DomainParticipant

DDS_DomainParticipant entity and associated elements More...

Data Structures
struct	DDS_DomainParticipantListener
	<<interface>> <<cert>> Listener for participant status. More...
struct	DDS_DomainParticipantQos
	<<cert>> QoS policies supported by a DDS_DomainParticipant entity. More...

Macros
#define	DDS_DomainParticipantListener_INITIALIZER
	<<cert>> Initializer for new DDS_DomainParticipantListener.
#define	DDS_DomainParticipantQos_INITIALIZER
	<<cert>> Initializer for new QoS instances.

Typedefs
typedef struct DDS_DomainParticipantImpl	DDS_DomainParticipant
	<<interface>> <<cert>> Container for all DDS_DomainEntity objects.

Functions
DDS_ReturnCode_t	DDS_DomainParticipantQos_initialize (struct DDS_DomainParticipantQos *self)
	Initializer for new QoS instances.
DDS_ReturnCode_t	DDS_DomainParticipantQos_copy (struct DDS_DomainParticipantQos *self, const struct DDS_DomainParticipantQos *source)
	Copy the contents of the given QoS into this QoS.
DDS_ReturnCode_t	DDS_DomainParticipantQos_finalize (struct DDS_DomainParticipantQos *self)
	Free any dynamic memory allocated by the policies in this DDS_DomainParticipantQos.
DDS_Entity *	DDS_DomainParticipant_as_entity (DDS_DomainParticipant *self)
	<<cert>> Access a DDS_DomainParticipant's supertype instance.
DDS_ReturnCode_t	DDS_DomainParticipant_get_default_publisher_qos (DDS_DomainParticipant *self, struct DDS_PublisherQos *qos)
	Copy the default DDS_PublisherQos values into the provided DDS_PublisherQos instance.
DDS_ReturnCode_t	DDS_DomainParticipant_set_default_publisher_qos (DDS_DomainParticipant *self, const struct DDS_PublisherQos *qos)
	Set the default DDS_PublisherQos values for this domain participant.
DDS_ReturnCode_t	DDS_DomainParticipant_get_default_subscriber_qos (DDS_DomainParticipant *self, struct DDS_SubscriberQos *qos)
	Copy the default DDS_SubscriberQos values into the provided DDS_SubscriberQos instance.
DDS_ReturnCode_t	DDS_DomainParticipant_set_default_subscriber_qos (DDS_DomainParticipant *self, const struct DDS_SubscriberQos *qos)
	Set the default DDS_SubscriberQos values for this domain participant.
DDS_ReturnCode_t	DDS_DomainParticipant_get_default_topic_qos (DDS_DomainParticipant *self, struct DDS_TopicQos *qos)
	Copies the default DDS_TopicQos values for this domain participant into the given DDS_TopicQos instance.
DDS_ReturnCode_t	DDS_DomainParticipant_set_default_topic_qos (DDS_DomainParticipant *self, const struct DDS_TopicQos *qos)
	Set the default DDS_TopicQos values for this domain participant.
DDS_Publisher *	DDS_DomainParticipant_create_publisher (DDS_DomainParticipant *self, const struct DDS_PublisherQos *qos, const struct DDS_PublisherListener *listener, DDS_StatusMask mask)
	<<cert>> Creates a DDS_Publisher with the desired QoS policies and attaches to it the specified DDS_PublisherListener.
DDS_ReturnCode_t	DDS_DomainParticipant_delete_publisher (DDS_DomainParticipant *self, DDS_Publisher *p)
	Deletes an existing DDS_Publisher.
DDS_Subscriber *	DDS_DomainParticipant_create_subscriber (DDS_DomainParticipant *self, const struct DDS_SubscriberQos *qos, const struct DDS_SubscriberListener *listener, DDS_StatusMask mask)
	<<cert>> Creates a DDS_Subscriber with the desired QoS policies and attaches to it the specified DDS_SubscriberListener.
DDS_ReturnCode_t	DDS_DomainParticipant_delete_subscriber (DDS_DomainParticipant *self, DDS_Subscriber *s)
	Deletes an existing DDS_Subscriber.
DDS_Topic *	DDS_DomainParticipant_create_topic (DDS_DomainParticipant *self, const char *topic_name, const char *type_name, const struct DDS_TopicQos *qos, const struct DDS_TopicListener *listener, DDS_StatusMask mask)
	<<cert>> Creates a DDS_Topic with the desired QoS policies
DDS_ReturnCode_t	DDS_DomainParticipant_delete_topic (DDS_DomainParticipant *self, DDS_Topic *topic)
	Deletes a DDS_Topic.
DDS_Topic *	DDS_DomainParticipant_find_topic (DDS_DomainParticipant *self, const char *topic_name, const struct DDS_Duration_t *timeout)
	Finds an existing (or ready to exist) DDS_Topic, based on its name.
DDS_TopicDescription *	DDS_DomainParticipant_lookup_topicdescription (DDS_DomainParticipant *self, const char *topic_name)
	<<cert>> Lookup an existing locally-created DDS_TopicDescription, based on its name.
DDS_ReturnCode_t	DDS_DomainParticipant_add_peer (DDS_DomainParticipant *self, const char *peer)
	<<eXtension>> <<cert>> Attempt to contact one or more additional peer participants.
DDS_DomainId_t	DDS_DomainParticipant_get_domain_id (DDS_DomainParticipant *self)
	<<cert>> Get the unique domain identifier.
DDS_ReturnCode_t	DDS_DomainParticipant_delete_contained_entities (DDS_DomainParticipant *self)
	Delete all the entities that were created by means of the "create" operations on the DDS_DomainParticipant.
DDS_ReturnCode_t	DDS_DomainParticipant_get_current_time (DDS_DomainParticipant *self, struct DDS_Time_t *current_time)
	<<cert>> Returns the current value of the time.
DDS_ReturnCode_t	DDS_DomainParticipant_get_discovered_participants (DDS_DomainParticipant *self, struct DDS_InstanceHandleSeq *participant_handles)
	Returns a sequence containing DDS_InstanceHandle_t for all the remote DDS_DomainParticipant that have been discovered by the DDS_DomainParticipant.
DDS_ReturnCode_t	DDS_DomainParticipant_get_discovered_participant_data (DDS_DomainParticipant *self, struct DDS_ParticipantBuiltinTopicData *participant_data, const DDS_InstanceHandle_t *participant_handle)
	Returns information about a remote DDS_DomainParticipant that has been discovered by the DDS_DomainParticipant.
DDS_ReturnCode_t	DDS_DomainParticipant_set_qos (DDS_DomainParticipant *self, const struct DDS_DomainParticipantQos *qos)
	Change the QoS of this domain participant.
DDS_ReturnCode_t	DDS_DomainParticipant_get_qos (DDS_DomainParticipant *self, struct DDS_DomainParticipantQos *qos)
	Get the participant QoS.
DDS_ReturnCode_t	DDS_DomainParticipant_set_listener (DDS_DomainParticipant *self, const struct DDS_DomainParticipantListener *listener, DDS_StatusMask mask)
	Sets the participant listener.
struct DDS_DomainParticipantListener	DDS_DomainParticipant_get_listener (DDS_DomainParticipant *self)
	Get the participant listener.
DDS_ReturnCode_t	DDS_DomainParticipant_register_type (DDS_DomainParticipant *self, const char *type_name, struct NDDS_Type_Plugin *plugin)
	<<eXtension>> <<cert>> Allows an application to communicate to RTI Connext DDS Micro the existence of a data type.
struct NDDS_Type_Plugin *	DDS_DomainParticipant_unregister_type (DDS_DomainParticipant *self, const char *type_name)
	Allows an application to unregister a data type from RTI Connext DDS Micro. After calling unregister_type, no further communication using that type is possible.
const char *	DDSC_Library_get_version (void)
	Returns the version string for the DDS C library.

Variables
struct DDS_TopicQos	DDS_TOPIC_QOS_DEFAULT
	<<cert>> Special value for creating a DDS_Topic with default QoS. Note that this is the only supported parameter in RTI Connext DDS Micro when creating a topic.
struct DDS_PublisherQos	DDS_PUBLISHER_QOS_DEFAULT
	<<cert>> Special value for creating a DDS_Publisher with default QoS.
struct DDS_SubscriberQos	DDS_SUBSCRIBER_QOS_DEFAULT
	<<cert>> Special value for creating a DDS_Subscriber with default QoS.

---

Detailed Description

DDS_DomainParticipant entity and associated elements

---

Macro Definition Documentation

#define DDS_DomainParticipantListener_INITIALIZER

<<cert>> Initializer for new DDS_DomainParticipantListener.

No memory is allocated. New DDS_DomainParticipantListener instances stored in the stack should be initialized with this value before they are passed to any functions.

 DDS_DomainParticipantListener listener = DDS_DomainParticipantListener_INITIALIZER;
  /* initialize listener functions */ 
  listener.as_subscriberlistener.as_datareaderlistener.on_data_available = ....; 
  DDS_DomainParticipant_set_listener(myParticipant, &listener, mask);

See also:

DDS_DomainParticipant_set_listener

DDS_DomainParticipantListener

#define DDS_DomainParticipantQos_INITIALIZER

<<cert>> Initializer for new QoS instances.

DDS_DomainParticipantQos instances stored on the stack should be initialized with this value before they are passed to any functions. This step ensures that those contained QoS policies that use dynamic memory are properly initialized. This does not allocate memory.

The simplest way to create a new QoS structure is to initialize it on the stack at the time of its creation:

 DDS_DomainParticipantQos myQos = DDS_DomainParticipantQos_INITIALIZER;                     

See also:

DDS_DomainParticipantQos_finalize

---

Typedef Documentation

typedef struct DDS_DomainParticipantImpl DDS_DomainParticipant

<<interface>> <<cert>> Container for all DDS_DomainEntity objects.

The DomainParticipant object plays several roles:

- It acts as a container for all other DDS_Entity objects.

- It acts as factory for the DDS_Publisher, DDS_Subscriber, DDS_Topic and DDS_Entity objects.

- It represents the participation of the application on a communication plane that isolates applications running on the same set of physical computers from each other. A domain establishes a virtual network linking all applications that share the same domainId and isolating them from applications running on different domains. In this way, several independent distributed applications can coexist in the same physical network without interfering, or even being aware of each other.

The following operations may be called even if the DDS_DomainParticipant is not enabled. Other operations will fail with the value DDS_RETCODE_NOT_ENABLED if called on a disabled DomainParticipant:

• Operations defined at the base-class level namely, set_qos(), get_qos(), set_listener(), get_listener(), and enable().
• Factory operations: create_topic(), create_publisher(), create_subscriber(), delete_topic(), delete_publisher(), delete_subscriber(), delete_contained_entities().

QoS:

DDS_DomainParticipantQos

Status:

Status Kinds

Listener:

DDS_DomainParticipantListener

---

Function Documentation

DDS_ReturnCode_t DDS_DomainParticipantQos_initialize

(

struct DDS_DomainParticipantQos *

self

)

Initializer for new QoS instances.

DDS_DomainParticipantQos instances on heap should be initialized with this function before they are passed to any functions. This step ensures that those contained QoS policies that use dynamic memory are properly initialized. This function does not allocate memory.

Parameters:

self	<<in>> Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

DDS_DomainParticipantQos_finalize

DDS_ReturnCode_t DDS_DomainParticipantQos_copy	(	struct DDS_DomainParticipantQos *	self,
		const struct DDS_DomainParticipantQos *	source
	)

Copy the contents of the given QoS into this QoS.

DDS_DomainParticipantQos instances can use dynamic memory because of the sequences contained in some QoS policies. A shallow copy by assignment is therefore unsafe. This function performs a deep-copy, allocating memory if necessary.

Parameters:

self	<<in>> Cannot be NULL.
source	<<in>>. QoS to be copied from.

Returns:

One of the Standard Return Codes

See also:

DDS_DomainParticipantQos_INITIALIZER

DDS_DomainParticipantQos_initialize

DDS_DomainParticipantQos_finalize

DDS_ReturnCode_t DDS_DomainParticipantQos_finalize

(

struct DDS_DomainParticipantQos *

self

)

Free any dynamic memory allocated by the policies in this DDS_DomainParticipantQos.

Some QoS policies may use dynamic memory (regardless of whether the QoS itself is in dynamic memory). This function frees that memory but otherwise leaves this QoS unchanged. It should be called on all instances before they are freed (or, in the case of stack-based instances, before they go out of scope).

This function does not leave this object in an invalid state. It is permissable to finalize a QoS and then subsequently allocate new dynamic memory in one or more of its QoS policies.

Note that if this QoS instance is stored in heap memory, calling this function will not call free() on it; the user is responsible for explicitly freeing any heap-based QoS instance after calling this function.

Parameters:

self	<<in>> Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

DDS_DomainParticipantQos_INITIALIZER

DDS_DomainParticipantQos_initialize

DDS_Entity* DDS_DomainParticipant_as_entity

(

DDS_DomainParticipant *

self

)

<<cert>> Access a DDS_DomainParticipant's supertype instance.

Parameters:

self	<<in>> Cannot be NULL.

Returns:

DDS_DomainParticipant's supertype DDS_Entity instance

DDS_ReturnCode_t DDS_DomainParticipant_get_default_publisher_qos	(	DDS_DomainParticipant *	self,
		struct DDS_PublisherQos *	qos
	)

Copy the default DDS_PublisherQos values into the provided DDS_PublisherQos instance.

The retrieved qos will match the set of values specified on the last successful call to DDS_DomainParticipant_set_default_publisher_qos, or else, if the call was never made, the default values listed in DDS_PublisherQos.

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

If DDS_PUBLISHER_QOS_DEFAULT is specified as the qos parameter when DDS_DomainParticipant_create_topic is called, the default value of the QoS set in the factory, equivalent to the value obtained by calling DDS_DomainParticipant_get_default_publisher_qos, will be used to create the DDS_Publisher.

MT Safety:

UNSAFE. It is not safe to retrieve the default QoS value from a domain participant while another thread may be simultaneously calling DDS_DomainParticipant_set_default_publisher_qos

Parameters:

self	<<in>> Cannot be NULL.
qos	<<inout>> Qos to be filled up. Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

DDS_PUBLISHER_QOS_DEFAULT

DDS_DomainParticipant_create_publisher

DDS_ReturnCode_t DDS_DomainParticipant_set_default_publisher_qos	(	DDS_DomainParticipant *	self,
		const struct DDS_PublisherQos *	qos
	)

Set the default DDS_PublisherQos values for this domain participant.

This default value will be used for newly created DDS_Publisher if DDS_PUBLISHER_QOS_DEFAULT is specified as the qos parameter when DDS_DomainParticipant_create_publisher is called.

Precondition:

The specified QoS policies 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 while another thread may be simultaneously calling DDS_DomainParticipant_get_default_publisher_qos or calling DDS_DomainParticipant_create_publisher with DDS_PUBLISHER_QOS_DEFAULT as the qos parameter.

Parameters:

self	<<in>> Cannot be NULL.
qos	<<in>> Default qos to be set. The special value DDS_PUBLISHER_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 DDS_DomainParticipant_set_default_publisher_qos had never been called. Cannot be NULL.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_INCONSISTENT_POLICY

See also:

DDS_PUBLISHER_QOS_DEFAULT

DDS_DomainParticipant_create_publisher

DDS_ReturnCode_t DDS_DomainParticipant_get_default_subscriber_qos	(	DDS_DomainParticipant *	self,
		struct DDS_SubscriberQos *	qos
	)

Copy the default DDS_SubscriberQos values into the provided DDS_SubscriberQos instance.

The retrieved qos will match the set of values specified on the last successful call to DDS_DomainParticipant_set_default_subscriber_qos, or else, if the call was never made, the default values listed in DDS_SubscriberQos.

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

If DDS_SUBSCRIBER_QOS_DEFAULT is specified as the qos parameter when DDS_DomainParticipant_create_subscriber is called, the default value of the QoS set in the factory, equivalent to the value obtained by calling DDS_DomainParticipant_get_default_subscriber_qos, will be used to create the DDS_Subscriber.

MT Safety:

UNSAFE. It is not safe to retrieve the default QoS value from a domain participant while another thread may be simultaneously calling DDS_DomainParticipant_set_default_subscriber_qos

Parameters:

self	<<in>> Cannot be NULL.
qos	<<inout>> Qos to be filled up. Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

DDS_SUBSCRIBER_QOS_DEFAULT

DDS_DomainParticipant_create_subscriber

DDS_ReturnCode_t DDS_DomainParticipant_set_default_subscriber_qos	(	DDS_DomainParticipant *	self,
		const struct DDS_SubscriberQos *	qos
	)

Set the default DDS_SubscriberQos values for this domain participant.

This default value will be used for newly created DDS_Subscriber if DDS_SUBSCRIBER_QOS_DEFAULT is specified as the qos parameter when DDS_DomainParticipant_create_subscriber is called.

Precondition:

The specified QoS policies 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 while another thread may be simultaneously calling DDS_DomainParticipant_get_default_subscriber_qos or calling DDS_DomainParticipant_create_subscriber with DDS_SUBSCRIBER_QOS_DEFAULT as the qos parameter.

Parameters:

self	<<in>> Cannot be NULL.
qos	<<in>> Default qos to be set. The special value DDS_SUBSCRIBER_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 DDS_DomainParticipant_set_default_subscriber_qos had never been called. Cannot be NULL.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_INCONSISTENT_POLICY

DDS_ReturnCode_t DDS_DomainParticipant_get_default_topic_qos	(	DDS_DomainParticipant *	self,
		struct DDS_TopicQos *	qos
	)

Copies the default DDS_TopicQos values for this domain participant into the given DDS_TopicQos instance.

The retrieved qos will match the set of values specified on the last successful call to DDS_DomainParticipant_set_default_topic_qos, or else, if the call was never made, the default values listed in DDS_TopicQos.

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

MT Safety:

UNSAFE. It is not safe to retrieve the default QoS value from a domain participant while another thread may be simultaneously calling DDS_DomainParticipant_get_default_topic_qos or calling DDS_DomainParticipant_create_topic with DDS_TOPIC_QOS_DEFAULT as the qos parameter.

Parameters:

self	<<in>> Cannot be NULL.
qos	<<in>> Default qos to be retrieved. Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

DDS_TOPIC_QOS_DEFAULT

DDS_DomainParticipant_create_topic

DDS_ReturnCode_t DDS_DomainParticipant_set_default_topic_qos	(	DDS_DomainParticipant *	self,
		const struct DDS_TopicQos *	qos
	)

Set the default DDS_TopicQos values for this domain participant.

This default value will be used for newly created DDS_Topic if DDS_TOPIC_QOS_DEFAULT is specified as the qos parameter when DDS_DomainParticipant_create_topic is called.

Precondition:

The specified QoS policies 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 while another thread may be simultaneously calling DDS_DomainParticipant_get_default_topic_qos or calling DDS_DomainParticipant_create_topic with DDS_TOPIC_QOS_DEFAULT as the qos parameter.

Parameters:

self	<<in>> Cannot be NULL.
qos	<<in>> Default qos to be set. The special value DDS_TOPIC_QOS_DEFAULT may be passed as qos to indicate that the default QoS should be reset back to the initial values the factory would have used if DDS_DomainParticipant_set_default_topic_qos had never been called. Cannot be NULL.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_INCONSISTENT_POLICY

See also:

DDS_TOPIC_QOS_DEFAULT

DDS_DomainParticipant_create_topic

DDS_Publisher* DDS_DomainParticipant_create_publisher	(	DDS_DomainParticipant *	self,
		const struct DDS_PublisherQos *	qos,
		const struct DDS_PublisherListener *	listener,
		DDS_StatusMask	mask
	)

<<cert>> Creates a DDS_Publisher with the desired QoS policies and attaches to it the specified DDS_PublisherListener.

Precondition:

The specified QoS policies must be consistent, or the operation will fail and no DDS_Publisher will be created.

if listener is specified, none of the listener callback functions can be NULL.

Parameters:

self	<<in>> Cannot be NULL.
qos	<<in>> QoS to be used for creating the new DDS_Publisher. The special value DDS_PUBLISHER_QOS_DEFAULT can be used to indicate that the DDS_Publisher should be created with the default DDS_PublisherQos set in the DDS_DomainParticipant. Cannot be NULL.
listener	<<in>>. Listener to be attached to the newly created DDS_Publisher.
mask	<<in>>. Changes of communication status to be invoked on the listener.

Returns:

newly created publisher object or NULL on failure.

See also:

Specifying QoS on entities for information on setting QoS before entity creation

DDS_PublisherQos for rules on consistency among QoS

DDS_PUBLISHER_QOS_DEFAULT

DDS_ReturnCode_t DDS_DomainParticipant_delete_publisher	(	DDS_DomainParticipant *	self,
		DDS_Publisher *	p
	)

Deletes an existing DDS_Publisher.

Precondition:

The DDS_Publisher must not have any attached DDS_DataWriter objects. If there are existing DDS_DataWriter objects, it will fail with DDS_RETCODE_PRECONDITION_NOT_MET.

DDS_Publisher must have been created by this DDS_DomainParticipant, or else it will fail with DDS_RETCODE_PRECONDITION_NOT_MET.

Postcondition:

Listener installed on the DDS_Publisher will not be called after this function completes successfully.

Parameters:

self	<<in>> Cannot be NULL.
p	<<in>> DDS_Publisher to be deleted.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_PRECONDITION_NOT_MET.

DDS_Subscriber* DDS_DomainParticipant_create_subscriber	(	DDS_DomainParticipant *	self,
		const struct DDS_SubscriberQos *	qos,
		const struct DDS_SubscriberListener *	listener,
		DDS_StatusMask	mask
	)

<<cert>> Creates a DDS_Subscriber with the desired QoS policies and attaches to it the specified DDS_SubscriberListener.

Precondition:

The specified QoS policies must be consistent, or the operation will fail and no DDS_Subscriber will be created.

if listener is specified, none of the listener callback functions can be NULL.

MT Safety:

UNSAFE. If DDS_SUBSCRIBER_QOS_DEFAULT is used for qos, it is not safe to create the publisher while another thread may be simultaneously calling DDS_DomainParticipant_set_default_subscriber_qos.

Parameters:

self	<<in>> Cannot be NULL.
qos	<<in>> QoS to be used for creating the new DDS_Subscriber. The special value DDS_SUBSCRIBER_QOS_DEFAULT can be used to indicate that the DDS_Subscriber should be created with the default DDS_SubscriberQos set in the DDS_DomainParticipant. Cannot be NULL.
listener	<<in>>. Listener to be attached to the newly created DDS_Subscriber.
mask	<<in>>. Changes of communication status to be invoked on the listener.

Returns:

newly created subscriber object or NULL on failure.

See also:

Specifying QoS on entities for information on setting QoS before entity creation

DDS_SubscriberQos for rules on consistency among QoS

DDS_SUBSCRIBER_QOS_DEFAULT

DDS_ReturnCode_t DDS_DomainParticipant_delete_subscriber	(	DDS_DomainParticipant *	self,
		DDS_Subscriber *	s
	)

Deletes an existing DDS_Subscriber.

Precondition:

The DDS_Subscriber must not have any attached DDS_DataReader objects. If there are existing DDS_DataReader objects, it will fail with DDS_RETCODE_PRECONDITION_NOT_MET

The DDS_Subscriber must have been created by this DDS_DomainParticipant, or else it will fail with DDS_RETCODE_PRECONDITION_NOT_MET.

Postcondition:

A Listener installed on the DDS_Subscriber will not be called after this function completes successfully.

Parameters:

self	<<in>> Cannot be NULL.
s	<<in>> DDS_Subscriber to be deleted.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_PRECONDITION_NOT_MET.

DDS_Topic* DDS_DomainParticipant_create_topic	(	DDS_DomainParticipant *	self,
		const char *	topic_name,
		const char *	type_name,
		const struct DDS_TopicQos *	qos,
		const struct DDS_TopicListener *	listener,
		DDS_StatusMask	mask
	)

<<cert>> Creates a DDS_Topic with the desired QoS policies

Precondition:

The application is not allowed to create two DDS_TopicDescription objects with the same topic_name attached to the same DDS_DomainParticipant. If the application attempts this, this function will fail and return a NULL topic.

The specified QoS policies must be consistent, or the operation will fail and no DDS_Topic will be created.

Prior to creating a DDS_Topic, the type must have been registered with RTI Connext DDS Micro. This is done using the DDS_DomainParticipant_register_type operation on a derived class of the NDDS_Type_Plugin interface.

MT Safety:

UNSAFE. It is not safe to create a topic while another thread is trying to lookup that topic description with DDS_DomainParticipant_lookup_topicdescription.

MT Safety:

UNSAFE. If DDS_TOPIC_QOS_DEFAULT is used for qos, it is not safe create the publisher while another thread may be simultaneously calling DDS_DomainParticipant_set_default_topic_qos.

Parameters:

self	<<in>> Cannot be NULL.
topic_name	<<in>> Name for the new topic, must not exceed 255 characters. Cannot be NULL.
type_name	<<in>> The type to which the new DDS_Topic will be bound. Cannot be NULL.
qos	<<in>> QoS to be used for creating the new DDS_Topic. The special value DDS_TOPIC_QOS_DEFAULT can be used to indicate that the DDS_Topic should be created with the default DDS_TopicQos set in the DDS_DomainParticipant. Cannot be NULL.
listener	<<in>>. Listener to be attached to the newly created DDS_Topic.
mask	<<in>>. Changes of communication status to be invoked on the listener.

Returns:

newly created topic, or NULL on failure

See also:

Specifying QoS on entities for information on setting QoS before entity creation

DDS_TopicQos for rules on consistency among QoS

DDS_TOPIC_QOS_DEFAULT

DDS_ReturnCode_t DDS_DomainParticipant_delete_topic	(	DDS_DomainParticipant *	self,
		DDS_Topic *	topic
	)

Deletes a DDS_Topic.

Precondition:

If the DDS_Topic does not belong to the application's DDS_DomainParticipant, this operation fails with DDS_RETCODE_PRECONDITION_NOT_MET.

Make sure no objects are using the topic. More specifically, there must be no existing DDS_DataReader, or DDS_DataWriter, objects belonging to the same DDS_DomainParticipant that are using the DDS_Topic. If delete_topic is called on a DDS_Topic with any of these existing objects attached to it, it will fail with DDS_RETCODE_PRECONDITION_NOT_MET.

Postcondition:

Listener installed on the DDS_Topic will not be called after this function completes successfully.

Parameters:

self	<<in>> Cannot be NULL.
topic	<<in>> DDS_Topic to be deleted.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_PRECONDITION_NOT_MET

DDS_Topic* DDS_DomainParticipant_find_topic	(	DDS_DomainParticipant *	self,
		const char *	topic_name,
		const struct DDS_Duration_t *	timeout
	)

Finds an existing (or ready to exist) DDS_Topic, based on its name.

If a DDS_Topic of the same name already exists, it gives access to it, otherwise it waits until either another mechanism creates it, or else completes when the specified timeout occurs.

DDS_Topic obtained by DDS_DomainParticipant_find_topic must also be deleted by means of DDS_DomainParticipant_delete_topic. If DDS_Topic is obtained multiple times by means of DDS_DomainParticipant_find_topic or DDS_DomainParticipant_create_topic, it must also be deleted that same number of times using DDS_DomainParticipant_delete_topic

Parameters:

self	<<in>> Cannot be NULL.
topic_name	<<in>> Name of the DDS_Topic to search for. Cannot be NULL.
timeout	<<in>> The time to wait if the DDS_Topic doesn't exist already. Cannot be NULL.

Returns:

the topic, if it exists, or NULL

DDS_TopicDescription* DDS_DomainParticipant_lookup_topicdescription	(	DDS_DomainParticipant *	self,
		const char *	topic_name
	)

<<cert>> Lookup an existing locally-created DDS_TopicDescription, based on its name.

The returned topic can either be enabled or disabled.

The operation DDS_DomainParticipant_lookup_topicdescription searches among the locally created topics and returns a pointer to a DDS_TopicDescription. It is possible to delete the DDS_TopicDescription returned by DDS_DomainParticipant_lookup_topicdescription, provided it has no readers or writers, but then it is really deleted and subsequent lookups will fail.

MT Safety:

UNSAFE. It is not safe to lookup a topic description while another thread is creating that topic.

Parameters:

self	<<in>> Cannot be NULL.
topic_name	<<in>> Name of DDS_TopicDescription to search for. This string must be no more than 255 characters. Cannot be NULL.

Returns:

the topic description if it has already been created locally, or NULL otherwise.

DDS_ReturnCode_t DDS_DomainParticipant_add_peer	(	DDS_DomainParticipant *	self,
		const char *	peer
	)

<<eXtension>> <<cert>> Attempt to contact one or more additional peer participants.

Add the given peer description to the list of peers with which this DDS_DomainParticipant will try to communicate.

This function may be called at any time after this DDS_DomainParticipant has been created, before or after it has been enabled. If it is called after DDS_Entity_enable, an attempt will be made to contact the new peer(s) immediately. If it is called before, the peer description will simply be added to the list that was populated by DDS_DiscoveryQosPolicy::initial_peers; the first attempted contact will take place after this DDS_DomainParticipant is enabled.

Adding a peer description with this function does not guarantee that any peer(s) discovered as a result will exactly correspond to those described:

• This DDS_DomainParticipant will attempt to discover peer participants at the given locations but may not succeed if no such participants are available. Such a situation will not result in an error result from this function, which will not wait for contact attempt(s) to be made.
• If remote participants such as are described by the given peer description are discovered, the distributed application is configured with asymmetric peer lists, and DDS_DiscoveryQosPolicy::accept_unknown_peers is set to DDS_BOOLEAN_TRUE this DDS_DomainParticipant may actually discover more peers than are described in the given peer description.

Adding a peer description with this function has no effect on the DDS_DiscoveryQosPolicy::initial_peers that may be subsequently retrieved with DDS_DomainParticipant_get_qos() (because DDS_DiscoveryQosPolicy is immutable).

Parameters:

self	<<in>> Cannot be NULL.
peer	<<in>> New peer descriptor to be added. Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

DDS_DiscoveryQosPolicy::initial_peers

DDS_PARTICIPANT_TOPIC_NAME

DDS_DomainId_t DDS_DomainParticipant_get_domain_id

(

DDS_DomainParticipant *

self

)

<<cert>> Get the unique domain identifier.

This operation retrieves the domain_id used to create the DDS_DomainParticipant. The domain_id identifies the DDS domain to which the DDS_DomainParticipant belongs. Each DDS domain represents a separate data 'communication plane' isolated from other domains.

Parameters:

self	<<in>> Cannot be NULL.

Returns:

the unique domainId that was used to create the domain

See also:

DDS_DomainParticipantFactory_create_participant

DDS_ReturnCode_t DDS_DomainParticipant_delete_contained_entities

(

DDS_DomainParticipant *

self

)

Delete all the entities that were created by means of the "create" operations on the DDS_DomainParticipant.

This operation deletes all contained DDS_Publisher, DDS_Subscriber, and DDS_Topic.

Prior to deleting each contained entity, this operation will recursively call the corresponding delete_contained_entities operation on each contained entity (if applicable). This pattern is applied recursively. In this manner the operation delete_contained_entities() on the DDS_DomainParticipant will end up deleting all the entities recursively contained in the DDS_DomainParticipant, that is also the DDS_DataWriter, and DDS_DataReader.

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.

If delete_contained_entities() completes successfully, the application may delete the DDS_DomainParticipant knowing that it has no contained entities.

Parameters:

self	<<in>> Cannot be NULL.

Returns:

One of the Standard Return Codes, or DDS_RETCODE_PRECONDITION_NOT_MET.

DDS_ReturnCode_t DDS_DomainParticipant_get_current_time	(	DDS_DomainParticipant *	self,
		struct DDS_Time_t *	current_time
	)

<<cert>> Returns the current value of the time.

The current value of the time that RTI Connext DDS Micro uses to time-stamp DDS_DataWriter and to set the reception-timestamp for the data updates that it receives.

Parameters:

self	<<in>> Cannot be NULL.
current_time	<<inout>> Current time to be filled up. Cannot be NULL.

Returns:

One of the Standard Return Codes

DDS_ReturnCode_t DDS_DomainParticipant_get_discovered_participants	(	DDS_DomainParticipant *	self,
		struct DDS_InstanceHandleSeq *	participant_handles
	)

Returns a sequence containing DDS_InstanceHandle_t for all the remote DDS_DomainParticipant that have been discovered by the DDS_DomainParticipant.

Parameters:

self	<<in>> Cannot be NULL.
participant_handles	<<out>> sequence of DDS_InstanceHandle_t where the result will be stored.

Returns:

One of the Standard Return Codes

DDS_ReturnCode_t DDS_DomainParticipant_get_discovered_participant_data	(	DDS_DomainParticipant *	self,
		struct DDS_ParticipantBuiltinTopicData *	participant_data,
		const DDS_InstanceHandle_t *	participant_handle
	)

Returns information about a remote DDS_DomainParticipant that has been discovered by the DDS_DomainParticipant.

Parameters:

self	<<in>> Cannot be NULL.
participant_data	<<out>> information about the remote DDS_DomainParticipant.
participant_handle	<<in>> DDS_InstanceHandle_t identifying the remote DDS_DomainParticipant.

Returns:

One of the Standard Return Codes

DDS_ReturnCode_t DDS_DomainParticipant_set_qos	(	DDS_DomainParticipant *	self,
		const struct DDS_DomainParticipantQos *	qos
	)

Change the QoS of this domain participant.

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

Parameters:

self

<<in>> Cannot be NULL.

qos

<<in>> Set of policies to be applied to DDS_DomainParticipant. Policies must be consistent. Immutable policies cannot be changed after DDS_DomainParticipant is enabled. The special value DDS_PARTICIPANT_QOS_DEFAULT can be used to indicate that the QoS of the DDS_DomainParticipant should be changed to match the current default DDS_DomainParticipantQos set in the DDS_DomainParticipantFactory. Cannot be NULL.

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_DomainParticipantQos for rules on consistency among QoS

set_qos (abstract)

DDS_ReturnCode_t DDS_DomainParticipant_get_qos	(	DDS_DomainParticipant *	self,
		struct DDS_DomainParticipantQos *	qos
	)

Get the participant QoS.

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

Parameters:

self	<<in>> Cannot be NULL.
qos	<<inout>> QoS to be filled up. Cannot be NULL.

Returns:

One of the Standard Return Codes

See also:

get_qos (abstract)

DDS_ReturnCode_t DDS_DomainParticipant_set_listener	(	DDS_DomainParticipant *	self,
		const struct DDS_DomainParticipantListener *	listener,
		DDS_StatusMask	mask
	)

Sets the participant listener.

Parameters:

self	<<in>> Cannot be NULL.
listener	<<in>> Listener to be installed on entity.
mask	<<in>> Changes of communication status to be invoked on the listener. The callback function on the listener cannot be NULL if the corresponding status is turned on in the mask.

MT Safety:

Unsafe. This function is not synchronized with the listener callbacks, so it is possible to set a new listener on a participant when the old listener is in a callback.

Once a participant has been enabled, it is therefore important that the listener not be changed unless some application-specific means are available of ensuring that the old listener cannot be concurrently in use. If this contract is violated, it is possible for the DDS_Listener::listener_data field to have been changed without the callback function pointers having been changed (or vica versa); callback functions may therefore be passed an incorrect DDS_Listener::listener_data value.

Returns:

One of the Standard Return Codes

See also:

set_listener (abstract)

struct DDS_DomainParticipantListener DDS_DomainParticipant_get_listener ( DDS_DomainParticipant *  self )

read

Get the participant listener.

Parameters:

self	<<in>> Cannot be NULL.

Returns:

Existing listener attached to the DDS_DomainParticipant.

DDS_ReturnCode_t DDS_DomainParticipant_register_type	(	DDS_DomainParticipant *	self,
		const char *	type_name,
		struct NDDS_Type_Plugin *	plugin
	)

<<eXtension>> <<cert>> Allows an application to communicate to RTI Connext DDS Micro the existence of a data type.

The generated implementation of the operation embeds all the knowledge that has to be communicated to the middleware in order to make it able to manage the contents of data of that type. This includes in particular the key definition that will allow RTI Connext DDS Micro to distinguish different instances of the same type.

The same NDDS_Type_Plugin can be registered multiple times with a DDS_DomainParticipant using the same or different values for the type_name. If register_type is called multiple times on the same NDDS_Type_Plugin with the same DDS_DomainParticipant and type_name, the second (and subsequent) registrations are ignored by the operation fails with DDS_RETCODE_OK.

Precondition:

Cannot use the same type_name to register two different NDDS_Type_Plugin with the same DDS_DomainParticipant, or else the operation will fail and DDS_RETCODE_PRECONDITION_NOT_MET will be returned.

Parameters:

self	<<in>> Cannot be NULL.
type_name	<<in>> the type name under with the data type Foo is registered with the participant; this type name is used when creating a new DDS_Topic. (See DDS_DomainParticipant_create_topic.) The name may not be NULL or longer than 255 characters.
plugin	<<in>> the Foo type plugin to register the data type with. Cannot be NULL.

Returns:

One of the Standard Return Codes, DDS_RETCODE_PRECONDITION_NOT_MET or DDS_RETCODE_OUT_OF_RESOURCES.

See also:

DDS_DomainParticipant_create_topic

struct NDDS_Type_Plugin* DDS_DomainParticipant_unregister_type ( DDS_DomainParticipant *  self, const char *  type_name  )

read

Allows an application to unregister a data type from RTI Connext DDS Micro. After calling unregister_type, no further communication using that type is possible.

The generated implementation of the operation removes all the information about a type from RTI Connext DDS Micro. No further communication using that type is possible.

Precondition:

A type with type_name is registered with the participant and all DDS_Topic objects referencing the type have been destroyed. If the type is not registered with the participant, or if any DDS_Topic is associated with the type, the operation will fail with DDS_RETCODE_ERROR.

Postcondition:

All information about the type is removed from RTI Connext DDS Micro. No further communication using this type is possible.

Parameters:

self	<<in>> Cannot be NULL.
type_name	<<in>> the type name under with the data type Foo is registered with the participant. The name should match a name that has been previously used to register a type with the participant. Cannot be NULL.

Returns:

One of the Standard Return Codes, DDS_RETCODE_BAD_PARAMETER or DDS_RETCODE_ERROR

See also:

DDS_DomainParticipant_register_type

const char* DDSC_Library_get_version

(

void

)

Returns the version string for the DDS C library.

---

Variable Documentation

struct DDS_TopicQos DDS_TOPIC_QOS_DEFAULT

<<cert>> Special value for creating a DDS_Topic with default QoS. Note that this is the only supported parameter in RTI Connext DDS Micro when creating a topic.

RTI Connext DDS Micro does not support Topic QoS. This represents the a placeholder for Topic QoS values.This is the only valid paramater that can be passed into the DDS_DomainParticipant_create_topic function (no other values for QoS are supported).

See also:

DDS_DomainParticipant_create_topic

struct DDS_PublisherQos DDS_PUBLISHER_QOS_DEFAULT

<<cert>> Special value for creating a DDS_Publisher with default QoS.

When used in DDS_DomainParticipant_create_publisher, this special value is used to indicate that the DDS_Publisher should be created with the default DDS_Publisher QoS.

See also:

DDS_DomainParticipant_create_publisher

struct DDS_SubscriberQos DDS_SUBSCRIBER_QOS_DEFAULT

<<cert>> Special value for creating a DDS_Subscriber with default QoS.

When used in DDS_DomainParticipant_create_subscriber, this special value is used to indicate that the DDS_Subscriber should be created with the default DDS_Subscriber QoS.

See also:

DDS_DomainParticipant_create_subscriber