- RTI Connext Micro C API Version 4.3.0 Copyright © Thu May 28 2026
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RTI Connext Micro C API Version 4.3.0
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DDS_DomainParticipant entity and associated elements More...
Data Structures | |
| struct | DDS_DomainParticipantListener |
| <<interface>> <<cert>> Listener for a DDS_DomainParticipant and all of its child entities. 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. | |
Variables | |
| const 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. | |
| const struct DDS_PublisherQos | DDS_PUBLISHER_QOS_DEFAULT |
| <<cert>> Special value for creating a DDS_Publisher with default QoS. | |
| const struct DDS_SubscriberQos | DDS_SUBSCRIBER_QOS_DEFAULT |
| <<cert>> Special value for creating a DDS_Subscriber with default QoS. | |
| const struct DDS_FlowControllerProperty_t | DDS_FLOW_CONTROLLER_PROPERTY_DEFAULT |
| <<cert>> <<eXtension>> Special value for creating a DDS_FlowController with default property. | |
DDS_DomainParticipant entity and associated elements
| #define DDS_DomainParticipantListener_INITIALIZER |
<<cert>> Initializer for new DDS_DomainParticipantListener.
No memory is allocated. New DDS_DomainParticipantListener instances stored on the stack should be initialized with this value before they are passed to any functions.
| #define DDS_DomainParticipantQos_INITIALIZER |
<<cert>> Initializer for new QoS instances.
DDS_DomainParticipantQos instances stored on the stack must be initialized with this value before they are passed to any functions. This step ensures that the contained QoS policies that use dynamic memory are properly initialized. The initializer 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:
| 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.
A DDS_DomainParticipant may be created in a disabled or enabled state; refer to DDS_Entity_enable for details. The initial state of the DDS_DomainParticipant is determined by DDS_DomainParticipantFactoryQos::entity_factory.
The documentation for each operation on the DDS_DomainParticipant includes any restrictions with respect to whether the operation is valid only for a disabled or enabled DDS_DomainParticipant.
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:
| DDS_ReturnCode_t DDS_DomainParticipantQos_initialize | ( | struct DDS_DomainParticipantQos * | self | ) |
<<cert>> 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.
| self | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t DDS_DomainParticipantQos_copy | ( | struct DDS_DomainParticipantQos * | self, |
| const struct DDS_DomainParticipantQos * | source ) |
<<cert>> Copy the contents of the given QoS into this QoS. The destination structure must be preallocated and initialized.
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 as necessary.
| DDS_Boolean DDS_DomainParticipantQos_is_equal | ( | const struct DDS_DomainParticipantQos * | left, |
| const struct DDS_DomainParticipantQos * | right ) |
<<cert>> Compare two DDS_DomainParticipantQos policies for equality.
| left | <<in>> The left side of the comparison. |
| right | <<in>> The right side of the comparison. |
| 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 permissible 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.
| self | <<in>> Cannot be NULL. |
| DDS_Entity * DDS_DomainParticipant_as_entity | ( | DDS_DomainParticipant * | self | ) |
<<cert>> Access a DDS_DomainParticipant's supertype instance.
| self | <<in>> Cannot be NULL. |
| 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_publisher 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.
| 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.
The specified QoS policies must be consistent, or else the operation will have no effect and fail with DDS_RETCODE_INCONSISTENT_POLICY.
| 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 have used if DDS_DomainParticipant_set_default_publisher_qos had never been called. Cannot be NULL. |
| 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.
| 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.
The specified QoS policies must be consistent, or else the operation will have no effect and fail with DDS_RETCODE_INCONSISTENT_POLICY.
| 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 have used if DDS_DomainParticipant_set_default_subscriber_qos had never been called. Cannot be NULL. |
| 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.
| 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.
The specified QoS policies must be consistent, or else the operation will have no effect and fail with DDS_RETCODE_INCONSISTENT_POLICY.
| 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. |
| 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.
The specified QoS policies must be consistent, or the operation will fail and no DDS_Publisher will be created.
listener is specified, a listener callback must be provided for each status enabled in the mask. | 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. |
| DDS_ReturnCode_t DDS_DomainParticipant_delete_publisher | ( | DDS_DomainParticipant * | self, |
| DDS_Publisher * | p ) |
Deletes an existing DDS_Publisher.
| self | <<in>> Cannot be NULL. |
| p | <<in>> DDS_Publisher to be deleted. |
| 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.
The specified QoS policies must be consistent, or the operation will fail and no DDS_Subscriber will be created.
listener is specified, a listener callback must be provided for each status enabled in the mask. | 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. |
| DDS_ReturnCode_t DDS_DomainParticipant_delete_subscriber | ( | DDS_DomainParticipant * | self, |
| DDS_Subscriber * | s ) |
Deletes an existing DDS_Subscriber.
| self | <<in>> Cannot be NULL. |
| s | <<in>> DDS_Subscriber to be deleted. |
| 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
The specified QoS policies must be consistent, or the operation will fail and no DDS_Topic will be created.
topic_name attached to the same DDS_DomainParticipant. If the application attempts this, this function will fail and return NULL. | 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. |
| 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.
If a DDS_Topic of the same name already exists, it gives access to it. RTI Connext DDS Micro does not support waiting for a topic to be created. This operation will fail unless the timeout is DDS_DURATION_ZERO.
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
| 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. |
| DDS_ReturnCode_t DDS_DomainParticipant_register_contentfilter | ( | DDS_DomainParticipant * | self, |
| const char * | filter_class_name, | ||
| const struct DDS_ContentFilterI * | filter_intf, | ||
| const void * | filter_property ) |
<<eXtension>> Register a custom content filter class with the DDS_DomainParticipant.
Register a custom content filter implementation with the DDS_DomainParticipant, so that it can be used by its child DDS_DataReader and DDS_DataWriter entities.
The content filtering feature must be enabled on the DDS_DomainParticipant (see DDS_FilterQosPolicy) or this function will return DDS_RETCODE_PRECONDITION_NOT_MET.
The filter_class_name must not exceed the length configured by DDS_FilterResourceLimits::filter_class_max_length.
| self | <<in>> Cannot be NULL. |
| filter_class_name | <<in>> The name of the content filter class. This name is used to match the filter class specified in DDS_ContentFilterQosPolicy::filter_class_name. Cannot be NULL. |
| filter_intf | <<in>> The content filter interface providing the filter implementation callbacks. Cannot be NULL. See DDS_ContentFilterI. |
| filter_property | <<in>> Optional filter-specific property passed to the filter's DDS_ContentFilterI::create_instance callback. May be NULL. |
| DDS_ReturnCode_t DDS_DomainParticipant_unregister_contentfilter | ( | DDS_DomainParticipant * | self, |
| const char * | filter_class_name ) |
<<eXtension>> Unregister a custom content filter class from the DDS_DomainParticipant.
Unregister a previously registered content filter class from the DDS_DomainParticipant.
It is not necessary to unregister a filter before finalizing the DDS_DomainParticipant. All registered filters are automatically unregistered when the DDS_DomainParticipant is finalized. This operation is only required if a filter class name needs to be reused.
The content filtering feature must be enabled on the DDS_DomainParticipant (see DDS_FilterQosPolicy) or this function will return DDS_RETCODE_PRECONDITION_NOT_MET.
filter_class_name must have been previously registered with DDS_DomainParticipant_register_contentfilter. The filter class must not be in use by any active DDS_DataReader or DDS_DataWriter. | self | <<in>> Cannot be NULL. |
| filter_class_name | <<in>> The name of the content filter class to unregister. Must match the name used during registration. Cannot be 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.
| 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. |
| DDS_Publisher * DDS_DomainParticipant_lookup_publisher_by_name | ( | DDS_DomainParticipant * | self, |
| const char * | publisher_name ) |
<<cert>> Retrieves a DDS_Publisher by its entity name within this DDS_DomainParticipant
This returned DDS_Publisher is either enabled or disabled.
Every DDS_Publisher in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.
This operation retrieves a DDS_Publisher within the DDS_DomainParticipant given the entity's name. If there are several DDS_Publisher with the same name within the DDS_DomainParticipant, this function returns the first matching occurrence.
| self | <<in>> Cannot be NULL. |
| publisher_name | <<in>> Entity name of the DDS_Publisher. Cannot be NULL. |
| DDS_Subscriber * DDS_DomainParticipant_lookup_subscriber_by_name | ( | DDS_DomainParticipant * | self, |
| const char * | subscriber_name ) |
<<cert>> Retrieves a DDS_Subscriber by its entity name within this DDS_DomainParticipant
This returned DDS_Subscriber is either enabled or disabled.
Every DDS_Subscriber in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.
This operation retrieves a DDS_Subscriber within the DDS_DomainParticipant given the entity's name. If there are several DDS_Subscriber with the same name within the DDS_DomainParticipant, this function returns the first matching occurrence.
| self | <<in>> Cannot be NULL. |
| subscriber_name | <<in>> Entity name of the DDS_Subscriber. Cannot be NULL. |
| DDS_DataWriter * DDS_DomainParticipant_lookup_datawriter_by_name | ( | DDS_DomainParticipant * | self, |
| const char * | datawriter_full_name ) |
<<cert>> Retrieves a DDS_DataWriter by its entity name within this DDS_DomainParticipant
This returned DDS_DataWriter is either enabled or disabled.
Every DDS_DataWriter in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.
This operation retrieves a DDS_DataWriter within the DDS_DomainParticipant given the entity's name. If there are several DDS_DataWriter with the same name within the DDS_DomainParticipant, this function returns the first matching occurrence.
| self | <<in>> Cannot be NULL. |
| datawriter_full_name | <<in>> Entity name of the DDS_DataWriter. Cannot be NULL. |
| DDS_DataReader * DDS_DomainParticipant_lookup_datareader_by_name | ( | DDS_DomainParticipant * | self, |
| const char * | datareader_full_name ) |
<<cert>> Retrieves a DDS_DataReader by its entity name within this DDS_DomainParticipant
This returned DDS_DataReader is either enabled or disabled.
Every DDS_DataReader in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.
This operation retrieves a DDS_DataReader within the DDS_DomainParticipant given the entity's name. If there are several DDS_DataReader with the same name within the DDS_DomainParticipant, this function returns the first matching occurrence.
| self | <<in>> Cannot be NULL. |
| datareader_full_name | <<in>> Entity name of the DDS_DataReader. Cannot be NULL. |
| 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:
Adding a peer description with this function has no effect on DDS_DiscoveryQosPolicy::initial_peers.
| DDS_ReturnCode_t DDS_DomainParticipant_announce | ( | DDS_DomainParticipant * | self | ) |
<<cert>> <<eXtension>> Send a participant announcement for the local participant to the current peers.
Immediately send a participant announcement to each peer in the DDS_DiscoveryQosPolicy::initial_peers list and to all currently discovered participants.
Calling this function does not affect the contents of DDS_DiscoveryQosPolicy::initial_peers, nor does it alter the timing of scheduled participant announcements.
| self | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t DDS_DomainParticipant_remove_discovered_participants | ( | DDS_DomainParticipant * | self | ) |
<<cert>> <<eXtension>> Remove all currently discovered remote participants from the discovery database.
This function unmatches all local endpoints from all discovered participants endpoints.
When the DPDE plugin is used, the remote participant discovery information is deleted.
When the DPSE plugin is used, the remote participant discovery information is reset. Thus, it is not necessary to assert the remote participant again using DPSE_RemoteParticipant_assert.
Rediscovery of remote participants will resume based on the discovery properties. However, discovery can also be triggered manually. Please refer to DDS_DomainParticipant_announce for details about manually initiating discovery of remote participants using the initial peer list.
Note that if this function fails, it is possible that 0 or more participants may have already been removed at the point of failure. In this case, the removed participants are not restored.
Though not strictly required, calls to this function are typically followed by calls to DDS_DomainParticipant_announce to trigger re-discovery of the remote participants.
| self | <<in>> Cannot be NULL. |
| 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.
| self | <<in>> Cannot be NULL. |
domainId that was used to create the domain | DDS_ReturnCode_t DDS_DomainParticipant_assert_liveliness | ( | DDS_DomainParticipant * | self | ) |
<<cert>> Manually asserts the liveliness of this DDS_DomainParticipant.
This is used in combination with the DDS_LivelinessQosPolicy to indicate to RTI Connext DDS Micro that the entity remains active.
You need to use this operation if the DDS_DomainParticipant contains DDS_DataWriter entities with the DDS_LivelinessQosPolicy::kind set to DDS_MANUAL_BY_PARTICIPANT_LIVELINESS_QOS and it only affects the liveliness of those DDS_DataWriter entities. Otherwise, it has no effect.
Note: writing data via the FooDataWriter_write or FooDataWriter_write_w_timestamp operation asserts liveliness on the DDS_DataWriter itself and its DDS_DomainParticipant. Consequently the use of assert_liveliness() is only needed if the application is not writing data regularly.
| self | <<in>> Cannot be NULL. |
| 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.
| self | <<in>> Cannot be NULL. |
| 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. Note that the definition of the current time is dependent on the platform and may not be the actual wall-clock time. Additional information for specific platforms can be found in the User's Manual.
| self | <<in>> Cannot be NULL. |
| current_time | <<out>> Current time to be filled up. Cannot be NULL. |
| 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.
| self | <<in>> Cannot be NULL. |
| participant_handles | <<out>> sequence of DDS_InstanceHandle_t where the result will be stored. |
| 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.
| 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. |
| 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.
| 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. |
| 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.
| DDS_ReturnCode_t DDS_DomainParticipant_set_listener | ( | DDS_DomainParticipant * | self, |
| const struct DDS_DomainParticipantListener * | listener, | ||
| DDS_StatusMask | mask ) |
Sets the participant listener.
| 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. |
| struct DDS_DomainParticipantListener DDS_DomainParticipant_get_listener | ( | DDS_DomainParticipant * | self | ) |
Get the participant listener.
| self | <<in>> Cannot be NULL. |
References DDS_DomainParticipant_get_listener().
Referenced by DDS_DomainParticipant_get_listener().
| DDS_ReturnCode_t DDS_DomainParticipant_register_type | ( | DDS_DomainParticipant * | self, |
| const char * | type_name, | ||
| struct DDS_TypePluginI * | plugin ) |
<<cert>> <<eXtension>> 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 ::DDS_TypePluginI 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 ::DDS_TypePluginI with the same DDS_DomainParticipant and type_name, the second (and subsequent) registrations are ignored and the operation succeeds with DDS_RETCODE_OK.
type_name to register two different ::DDS_TypePluginI with the same DDS_DomainParticipant, or else the operation will fail and DDS_RETCODE_PRECONDITION_NOT_MET will be returned. | self | <<in>> Cannot be NULL. |
| type_name | <<in>> the type name under which 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 longer than 255 characters. If name is NULL, the typename specified in IDL is used. |
| plugin | <<in>> the Foo type plugin to register the data type with. Cannot be NULL. |
| struct DDS_TypePluginI * 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.
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.
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. | self | <<in>> Cannot be NULL. |
| type_name | <<in>> the type name under which 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. |
References DDS_PARTICIPANT_QOS_DEFAULT.
| DDS_ReturnCode_t DDS_DomainParticipant_get_default_flowcontroller_property | ( | DDS_DomainParticipant * | self, |
| struct DDS_FlowControllerProperty_t * | prop ) |
<<cert>> <<eXtension>> Copies the default DDS_FlowControllerProperty_t values for this domain participant into the given DDS_FlowControllerProperty_t instance.
The retrieved prop will match the set of values specified on the last successful call to DDS_DomainParticipant_set_default_flowcontroller_property, or else, if the call was never made, the default values listed in DDS_FlowControllerProperty_t.
| DDS_ReturnCode_t DDS_DomainParticipant_set_default_flowcontroller_property | ( | DDS_DomainParticipant * | self, |
| const struct DDS_FlowControllerProperty_t * | prop ) |
<<cert>> <<eXtension>> Set the default DDS_FlowControllerProperty_t values for this domain participant.
This default value will be used for newly created DDS_FlowController if DDS_FLOW_CONTROLLER_PROPERTY_DEFAULT is specified as the prop parameter when DDS_DomainParticipant_create_flowcontroller is called.
The specified property values must be consistent, or else the operation will have no effect and fail with DDS_RETCODE_INCONSISTENT_POLICY.
prop parameter. | self | <<in>> Cannot be NULL. |
| prop | <<in>> Default property to be set. The special value DDS_FLOW_CONTROLLER_PROPERTY_DEFAULT may be passed as prop to indicate that the default property should be reset to the default values the factory would use if DDS_DomainParticipant_set_default_flowcontroller_property had never been called. Cannot be NULL. |
References DDS_FLOW_CONTROLLER_PROPERTY_DEFAULT.
| DDS_FlowController * DDS_DomainParticipant_create_flowcontroller | ( | DDS_DomainParticipant * | self, |
| const char * | name, | ||
| const struct DDS_FlowControllerProperty_t * | prop ) |
<<cert>> <<eXtension>> Creates a DDS_FlowController with the desired property.
prop, it is not safe to create the flow controller while another thread may be simultaneously calling DDS_DomainParticipant_set_default_flowcontroller_property or trying to lookup that flow controller with DDS_DomainParticipant_lookup_flowcontroller. | self | <<in>> Cannot be NULL. |
| name | <<in>> name of the DDS_FlowController to create. A DDS_DataWriter is associated with a DDS_FlowController by name. Limited to 255 characters. |
| prop | <<in>> property to be used for creating the new DDS_FlowController. The special value DDS_FLOW_CONTROLLER_PROPERTY_DEFAULT can be used to indicate that the DDS_FlowController should be created with the default DDS_FlowControllerProperty_t set in the DDS_DomainParticipant. |
Cannot be NULL.
The created DDS_FlowController is associated with a DDS_DataWriter via DDS_PublishModeQosPolicy::flow_controller_name. A single FlowController may service multiple DDS_DataWriter instances, even if they belong to a different DDS_Publisher. The prop determines how the FlowController shapes the network traffic.
The specified prop must be consistent, or the operation will fail and no DDS_FlowController will be created.
| DDS_ReturnCode_t DDS_DomainParticipant_delete_flowcontroller | ( | DDS_DomainParticipant * | self, |
| DDS_FlowController * | fc ) |
<<cert>> <<eXtension>> Deletes an existing DDS_FlowController.
| self | <<in>> Cannot be NULL. |
| fc | <<in>> The DDS_FlowController to be deleted. |
| DDS_FlowController * DDS_DomainParticipant_lookup_flowcontroller | ( | DDS_DomainParticipant * | self, |
| const char * | name ) |
<<cert>> <<eXtension>> Looks up an existing locally-created DDS_FlowController, based on its name.
Looks up a previously created DDS_FlowController, including the built-in ones. Once a DDS_FlowController has been deleted, subsequent lookups will fail.
| self | <<in>> Cannot be NULL. |
| name | <<in>> Name of DDS_FlowController to search for. Limited to 255 characters. Cannot be NULL. |
| const char * DDSC_Library_get_version | ( | void | ) |
Returns the version string for the DDS C library.
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extern |
<<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.
When used in DDS_DomainParticipant_create_topic, this special value indicates that the DDS_Topic should be created with the default DDS_Topic QoS.
NOTE: You cannot use this value to get the default QoS for a Topic; for this purpose, use DDS_DomainParticipant_get_default_topic_qos.
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extern |
<<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.
NOTE: You cannot use this value to get the default QoS for a Publisher; for this purpose, use DDS_DomainParticipant_get_default_publisher_qos.
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extern |
<<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.
NOTE: You cannot use this value to get the default QoS for a Subscriber; for this purpose, use DDS_DomainParticipant_get_default_subscriber_qos.
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extern |
<<cert>> <<eXtension>> Special value for creating a DDS_FlowController with default property.
When used in DDS_DomainParticipant_create_flowcontroller, this special value is used to indicate that the DDS_FlowController should be created with the default DDS_FlowController property by means of the operation get_default_flowcontroller_property and using the resulting QoS to create the DDS_FlowControllerProperty_t.
Note: You cannot use this value to get the default properties for a FlowController; for this purpose, use DDS_DomainParticipant_get_default_flowcontroller_property.
Referenced by DDS_DomainParticipant_set_default_flowcontroller_property().