Class DomainParticipantFactory

Class Documentation

class DomainParticipantFactory

Class DomainParticipantFactory

Public Functions

RTPS_DllAPI DomainParticipant * create_participant (DomainId_t domain_id, const DomainParticipantQos &qos, DomainParticipantListener *listener=nullptr, const StatusMask &mask=StatusMask::all())

Create a Participant.

Parameters:
Returns:

DomainParticipant pointer. (nullptr if not created.)

RTPS_DllAPI DomainParticipant * create_participant_with_profile (DomainId_t domain_id, const std::string &profile_name, DomainParticipantListener *listener=nullptr, const StatusMask &mask=StatusMask::all())

Create a Participant.

Parameters:

  • domain_id – Domain Id.

  • profile_name – Participant profile name.

  • listener – DomainParticipantListener Pointer (default: nullptr)

  • mask – StatusMask Reference (default: all)

Returns:

DomainParticipant pointer. (nullptr if not created.)

RTPS_DllAPI DomainParticipant * create_participant_with_profile (const std::string &profile_name, DomainParticipantListener *listener=nullptr, const StatusMask &mask=StatusMask::all())

Create a Participant.

Parameters:
Returns:

DomainParticipant pointer. (nullptr if not created.)

RTPS_DllAPI DomainParticipant * lookup_participant (DomainId_t domain_id) const

This operation retrieves a previously created DomainParticipant belonging to specified domain_id. If no such DomainParticipant exists, the operation will return ‘nullptr’. If multiple DomainParticipant entities belonging to that domain_id exist, then the operation will return one of them. It is not specified which one.

Parameters:

domain_id –

Returns:

previously created DomainParticipant within the specified domain

RTPS_DllAPI std::vector< DomainParticipant * > lookup_participants (DomainId_t domain_id) const

Returns all participants that belongs to the specified domain_id.

Parameters:

domain_id –

Returns:

previously created DomainParticipants within the specified domain

RTPS_DllAPI ReturnCode_t get_default_participant_qos (DomainParticipantQos &qos) const

This operation retrieves the default value of the DomainParticipant QoS, that is, the QoS policies which will be used for newly created DomainParticipant entities in the case where the QoS policies are defaulted in the create_participant operation. The values retrieved get_default_participant_qos will match the set of values specified on the last successful call to set_default_participant_qos, or else, if the call was never made, the default values.

Parameters:

qos – DomainParticipantQos where the qos is returned

Returns:

RETCODE_OK

RTPS_DllAPI const DomainParticipantQos & get_default_participant_qos () const

This operation retrieves the default value of the DomainParticipant QoS, that is, the QoS policies which will be used for newly created DomainParticipant entities in the case where the QoS policies are defaulted in the create_participant operation. The values retrieved get_default_participant_qos will match the set of values specified on the last successful call to set_default_participant_qos, or else, if the call was never made, the default values.

Returns:

A reference to the default DomainParticipantQos

RTPS_DllAPI ReturnCode_t set_default_participant_qos (const DomainParticipantQos &qos)

This operation sets a default value of the DomainParticipant QoS policies which will be used for newly created DomainParticipant entities in the case where the QoS policies are defaulted in the create_participant operation.

This operation will check that the resulting policies are self consistent; if they are not, the operation will have no effect and return INCONSISTENT_POLICY.

The special value PARTICIPANT_QOS_DEFAULT may be passed to this operation to indicate that the default QoS should be reset back to the initial values the factory would use, that is the values that would be used if the set_default_participant_qos operation had never been called.

Parameters:

qos – DomainParticipantQos to be set

Returns:

RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

RTPS_DllAPI ReturnCode_t get_participant_qos_from_profile (const std::string &profile_name, DomainParticipantQos &qos) const

Fills the DomainParticipantQos with the values of the XML profile.

Parameters:
Returns:

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

RTPS_DllAPI ReturnCode_t delete_participant (DomainParticipant *part)

Remove a Participant and all associated publishers and subscribers.

Parameters:

part – Pointer to the participant.

Returns:

RETCODE_PRECONDITION_NOT_MET if the participant has active entities, RETCODE_OK if the participant is correctly deleted and RETCODE_ERROR otherwise.

RTPS_DllAPI ReturnCode_t load_profiles ()

Load profiles from default XML file.

Returns:

RETCODE_OK

RTPS_DllAPI ReturnCode_t load_XML_profiles_file (const std::string &xml_profile_file)

Load profiles from XML file.

Parameters:

xml_profile_file – XML profile file.

Returns:

RETCODE_OK if it is correctly loaded, RETCODE_ERROR otherwise.

RTPS_DllAPI ReturnCode_t load_XML_profiles_string (const char *data, size_t length)

Load profiles from XML string.

Parameters:

  • data – buffer containing xml data.

  • length – length of data

Returns:

RETCODE_OK if it is correctly loaded, RETCODE_ERROR otherwise.

RTPS_DllAPI ReturnCode_t check_xml_static_discovery (std::string &xml_file)

Check the validity of the provided static discovery XML file

Parameters:

xml_file – xml file path

Returns:

RETCODE_OK if the validation is successful, RETCODE_ERROR otherwise.

RTPS_DllAPI ReturnCode_t get_qos (DomainParticipantFactoryQos &qos) const

This operation returns the value of the DomainParticipantFactory QoS policies.

Parameters:

qos – DomaParticipantFactoryQos reference where the qos is returned

Returns:

RETCODE_OK

RTPS_DllAPI ReturnCode_t set_qos (const DomainParticipantFactoryQos &qos)

This operation sets the value of the DomainParticipantFactory QoS policies. These policies control the behavior of the object a factory for entities.

Note that despite having QoS, the DomainParticipantFactory is not an Entity.

This operation will check that the resulting policies are self consistent; if they are not, the operation will have no effect and return INCONSISTENT_POLICY.

Parameters:

qos – DomainParticipantFactoryQos to be set.

Returns:

RETCODE_IMMUTABLE_POLICY if any of the Qos cannot be changed, RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

Public Static Functions

static RTPS_DllAPI DomainParticipantFactory * get_instance ()

Returns the DomainParticipantFactory singleton instance.

Returns:

A raw pointer to the DomainParticipantFactory singleton instance.

static RTPS_DllAPI std::shared_ptr< DomainParticipantFactory > get_shared_instance ()

Returns the DomainParticipantFactory singleton instance.

Returns:

A shared pointer to the DomainParticipantFactory singleton instance.

Protected Functions

DomainParticipantFactory()
virtual ~DomainParticipantFactory()
DomainParticipantFactory(const DomainParticipantFactory&) = delete
void operator=(const DomainParticipantFactory&) = delete
void reset_default_participant_qos()
void participant_has_been_deleted(DomainParticipantImpl *part)

Protected Attributes

std::map<DomainId_t, std::vector<DomainParticipantImpl*>> participants_
mutable std::mutex mtx_participants_
mutable bool default_xml_profiles_loaded
DomainParticipantFactoryQos factory_qos_
DomainParticipantQos default_participant_qos_
std::shared_ptr<fastrtps::rtps::detail::TopicPayloadPoolRegistry> topic_pool_
std::shared_ptr<fastrtps::rtps::RTPSDomainImpl> rtps_domain_
std::shared_ptr<detail::LogResources> log_resources_
mutable std::mutex default_xml_profiles_loaded_mtx_

This mutex guards the access to load the profiles. Is used to lock every thread that is trying to load the profiles, so only the first one loads it and until it is not finished the rest of them does not leave function load_profiles .

Protected Static Functions

static void set_qos(DomainParticipantFactoryQos &to, const DomainParticipantFactoryQos &from, bool first_time)
static ReturnCode_t check_qos(const DomainParticipantFactoryQos &qos)
static bool can_qos_be_updated(const DomainParticipantFactoryQos &to, const DomainParticipantFactoryQos &from)

Friends

friend class DomainParticipant