS_DataWriterQos &qos, const char library_name, const char profile_name, const char *topic_name)=0
	<<extension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile while applying topic filters to the input topic name. More...

virtual DDS_ReturnCode_t	get_datareader_qos_from_profile (DDS_DataReaderQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_datareader_qos_from_profile_w_topic_name (DDS_DataReaderQos &qos, const char library_name, const char profile_name, const char *topic_name)=0
	<<extension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile while applying topic filters to the input topic name. More...

virtual DDS_ReturnCode_t	get_topic_qos_from_profile (DDS_TopicQos &qos, const char library_name, const char profile_name)=0
	<<extension>> Gets the DDS_TopicQos values associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	get_topic_qos_from_profile_w_topic_name (DDS_TopicQos &qos, const char library_name, const char profile_name, const char *topic_name)=0
	<<extension>> Gets the DDS_TopicQos values associated with the input XML QoS profile while applying topic filters to the input topic name. More...

virtual DDS_ReturnCode_t	get_qos_profile_libraries (struct DDS_StringSeq &library_names)=0
	<<extension>> Gets the names of all XML QoS profile libraries associated with the DDSDomainParticipantFactory More...

virtual DDS_ReturnCode_t	get_qos_profiles (struct DDS_StringSeq &profile_names, const char *library_name)=0
	<<extension>> Gets the names of all XML QoS profiles associated with the input XML QoS profile library. More...

virtual DDSDomainParticipant *	create_participant (DDS_DomainId_t domainId, const DDS_DomainParticipantQos &qos, DDSDomainParticipantListener *listener, DDS_StatusMask mask)=0
	Creates a new DDSDomainParticipant object. More...

virtual DDSDomainParticipant *	create_participant_with_profile (DDS_DomainId_t domainId, const char library_name, const char profile_name, DDSDomainParticipantListener *listener, DDS_StatusMask mask)=0
	<<extension>> Creates a new DDSDomainParticipant object using the DDS_DomainParticipantQos associated with the input XML QoS profile. More...

virtual DDS_ReturnCode_t	delete_participant (DDSDomainParticipant *a_participant)=0
	Deletes an existing DDSDomainParticipant. More...

virtual DDSDomainParticipant *	lookup_participant (DDS_DomainId_t domainId)=0
	Locates an existing DDSDomainParticipant. More...

virtual DDS_ReturnCode_t	set_qos (const DDS_DomainParticipantFactoryQos &qos)=0
	Sets the value for a participant factory QoS. More...

virtual DDS_ReturnCode_t	get_qos (DDS_DomainParticipantFactoryQos &qos)=0
	Gets the value for participant factory QoS. More...

virtual DDS_ReturnCode_t	load_profiles ()=0
	<<extension>> Loads the XML QoS profiles. More...

virtual DDS_ReturnCode_t	reload_profiles ()=0
	<<extension>> Reloads the XML QoS profiles. More...

virtual DDS_ReturnCode_t	unload_profiles ()=0
	<<extension>> Unloads the XML QoS profiles. More...

virtual DDS_ReturnCode_t	unregister_thread ()=0
	<<extension>> Allows the user to release thread specific resources kept by the middleware. More...

virtual const DDS_TypeCode *	get_typecode_from_config (const char *type_name)=0
	<<extension>> Gets a DDS_TypeCode from a definition provided in an XML configuration file. More...

virtual DDSDomainParticipant *	create_participant_from_config (const char *configuration_name)=0
	<<extension>> Creates a DDSDomainParticipant given its configuration name from a description provided in an XML configuration file. More...

virtual DDSDomainParticipant *	create_participant_from_config_w_params (const char *configuration_name, const DDS_DomainParticipantConfigParams_t &params)=0
	<<extension>> Creates a DDSDomainParticipant given its configuration name from a description provided in an XML configuration file and a set of parameters that allow chaging some properties of such configuration. More...

virtual DDSDomainParticipant *	lookup_participant_by_name (const char *participant_name)=0
	<<extension>> Looks up a DDSDomainParticipant by its entity name in the DDSDomainParticipantFactory. More...

virtual DDS_ReturnCode_t	register_type_support (DDSDomainParticipantFactory_RegisterTypeFunction register_type_fcn, const char *type_name)=0
	<<extension>> Registers a DDSTypeSupport with the DDSDomainParticipantFactory to enable automatic registration if the corresponding type, should it be needed by a DDSDomainParticipant. More...

virtual DDS_ReturnCode_t	get_participants (DDSDomainParticipantSeq &participants)=0
	<<extension>> Allows the application to access all the participants the DomainParticipantFactory has. More...

virtual DDS_ReturnCode_t	set_thread_factory (DDSThreadFactory *thread_factory)=0
	<<extension>> Sets a DDSThreadFactory in the DDSDomainParticipantFactory that will be used to create the internal threads of the DDS middleware. More...

Static Public Member Functions
static DDSDomainParticipantFactory *	get_instance ()
	Gets the singleton instance of this class. More...

static DDS_ReturnCode_t	finalize_instance ()
	<<extension>> Destroys the singleton instance of this class. More...

Detailed Description

<<singleton>> <<interface>> Allows creation and destruction of DDSDomainParticipant objects.

The sole purpose of this class is to allow the creation and destruction of DDSDomainParticipant objects. This class itself is a <<singleton>>, and accessed via the get_instance() method, and destroyed with finalize_instance() method.

A single application can participate in multiple domains by instantiating multiple DDSDomainParticipant objects.

An application may even instantiate multiple participants in the same domain. Participants in the same domain exchange data in the same way regardless of whether they are in the same application or different applications or on the same node or different nodes; their location is transparent.

There are two important caveats:

When there are multiple participants on the same node (in the same application or different applications) in the same domain, the application(s) must make sure that the participants do not try to bind to the same port numbers. You must disambiguate between the participants by setting a participant ID for each participant (DDS_WireProtocolQosPolicy::participant_id). The port numbers used by a participant are calculated based on both the participant index and the domain ID, so if all participants on the same node have different participant indexes, they can coexist in the same domain.
You cannot mix entities from different participants. For example, you cannot delete a topic on a different participant than you created it from, and you cannot ask a subscriber to create a reader for a topic created from a participant different than the subscriber's own participant. (Note that it is permissable for an application built on top of RTI Connext to know about entities from different participants. For example, an application could keep references to a reader from one domain and a writer from another and then bridge the domains by writing the data received in the reader callback.)

See also: DDSDomainParticipant

Member Function Documentation

◆ get_instance()

static DDSDomainParticipantFactory* DDSDomainParticipantFactory::get_instance ( )

static

Gets the singleton instance of this class.

DDSTheParticipantFactory can be used as an alias for the singleton factory returned by this operation.

Returns: The singleton DDSDomainParticipantFactory instance.

MT Safety:: UNSAFE. In VxWorks, it is unsafe to call this method while another thread may be simultaneously calling DDSDomainParticipantFactory::get_instance, DDSDomainParticipantFactory::finalize_instance, DDS_TypeCodeFactory::get_instance, NDDSUtilityNetworkCapture::enable, or NDDSUtilityNetworkCapture::disable.

See also: DDSTheParticipantFactory

◆ finalize_instance()

static DDS_ReturnCode_t DDSDomainParticipantFactory::finalize_instance ( )

static

<<extension>> Destroys the singleton instance of this class.

Only necessary to explicitly reclaim resources used by the participant factory singleton. Note that on many OSs, these resources are automatically reclaimed by the OS when the program terminates. However, some memory-check tools still flag these as unreclaimed. So this method provides a way to clean up memory used by the participant factory.

Precondition: All participants created from the factory have been deleted.

Postcondition: All resources belonging to the factory have been reclaimed. Another call to DDSDomainParticipantFactory::get_instance will return a new lifecycle of the singleton.

MT Safety:: UNSAFE. In VxWorks, it is unsafe to call this method while another thread may be simultaneously calling DDSDomainParticipantFactory::get_instance, DDSDomainParticipantFactory::finalize_instance, DDS_TypeCodeFactory::get_instance, NDDSUtilityNetworkCapture::enable, or NDDSUtilityNetworkCapture::disable.

Returns: One of the Standard Return Codes, or DDS_RETCODE_PRECONDITION_NOT_MET

See also: DDSTheParticipantFactory

Examples:: HelloWorld_publisher.cxx, and HelloWorld_subscriber.cxx.

◆ set_default_participant_qos()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::set_default_participant_qos ( const DDS_DomainParticipantQos & qos )

pure virtual

Sets the default DDS_DomainParticipantQos values for this domain participant factory.

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

Parameters

qos	<<inout>> Qos to be filled up. The special value DDS_PARTICIPANT_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 DDSDomainParticipantFactory::set_default_participant_qos had never been called.

Returns: One of the Standard Return Codes

See also: DDS_PARTICIPANT_QOS_DEFAULT; DDSDomainParticipantFactory::create_participant

◆ set_default_participant_qos_with_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::set_default_participant_qos_with_profile	(	const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Sets the default DDS_DomainParticipantQos values for this domain participant factory based on the input XML QoS profile.

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

This default value will be used for newly created DDSDomainParticipant if DDS_PARTICIPANT_QOS_DEFAULT is specified as the qos parameter when DDSDomainParticipantFactory::create_participant is called.

Precondition: The DDS_DomainParticipantQos contained in the specified XML QoS profile must be consistent, or else the operation will have no effect and fail with DDS_RETCODE_INCONSISTENT_POLICY

MT Safety:: UNSAFE. It is not safe to retrieve the default QoS value from a domain participant factory while another thread may be simultaneously calling DDSDomainParticipantFactory::set_default_participant_qos

Parameters

library_name	<<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes, or DDS_RETCODE_INCONSISTENT_POLICY

See also: DDS_PARTICIPANT_QOS_DEFAULT; DDSDomainParticipantFactory::create_participant_with_profile

◆ get_default_participant_qos()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_default_participant_qos ( DDS_DomainParticipantQos & qos )

pure virtual

Initializes the DDS_DomainParticipantQos instance with default values.

The retrieved qos will match the set of values specified on the last successful call to DDSDomainParticipantFactory::set_default_participant_qos, or DDSDomainParticipantFactory::set_default_participant_qos_with_profile, or else, if the call was never made, the default values listed in DDS_DomainParticipantQos.

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

Parameters

qos	<<out>> the domain participant's QoS

Returns: One of the Standard Return Codes

See also: DDS_PARTICIPANT_QOS_DEFAULT; DDSDomainParticipantFactory::create_participant

◆ set_default_library()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::set_default_library ( const char * library_name )

pure virtual

<<extension>> Sets the default XML library for a DDSDomainParticipantFactory.

Any API requiring a library_name as a parameter can use NULL to refer to the default library set with this function.

Note: if the library set with this function no longer exists after reloading the QoS profiles (for example, by changing DDS_DomainParticipantFactoryQos::profile) the default library will be set to the last library containing a profile with the attribute is_default_qos=true or NULL no such library exists.

See also: DDSDomainParticipantFactory::set_default_profile for more information.

Parameters

library_name <<in>> Library name. If library_name is NULL any previous default is unset.

Returns: One of the Standard Return Codes

See also: DDSDomainParticipantFactory::get_default_library

◆ get_default_library()

virtual const char* DDSDomainParticipantFactory::get_default_library ( )

pure virtual

<<extension>> Gets the default XML library associated with a DDSDomainParticipantFactory.

Returns

The returned library name is determined as follows:

If it was previously set with DDSDomainParticipantFactory::set_default_library, this function returns that library name
Otherwise, if one or more profiles have the XML attribute is_default_qos="true", this function returns the library where the last one is contained.
Otherwise, this function returns NULL.

See also: DDSDomainParticipantFactory::set_default_library

◆ set_default_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::set_default_profile	(	const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Sets the default XML profile for a DDSDomainParticipantFactory.

This method specifies the profile that will be used as the default the next time a default DomainParticipantFactory profile is needed during a call to a DomainParticipantFactory method. When calling a DDSDomainParticipantFactory 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.)

This method does not set the default QoS for newly created DomainParticipants; for this functionality, use DDSDomainParticipantFactory::set_default_participant_qos_with_profile (you may pass in NULL after having called set_default_profile()).

Note: if the profile set with this function no longer exists after reloading the QoS profiles (for example, by changing DDS_DomainParticipantFactoryQos::profile) the default profile will be set to the last one marked with the attribute is_default_qos=true or NULL no such profile exists.

Parameters

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.

Returns: One of the Standard Return Codes

See also: DDSDomainParticipantFactory::get_default_profile; DDSDomainParticipantFactory::get_default_profile_library

◆ get_default_profile()

virtual const char* DDSDomainParticipantFactory::get_default_profile ( )

pure virtual

<<extension>> Gets the default XML profile associated with a DDSDomainParticipantFactory.

Returns

The returned profile name is determined as follows:

If it was previously set with DDSDomainParticipantFactory::set_default_profile, this function returns that profile name
Otherwise, if one or more profiles have the XML attribute is_default_qos="true", this function returns the name of one of them
Otherwise, this function returns NULL.

See also: DDSDomainParticipantFactory::set_default_profile

◆ get_default_profile_library()

virtual const char* DDSDomainParticipantFactory::get_default_profile_library ( )

pure virtual

<<extension>> Gets the library where the default XML profile is contained for a DDSDomainParticipantFactory.

The default profile library is automatically set when DDSDomainParticipantFactory::set_default_profile is called.

This library can be different than the DDSDomainParticipantFactory default library (see DDSDomainParticipantFactory::get_default_library).

Returns: The default profile library for the profile returned by DDSDomainParticipantFactory::get_default_profile, or NULL if that profile is NULL.

See also: DDSDomainParticipantFactory::get_default_profile

◆ get_participant_factory_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_participant_factory_qos_from_profile	(	DDS_DomainParticipantFactoryQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_DomainParticipantFactoryQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_participant_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_participant_qos_from_profile	(	DDS_DomainParticipantQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_DomainParticipantQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_publisher_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_publisher_qos_from_profile	(	DDS_PublisherQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_PublisherQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_subscriber_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_subscriber_qos_from_profile	(	DDS_SubscriberQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_SubscriberQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_datawriter_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_datawriter_qos_from_profile	(	DDS_DataWriterQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_datawriter_qos_from_profile_w_topic_name()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_datawriter_qos_from_profile_w_topic_name	(	DDS_DataWriterQos &	qos,
		const char *	library_name,
		const char *	profile_name,
		const char *	topic_name
	)

pure virtual

<<extension>> Gets the DDS_DataWriterQos values associated with the input XML QoS profile while applying topic filters to the input topic name.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).
topic_name	<<in>> Topic name that will be evaluated against the topic_filter attribute in the XML QoS profile. If topic_name is null, RTI Connext will match only QoSs without explicit topic_filter expressions.

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_datareader_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_datareader_qos_from_profile	(	DDS_DataReaderQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_datareader_qos_from_profile_w_topic_name()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_datareader_qos_from_profile_w_topic_name	(	DDS_DataReaderQos &	qos,
		const char *	library_name,
		const char *	profile_name,
		const char *	topic_name
	)

pure virtual

<<extension>> Gets the DDS_DataReaderQos values associated with the input XML QoS profile while applying topic filters to the input topic name.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).
topic_name	<<in>> Topic name that will be evaluated against the topic_filter attribute in the XML QoS profile. If topic_name is null, RTI Connext will match only QoSs without explicit topic_filter expressions.

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_topic_qos_from_profile()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_topic_qos_from_profile	(	DDS_TopicQos &	qos,
		const char *	library_name,
		const char *	profile_name
	)

pure virtual

<<extension>> Gets the DDS_TopicQos values associated with the input XML QoS profile.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_topic_qos_from_profile_w_topic_name()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_topic_qos_from_profile_w_topic_name	(	DDS_TopicQos &	qos,
		const char *	library_name,
		const char *	profile_name,
		const char *	topic_name
	)

pure virtual

<<extension>> Gets the DDS_TopicQos values associated with the input XML QoS profile while applying topic filters to the input topic name.

Parameters

qos	<<out>> Qos to be filled up. 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 DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).
topic_name	<<in>> Topic name that will be evaluated against the topic_filter attribute in the XML QoS profile. If topic_name is null, RTI Connext will match only QoSs without explicit topic_filter expressions.

If the input profile cannot be found, the method fails with DDS_RETCODE_ERROR.

Returns: One of the Standard Return Codes

◆ get_qos_profile_libraries()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_qos_profile_libraries ( struct DDS_StringSeq & library_names )

pure virtual

<<extension>> Gets the names of all XML QoS profile libraries associated with the DDSDomainParticipantFactory

Parameters

library_names <<out>> DDS_StringSeq to be filled with names of XML QoS profile libraries. Cannot be NULL.

◆ get_qos_profiles()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_qos_profiles	(	struct DDS_StringSeq &	profile_names,
		const char *	library_name
	)

pure virtual

<<extension>> Gets the names of all XML QoS profiles associated with the input XML QoS profile library.

Parameters

profile_names	<<out>> DDS_StringSeq to be filled with names of XML QoS profiles. 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 DDSDomainParticipantFactory::set_default_library).

◆ create_participant()

virtual DDSDomainParticipant* DDSDomainParticipantFactory::create_participant	(	DDS_DomainId_t	domainId,
		const DDS_DomainParticipantQos &	qos,
		DDSDomainParticipantListener *	listener,
		DDS_StatusMask	mask
	)

pure virtual

Creates a new DDSDomainParticipant object.

Precondition: The specified QoS policies must be consistent or the operation will fail and no DDSDomainParticipant 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 DDS_WireProtocolQosPolicy). 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).

MT Safety:: UNSAFE. It is not safe to create a DDSDomainParticipant while another thread may be simultaneously creating another DDSDomainParticipant.

Parameters

domainId	<<in>> ID of the domain that the application intends to join. [range] [>=0], and does not violate guidelines stated in DDS_RtpsWellKnownPorts_t.
qos	<<in>> the DomainParticipant's QoS. The special value DDS_PARTICIPANT_QOS_DEFAULT can be used to indicate that the DDSDomainParticipant should be created with the default DDS_DomainParticipantQos set in the DDSDomainParticipantFactory.
listener	<<in>> the domain participant's listener.
mask	<<in>>. Changes of communication status to be invoked on the listener. See DDS_StatusMask.

Returns: domain participant or NULL on failure

See also: Specifying QoS on entities for information on setting QoS before entity creation; DDS_DomainParticipantQos for rules on consistency among QoS; DDS_PARTICIPANT_QOS_DEFAULT; NDDS_DISCOVERY_PEERS; DDSDomainParticipantFactory::create_participant_with_profile; DDSDomainParticipantFactory::get_default_participant_qos; DDSDomainParticipant::set_listener

◆ create_participant_with_profile()

virtual DDSDomainParticipant* DDSDomainParticipantFactory::create_participant_with_profile	(	DDS_DomainId_t	domainId,
		const char *	library_name,
		const char *	profile_name,
		DDSDomainParticipantListener *	listener,
		DDS_StatusMask	mask
	)

pure virtual

<<extension>> Creates a new DDSDomainParticipant object using the DDS_DomainParticipantQos associated with the input XML QoS profile.

Precondition: The DDS_DomainParticipantQos in the input profile must be consistent, or the operation will fail and no DDSDomainParticipant 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 DDS_WireProtocolQosPolicy). 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).

MT Safety:: UNSAFE. It is not safe to create a DDSDomainParticipant while another thread may be simultaneously creating another DDSDomainParticipant.

Parameters

domainId	<<in>> ID of the domain that the application intends to join. [range] [>=0], and does not violate guidelines stated in DDS_RtpsWellKnownPorts_t.
library_name	<<in>> Library name containing the XML QoS profile. If library_name is null RTI Connext will use the default library (see DDSDomainParticipantFactory::set_default_library).
profile_name	<<in>> XML QoS Profile name. If profile_name is null RTI Connext will use the default profile (see DDSDomainParticipantFactory::set_default_profile).
listener	<<in>> the DomainParticipant's listener.
mask	<<in>>. Changes of communication status to be invoked on the listener. See DDS_StatusMask.

Returns: domain participant or NULL on failure

See also: Specifying QoS on entities for information on setting QoS before entity creation; DDS_DomainParticipantQos for rules on consistency among QoS; DDS_PARTICIPANT_QOS_DEFAULT; NDDS_DISCOVERY_PEERS; DDSDomainParticipantFactory::create_participant(); DDSDomainParticipantFactory::get_default_participant_qos(); DDSDomainParticipant::set_listener()

◆ delete_participant()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::delete_participant ( DDSDomainParticipant * a_participant )

pure virtual

Deletes an existing DDSDomainParticipant.

Precondition: All domain entities belonging to the participant must have already been deleted. Otherwise it fails with the error DDS_RETCODE_PRECONDITION_NOT_MET.

Postcondition: Listener installed on the DDSDomainParticipant will not be called after this method returns successfully.

MT Safety:: UNSAFE. It is not safe to delete an entity while another thread may be simultaneously calling an API that uses the entity.

Parameters

a_participant <<in>> DDSDomainParticipant to be deleted.

Returns: One of the Standard Return Codes, or DDS_RETCODE_PRECONDITION_NOT_MET.

◆ lookup_participant()

virtual DDSDomainParticipant* DDSDomainParticipantFactory::lookup_participant ( DDS_DomainId_t domainId )

pure virtual

Locates an existing DDSDomainParticipant.

If no such DDSDomainParticipant exists, the operation will return NULL value.

If multiple DDSDomainParticipant entities belonging to that domainId exist, then the operation will return one of them. It is not specified which one.

Parameters

domainId <<in>> ID of the domain participant to lookup.

Returns: domain participant if it exists, or NULL

◆ set_qos()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::set_qos ( const DDS_DomainParticipantFactoryQos & qos )

pure virtual

Sets the value for a participant factory QoS.

The DDS_DomainParticipantFactoryQos::entity_factory can be changed. The other policies are immutable.

Note that despite having QoS, the DDSDomainParticipantFactory is not an DDSEntity.

Parameters

qos	<<in>> Set of policies to be applied to DDSDomainParticipantFactory. Policies must be consistent. Immutable policies can only be changed before calling any other RTI Connext methods except for DDSDomainParticipantFactory::get_qos

Returns: One of the Standard Return Codes, DDS_RETCODE_IMMUTABLE_POLICY if immutable policy is changed, or DDS_RETCODE_INCONSISTENT_POLICY if policies are inconsistent

See also: DDS_DomainParticipantFactoryQos for rules on consistency among QoS

◆ get_qos()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_qos ( DDS_DomainParticipantFactoryQos & qos )

pure virtual

Gets the value for participant factory QoS.

Parameters

qos	<<inout>> QoS to be filled up.

Returns: One of the Standard Return Codes

◆ load_profiles()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::load_profiles ( )

pure virtual

<<extension>> Loads the XML QoS profiles.

The XML QoS profiles are loaded implicitly after the first DDSDomainParticipant is created or explicitly, after a call to this method.

This has the same effect as DDSDomainParticipantFactory::reload_profiles().

Returns: One of the Standard Return Codes

See also: DDS_ProfileQosPolicy

◆ reload_profiles()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::reload_profiles ( )

pure virtual

<<extension>> Reloads the XML QoS profiles.

The XML QoS profiles are loaded implicitly after the first DDSDomainParticipant is created or explicitly, after a call to this method.

This has the same effect as DDSDomainParticipantFactory::load_profiles().

Returns: One of the Standard Return Codes

See also: DDS_ProfileQosPolicy

◆ unload_profiles()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::unload_profiles ( )

pure virtual

<<extension>> Unloads the XML QoS profiles.

The resources associated with the XML QoS profiles are freed. Any reference to the profiles after calling this method will fail with an error.

Returns: One of the Standard Return Codes

See also: DDS_ProfileQosPolicy

◆ unregister_thread()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::unregister_thread ( )

pure virtual

<<extension>> Allows the user to release thread specific resources kept by the middleware.

This function should be called by the user right before exiting a thread where DDS API were used. In this way the middleware will be able to free all the resources related to this specific thread. The best approach is to call the function during the thread deletion after all the DDS related API have have been called.

Returns: One of the Standard Return Codes

◆ get_typecode_from_config()

virtual const DDS_TypeCode* DDSDomainParticipantFactory::get_typecode_from_config ( const char * type_name )

pure virtual

<<extension>> Gets a DDS_TypeCode from a definition provided in an XML configuration file.

Parameters

type_name <<in>> Name of the type in the configuration file.

Returns: The DDS_TypeCode or NULL if a type with that name doesn't exist or an error occurs.

◆ create_participant_from_config()

virtual DDSDomainParticipant* DDSDomainParticipantFactory::create_participant_from_config ( const char * configuration_name )

pure virtual

<<extension>> Creates a DDSDomainParticipant given its configuration name from a description provided in an XML configuration file.

This operation creates a DDSDomainParticipant registering all the necessary data types and creating all the contained entities (DDSTopic, DDSPublisher, DDSSubscriber, DDSDataWriter, DDSDataReader) from a description given in an XML configuration file.

The configuration name is the fully qualified name of the XML participant object, consisting of the name of the participant library plus the name of participant configuration.

For example the name "MyParticipantLibrary::PublicationParticipant" can be used to create the domain participant from the description in an XML file with contents shown in the snippet below:

<participant_library name="MyParticipantLibrary"> 
     <domain_participant name="PublicationParticipant" domain_ref="MyDomainLibrary::HelloWorldDomain"> 
         <publisher name="MyPublisher"> 
             <data_writer name="HelloWorldWriter" topic_ref="HelloWorldTopic"/> 
         </publisher> 
     </domain_participant> 
 </participant_library> 

The entities belonging to the newly created DDSDomainParticipant can be retrieved with the help of lookup operations such as: DDSDomainParticipant::lookup_datareader_by_name.

This operation is equivalent to call DDSDomainParticipantFactory::create_participant_from_config_w_params passing DDS_PARTICIPANT_CONFIG_PARAMS_DEFAULT as parameters.

MT Safety:: UNSAFE. It is not safe to create a DDSDomainParticipant while another thread may be simultaneously creating another DDSDomainParticipant.

Parameters

configuration_name <<in>> Name of the participant configuration in the XML file.

Returns: The created DDSDomainParticipant or NULL on error.

See also: DDSDomainParticipantFactory::lookup_participant_by_name; DDSDomainParticipant::lookup_topicdescription; DDSDomainParticipant::lookup_publisher_by_name; DDSDomainParticipant::lookup_subscriber_by_name; DDSDomainParticipant::lookup_datareader_by_name; DDSDomainParticipant::lookup_datawriter_by_name; DDSPublisher::lookup_datawriter_by_name; DDSSubscriber::lookup_datareader_by_name

◆ create_participant_from_config_w_params()

virtual DDSDomainParticipant* DDSDomainParticipantFactory::create_participant_from_config_w_params	(	const char *	configuration_name,
		const DDS_DomainParticipantConfigParams_t &	params
	)

pure virtual

<<extension>> Creates a DDSDomainParticipant given its configuration name from a description provided in an XML configuration file and a set of parameters that allow chaging some properties of such configuration.

The operation will create a DDSDomainParticipant the same way specified in DDSDomainParticipantFactory::create_participant_from_config.

In addition, this operation allows overriding the domain ID, participant name, and entities QoS specified in the configuration.

MT Safety:: UNSAFE. It is not safe to create a DDSDomainParticipant while another thread may be simultaneously creating another DDSDomainParticipant.

Parameters

configuration_name	<<in>> Name of the participant configuration in the XML file.
params	<<in>> input parameters that allow changing some properties of the configuration referred to by `configuration_name`.

Returns: The created DDSDomainParticipant or NULL on error.

◆ lookup_participant_by_name()

virtual DDSDomainParticipant* DDSDomainParticipantFactory::lookup_participant_by_name ( const char * participant_name )

pure virtual

<<extension>> Looks up a DDSDomainParticipant by its entity name in the DDSDomainParticipantFactory.

Every DDSDomainParticipant in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.

This operation retrieves a DDSDomainParticipant within the DDSDomainParticipantFactory given the entity's name. If there are several DDSDomainParticipant with the same name within the DDSDomainParticipantFactory this function returns the first matching occurrence.

Parameters

participant_name <<in>> Entity name of the DDSDomainParticipant.

Returns: The first DDSDomainParticipant found with the specified name or NULL if it is not found.

◆ register_type_support()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::register_type_support	(	DDSDomainParticipantFactory_RegisterTypeFunction	register_type_fcn,
		const char *	type_name
	)

pure virtual

<<extension>> Registers a DDSTypeSupport with the DDSDomainParticipantFactory to enable automatic registration if the corresponding type, should it be needed by a DDSDomainParticipant.

Types refered by the DDSTopic entities within a DDSDomainParticipant must be registered with the DDSDomainParticipant.

Type registration in a DDSDomainParticipant is performed by a call to the FooTypeSupport::register_type operation. This can be done directly from the application code or indirectly by the RTI Connext infrastructure as a result of parsing an XML configuration file that refers to that type.

The DDSDomainParticipantFactory::register_type_support operation provides the DDSDomainParticipantFactory with the information it needs to automatically call the FooTypeSupport::register_type operation and register the corresponding type if the type is needed as a result of parsing an XML configuration file.

Automatic type registration while parsing XML files can also be done by the RTI Connext infrastructure based on the type description provided in the XML files. If the DDSTypeSupport has been registered with the DDSDomainParticipantFactory this definition takes precedence over the description of the type given in the XML file.

The DDSDomainParticipantFactory::register_type_support operation receives a FooTypeSupport::register_type function as a parameter. This function is normally generated using rtiddsgen from a description of the corresponsing type in IDL, XML, or XSD.

The typical workflow when using this function is as follows: Define the data-type in IDL (or XML, or XSD) in a file. E.g. Foo.idl Run rtiddsgen in that file to generate the TypeSupport files, for the desired programming language. E.g. in C++ FooTypeSupport.h FooTypeSupport.cxx Include the proper header file (e.g. FooTypeSupport.h) in your program and call DDSDomainParticipantFactory::register_type_support passing the function that was generated by rtiddsgen. E.g. FooTypeSupport::register_type Include the TypeSupport source file in your project such that it is compiled and linked. E.g. FooTypeSupport.cxx

You may refer to the Getting Started Guide for additional details in this process.

Note that only one register function is allowed per registered type name.

Parameters

register_type_fcn	<<in>> DDSDomainParticipantFactory_RegisterTypeFunction to be used for registering the type with a DDSDomainParticipant.
type_name	<<in>> Name the type is registered with.

Returns: One of the Standard Return Codes

◆ get_participants()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::get_participants ( DDSDomainParticipantSeq & participants )

pure virtual

<<extension>> Allows the application to access all the participants the DomainParticipantFactory has.

If the sequence doesn't own its buffer, and its maximum is less than the total number of participants, it will be filled up to its maximum, and fail with DDS_RETCODE_OUT_OF_RESOURCES.

MT Safety:: Safe.

Parameters

participants <<inout>> a DomainParticipantSeq object where the set or list of participants will be returned

Returns: One of the Standard Return Codes or DDS_RETCODE_OUT_OF_RESOURCES

◆ set_thread_factory()

virtual DDS_ReturnCode_t DDSDomainParticipantFactory::set_thread_factory ( DDSThreadFactory * thread_factory )

pure virtual

<<extension>> Sets a DDSThreadFactory in the DDSDomainParticipantFactory that will be used to create the internal threads of the DDS middleware.

DDS threads are managed by the DDSDomainParticipant, which is responsible for creating and deleting threads throughout its lifecycle. Some threads are created when the DDSDomainParticipant gets enabled (i.e., database, event, etc.) and others when special features are enabled (i.e., asynchronous publication thread).

DDS threads have DDSDomainParticipant scope. This means every DomainParticipant creates all the necessary threads to operate and each DDSDomainParticipant will create its own independent set of threads.

Each DDSDomainParticipant creates an independent set of DDS threads and will use the DDSThreadFactory that is held by the DDSDomainParticipantFactory at the time the DomainParticipant is created. A DDSThreadFactory is immutable from a DDSDomainParticipant point of view. This means that a DDSDomainParticipant will use throughout its lifecycle the same DDSThreadFactory that was set when it was created, even if a new DDSThreadFactory is set in the DDSDomainParticipantFactory later. That is, if a new DDSThreadFactory is set, a previously created DDSDomainParticipant will not be affected.

ThreadFactory lifecycle: A DDSThreadFactory instance must be alive while there are DomainParticipants using it. A DDSThreadFactory instance can be deleted only after all DomainParticipants using it are deleted.

By default, the DDSDomainParticipantFactory has an internal DDSThreadFactory so threads are created automatically by the core product. These threads are usually created using the typical framework for the target platform (i.e., pthread for Linux systems).

MT Safety:: : Safe. Creation and deletion of a DDSDomainParticipant can occur concurrently with setting a DDSThreadFactory.

Parameters

thread_factory <<in>> Instance of a DDSThreadFactory to be used for creating the DDS threads. If null is specified, the current DDSThreadFactory is removed and the internal default will be used.

Returns: One of the Standard Return Codes

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ get_instance()

◆ finalize_instance()

◆ set_default_participant_qos()

◆ set_default_participant_qos_with_profile()

◆ get_default_participant_qos()

◆ set_default_library()

◆ get_default_library()

◆ set_default_profile()

◆ get_default_profile()

◆ get_default_profile_library()

◆ get_participant_factory_qos_from_profile()

◆ get_participant_qos_from_profile()

◆ get_publisher_qos_from_profile()

◆ get_subscriber_qos_from_profile()

◆ get_datawriter_qos_from_profile()

◆ get_datawriter_qos_from_profile_w_topic_name()

◆ get_datareader_qos_from_profile()

◆ get_datareader_qos_from_profile_w_topic_name()

◆ get_topic_qos_from_profile()

◆ get_topic_qos_from_profile_w_topic_name()

◆ get_qos_profile_libraries()

◆ get_qos_profiles()

◆ create_participant()

◆ create_participant_with_profile()

◆ delete_participant()

◆ lookup_participant()

◆ set_qos()

◆ get_qos()

◆ load_profiles()

◆ reload_profiles()

◆ unload_profiles()

◆ unregister_thread()

◆ get_typecode_from_config()

◆ create_participant_from_config()

◆ create_participant_from_config_w_params()

◆ lookup_participant_by_name()

◆ register_type_support()

◆ get_participants()

◆ set_thread_factory()