Class RTPSDomain

• Defined in File RTPSDomain.h

Class Documentation

class RTPSDomain

Class RTPSDomain,it manages the creation and destruction of RTPSParticipant RTPSWriter and RTPSReader. It stores a list of all created RTPSParticipant. It has only static methods.

Public Static Functions

static RTPS_DllAPI void set_filewatch_thread_config (const fastdds::rtps::ThreadSettings &watch_thread, const fastdds::rtps::ThreadSettings &callback_thread)

Method to set the configuration of the threads created by the file watcher for the environment file. In order for these settings to take effect, this method must be called before the first call to createParticipant.

Parameters:

• watch_thread – Settings for the thread watching the environment file.

• callback_thread – Settings for the thread executing the callback when the environment file changed.

static RTPS_DllAPI void stopAll ()

Method to shut down all RTPSParticipants, readers, writers, etc. It must be called at the end of the process to avoid memory leaks. It also shut downs the DomainRTPSParticipant.

Post:

After this call, all the pointers to RTPS entities are invalidated and their use may result in undefined behaviour.

static RTPS_DllAPI RTPSParticipant * createParticipant (uint32_t domain_id, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *plisten=nullptr)

Create a RTPSParticipant.

Warning

The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• domain_id – DomainId to be used by the RTPSParticipant (80 by default).

• attrs – RTPSParticipant Attributes.

• plisten – Pointer to the ParticipantListener.

Returns:

Pointer to the RTPSParticipant.

static RTPS_DllAPI RTPSParticipant * createParticipant (uint32_t domain_id, bool enabled, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *plisten=nullptr)

Create a RTPSParticipant.

Warning

The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• domain_id – DomainId to be used by the RTPSParticipant (80 by default).

• enabled – True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()

• attrs – RTPSParticipant Attributes.

• plisten – Pointer to the ParticipantListener.

Returns:

Pointer to the RTPSParticipant.

static RTPS_DllAPI RTPSWriter * createRTPSWriter (RTPSParticipant *p, WriterAttributes &watt, WriterHistory *hist, WriterListener *listen=nullptr)

Create a RTPSWriter in a participant.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• watt – Writer Attributes.

• hist – Pointer to the WriterHistory.

• listen – Pointer to the WriterListener.

Returns:

Pointer to the created RTPSWriter.

static RTPS_DllAPI RTPSWriter * createRTPSWriter (RTPSParticipant *p, WriterAttributes &watt, const std::shared_ptr< IPayloadPool > &payload_pool, WriterHistory *hist, WriterListener *listen=nullptr)

Create a RTPSWriter in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• watt – Writer Attributes.

• payload_pool – Shared pointer to the IPayloadPool

• hist – Pointer to the WriterHistory.

• listen – Pointer to the WriterListener.

Returns:

Pointer to the created RTPSWriter.

static RTPS_DllAPI RTPSWriter * createRTPSWriter (RTPSParticipant *p, WriterAttributes &watt, const std::shared_ptr< IPayloadPool > &payload_pool, const std::shared_ptr< IChangePool > &change_pool, WriterHistory *hist, WriterListener *listen=nullptr)

Create a RTPSWriter in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• watt – Writer Attributes.

• payload_pool – Shared pointer to the IPayloadPool

• change_pool – Shared pointer to the IChangePool

• hist – Pointer to the WriterHistory.

• listen – Pointer to the WriterListener.

Returns:

Pointer to the created RTPSWriter.

static RTPS_DllAPI RTPSWriter * createRTPSWriter (RTPSParticipant *p, const EntityId_t &entity_id, WriterAttributes &watt, const std::shared_ptr< IPayloadPool > &payload_pool, const std::shared_ptr< IChangePool > &change_pool, WriterHistory *hist, WriterListener *listen=nullptr)

Create a RTPSWriter in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• entity_id – Specific entity id to use for the created writer.

• watt – Writer Attributes.

• payload_pool – Shared pointer to the IPayloadPool

• change_pool – Shared pointer to the IChangePool

• hist – Pointer to the WriterHistory.

• listen – Pointer to the WriterListener.

Returns:

Pointer to the created RTPSWriter.

static RTPS_DllAPI RTPSWriter * createRTPSWriter (RTPSParticipant *p, const EntityId_t &entity_id, WriterAttributes &watt, const std::shared_ptr< IPayloadPool > &payload_pool, WriterHistory *hist, WriterListener *listen=nullptr)

Create a RTPSWriter in a participant.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• entity_id – Specific entity id to use for the created writer.

• watt – Writer Attributes.

• payload_pool – Shared pointer to the IPayloadPool

• hist – Pointer to the WriterHistory.

• listen – Pointer to the WriterListener.

Returns:

Pointer to the created RTPSWriter.

static RTPS_DllAPI bool removeRTPSWriter (RTPSWriter *writer)

Remove a RTPSWriter.

Parameters:

writer – Pointer to the writer you want to remove.

Returns:

True if correctly removed.

static RTPS_DllAPI RTPSReader * createRTPSReader (RTPSParticipant *p, ReaderAttributes &ratt, ReaderHistory *hist, ReaderListener *listen=nullptr)

Create a RTPSReader in a participant.

Warning

The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• ratt – Reader Attributes.

• hist – Pointer to the ReaderHistory.

• listen – Pointer to the ReaderListener.

Returns:

Pointer to the created RTPSReader.

static RTPS_DllAPI RTPSReader * createRTPSReader (RTPSParticipant *p, ReaderAttributes &ratt, const std::shared_ptr< IPayloadPool > &payload_pool, ReaderHistory *hist, ReaderListener *listen=nullptr)

Create a RTPReader in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• ratt – Reader Attributes.

• payload_pool – Shared pointer to the IPayloadPool

• hist – Pointer to the ReaderHistory.

• listen – Pointer to the ReaderListener.

Returns:

Pointer to the created RTPSReader.

static RTPS_DllAPI RTPSReader * createRTPSReader (RTPSParticipant *p, const EntityId_t &entity_id, ReaderAttributes &ratt, const std::shared_ptr< IPayloadPool > &payload_pool, ReaderHistory *hist, ReaderListener *listen=nullptr)

Create a RTPSReader in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.

Parameters:

• p – Pointer to the RTPSParticipant.

• entity_id – Specific entity id to use for the created reader.

• ratt – Reader Attributes.

• payload_pool – Shared pointer to the IPayloadPool

• hist – Pointer to the ReaderHistory.

• listen – Pointer to the ReaderListener.

Returns:

Pointer to the created RTPSReader.

static RTPS_DllAPI bool removeRTPSReader (RTPSReader *reader)

Remove a RTPSReader.

Parameters:

reader – Pointer to the reader you want to remove.

Returns:

True if correctly removed.

static RTPS_DllAPI bool removeRTPSParticipant (RTPSParticipant *p)

Remove a RTPSParticipant and delete all its associated Writers, Readers, resources, etc.

Parameters:

p – [in] Pointer to the RTPSParticipant;

Returns:

True if correct.