DomainParticipants

16.3 DomainParticipants

A DomainParticipant is a container for Entity objects that all belong to the same DDS domain. Each DomainParticipant has its own set of internal threads and internal data structures that maintain information about the Entities created by itself and other DomainParticipants in the same DDS domain. A DomainParticipant is used to create and destroy Publishers, Subscribers and Topics.

Once you have a DomainParticipant, you can use it to perform the operations listed in Table 16.3 DomainParticipant Operations. For more details on all operations, see the API Reference HTML documentation. Some of the first operations you’ll be interested in are create_topic(), create_subscriber(), and create_publisher().

Note: Some operations cannot be used within a listener callback, see 15.8.8.1 Restricted Operations in Listener Callbacks.

Table 16.3 DomainParticipant Operations
Working with ...	Operation	Description	Reference
Builtin Subscriber	get_builtin_subscriber	Returns the builtin Subscriber.	28.2 Built-in DataReaders
Domain-Participants	add_peer	Adds an entry to the peer list.	44.2.3 Adding and Removing Peers List Entries
	enable	Enables the DomainParticipant.	15.2 Enabling DDS Entities
	equals	Compares two DomainParticipant’s QoS structures for equality.	16.3.7.2 Comparing QoS Values
	get_discovered_participant_data	Provides the ParticipantBuiltinTopicData for a discovered DomainParticipant.	16.3.12 Learning about Discovered DomainParticipants
	get_discovered_participants	Provides a list of DomainParticipants that have been discovered.	16.3.12 Learning about Discovered DomainParticipants
	get_domain_id	Gets the domain ID of the DomainParticipant.	16.3.4 Choosing a Domain ID and Creating Multiple DDS Domains
	get_listener	Gets the currently installed DomainParticipantListener.	16.3.6 Setting Up DomainParticipantListeners
	get_qos	Gets the DomainParticipant QoS.	16.3.7 Setting DomainParticipant QosPolicies
	ignore_participant	Rejects the connection to a remote DomainParticipant.	Chapter 27 Restricting Communication—Ignoring Entities
	remove_peer	Removes an entry from the peer list.	44.2.3 Adding and Removing Peers List Entries
	set_listener	Replaces the DomainParticipantListener.	16.3.6 Setting Up DomainParticipantListeners
	set_qos	Sets the DomainParticipant QoS.	16.3.7 Setting DomainParticipant QosPolicies
	set_qos_with_profile	Sets the DomainParticipant QoS based on a QoS profile.	16.3.7 Setting DomainParticipant QosPolicies
Content-Filtered-Topics	create_contentfilteredtopic	Creates a ContentFilteredTopic that can be used to process content-based subscriptions.	35.2 Creating ContentFilteredTopics
	create_contentfilteredtopic_with_filter		35.2 Creating ContentFilteredTopics
	delete_contentfilteredtopic	Deletes a ContentFilteredTopic.	35.3 Deleting ContentFilteredTopics
	register_contentfilter	Registers a new content filter.	35.9.2 Registering a Custom Filter
	unregister_contentfilter	Unregisters a new content filter.	35.9.3 Unregistering a Custom Filter
	lookup_contentfilter	Gets a previously registered content filter.	35.9.4 Retrieving a ContentFilter
DataReaders	create_datareader	Creates a DataReader with a given DataReaderListener, and an implicit Subscriber.	40.1 Creating DataReaders
	create_datareader_with_ profile	Creates a DataReader based on a QoS profile, with a given DataReaderListener, and an implicit Subscriber.	40.1 Creating DataReaders
	delete_datareader	Deletes a DataReader that belongs to the ‘implicit Subscriber.’	40.3 Deleting DataReaders
	get_default_datareader_qos	Copies the default DataReaderQoS values into the provided structure.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	ignore_subscription	Rejects the connection to a DataReader
	set_default_datareader_qos	Sets the default DataReaderQos values.
	set_default_datareader_ qos_with_profile	Sets the default DataReaderQos using values from a QoS profile.
DataWriters	create_datawriter	Creates a DataWriter with a given DataWriterListener, and an implicit Publisher.	30.2 Creating Publishers
	create_datawriter_with_ profile	Creates a DataWriter based on a QoS profile, with a given DataWriterListener, and an implicit Publisher.	30.2 Creating Publishers
	delete_datawriter	Deletes a DataWriter that belongs to the ‘implicit Publisher.’	30.3 Deleting Publishers
	ignore_publication	Rejects the connection to a DataWriter.	Chapter 27 Restricting Communication—Ignoring Entities
	get_default_datawriter_qos	Copies the default DataWriterQos values into the provided DataWriterQos structure.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	set_default_datawriter_qos	Sets the default DataWriterQoS values.
	set_default_datawriter_ qos _with_profile	Sets the default DataWriterQos using values from a profile.
Publishers	create_publisher	Creates a Publisher and a PublisherListener.	30.2 Creating Publishers
	create_publisher_with_ profile	Creates a Publisher based on a QoS profile, and a PublisherListener.	30.2 Creating Publishers
	delete_publisher	Deletes a Publisher.	30.3 Deleting Publishers
	get_default_publisher_qos	Copies the default PublisherQos values into the provided PublisherQos structure.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	get_implicit_publisher	Gets the Publisher that is implicitly created by the DomainParticipant.	16.3.10 Getting the Implicit Publisher or Subscriber
	get_publishers	Provides a list of all Publishers owned by the DomainParticipant.	16.3.16.3 Getting All Publishers and Subscribers
	set_default_publisher_qos	Sets the default PublisherQos values.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	set_default_publisher_qos_with_profile	Sets the default PublisherQos using values from a QoS profile.	16.3.7.5 Getting and Setting Default QoS for Child Entities
Subscribers	create_subscriber	Creates a Subscriber and a SubscriberListener.	39.2 Creating Subscribers
	create_subscriber_with_ profile	Creates a Subscriber based on a QoS profile, and a SubscriberListener.	39.2 Creating Subscribers
	delete_subscriber	Deletes a Subscriber.	39.3 Deleting Subscribers
	get_default_subscriber_qos	Copies the default SubscriberQos values into the provided SubscriberQos structure.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	get_implicit_subscriber	Gets the Subscriber that is implicitly created by the DomainParticipant.	16.3.10 Getting the Implicit Publisher or Subscriber
	get_subscribers	Provides a list of all Subscribers owned by the DomainParticipant.	16.3.16.3 Getting All Publishers and Subscribers
	set_default_subscriber_qos	Sets the default SubscriberQos values.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	set_default_subscriber_qos_with_profile	Sets the default SubscriberQos values using values from a QoS profile.	16.3.7.5 Getting and Setting Default QoS for Child Entities
Durable Subscriptions	delete_durable_subscription	Deletes an existing Durable Subscription. The quorum of the existing DDS samples will be considered satisfied.	75.9 Configuring Durable Subscriptions in Persistence Service
Durable Subscriptions	register_durable_ subscription	Creates a Durable Subscription that will receive all DDS samples published on a Topic, including those published while a DataReader is inactive or before it may be created. RTI Persistence Service will ensure that all the DDS samples on that 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 Topic, RTI Persistence Service will implicitly delete the previous Durable Subscription and create a new one on the new Topic.
Topics	create_topic	Creates a Topic and a TopicListener.	18.1.1 Creating Topics
	create_topic _with_profile	Creates a Topic based on a QoS profile, and a TopicListener.
	delete_topic	Deletes a Topic.
	get_default_topic_qos	Copies the default TopicQos values into the provided TopicQos structure.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	get_discovered_topic_data	Retrieves the BuiltinTopicData for a discovered Topic.	16.3.13 Learning about Discovered Topics
	get_discovered_topics	Returns a list of all (non-ignored) discovered Topics.	16.3.13 Learning about Discovered Topics
	ignore_topic	Rejects a remote topic.	Chapter 27 Restricting Communication—Ignoring Entities
	lookup_topicdescription	Gets an existing locally-created TopicDescription (Topic).	16.3.8 Looking up Topic Descriptions
	set_default_topic_qos	Sets the default TopicQos values.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	set_default_topic_qos_with_profile	Sets the default TopicQos values using values from a profile.	16.3.7.5 Getting and Setting Default QoS for Child Entities
	find_topic	Finds an existing Topic, based on its name.	16.3.9 Finding a Topic
Flow-Controllers	create_flowcontroller	Creates a custom FlowController object.	34.4.6 Creating and Deleting FlowControllers
	delete_flowcontroller	Deletes a custom FlowController object.	34.4.6 Creating and Deleting FlowControllers
	get_default_flowcontroller_property	Gets the default properties used when a new FlowController is created.	34.4.7 Getting/Setting Default FlowController Properties
	set_default_flowcontroller_property	Sets the default properties used when a new FlowController is created.	34.4.7 Getting/Setting Default FlowController Properties
	lookup_flowcontroller	Finds a FlowController, based on its name.	34.4.10 Other FlowController Operations
Libraries and Profiles	get_default_library	Gets the default library.	16.3.7.4 Getting and Setting DomainParticipant’s Default QoS Profile and Library
	get_default_profile	Gets the default profile.
	get_default_profile_library	Gets the library that contains the default profile.
	set_default_profile	Sets the default QoS profile.
	set_default_library	Sets the default library.
MultiTopics	create_multitopic	Creates a MultiTopic that can be used to subscribe to multiple topics and combine/filter the received data into a resulting type.	Currently not supported.
MultiTopics	delete_multitopic	Deletes a MultiTopic.	Currently not supported.
Other	assert_liveliness	Manually asserts the liveliness of this DomainParticipant.	16.3.10 Getting the Implicit Publisher or Subscriber
	delete_contained_entities	Recursively deletes all the entities that were created using the "create" operations on the DomainParticipant and its children.	16.3.3 Deleting Contained Entities
	contains_entity	Confirms if an entity belongs to the DomainParticipant or not.	16.3.16.1 Verifying Entity Containment
	get_current_time	Gets the current time used by Connext.	16.3.16.2 Getting the Current Time
	get_status_changes	Gets a list of statuses that have changed since the last time the application read the status or the Listeners were called.	15.4 Getting Status and Status Changes