.. _program_listing_file__tmp_ws_src_rmw_connextdds_rmw_connextdds_common_include_rmw_connextdds_dds_api.hpp:

Program Listing for File dds_api.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmw_connextdds_rmw_connextdds_common_include_rmw_connextdds_dds_api.hpp>` (``/tmp/ws/src/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 Real-Time Innovations, Inc. (RTI)
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RMW_CONNEXTDDS__DDS_API_HPP_
   #define RMW_CONNEXTDDS__DDS_API_HPP_
   
   #include "rmw_connextdds/static_config.hpp"
   #include "rmw_connextdds/visibility_control.h"
   
   #if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_MICRO
   #include "rmw_connextdds/dds_api_rtime.hpp"
   #elif RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
   #include "rmw_connextdds/dds_api_ndds.hpp"
   #else
   #error "invalid DDS API selected"
   #endif /* RMW_CONNEXT_DDS_API */
   
   #ifndef UNUSED_ARG
   #define UNUSED_ARG(arg_)        (void)(arg_)
   #endif /* UNUSED_ARG */
   
   #include "rmw/rmw.h"
   #include "rosidl_typesupport_cpp/message_type_support.hpp"
   
   class RMW_Connext_MessageTypeSupport;
   class RMW_Connext_Publisher;
   class RMW_Connext_Subscriber;
   class RMW_Connext_SubscriberStatusCondition;
   struct RMW_Connext_Message;
   
   enum RMW_Connext_MessageType
   {
     RMW_CONNEXT_MESSAGE_USERDATA,
     RMW_CONNEXT_MESSAGE_REQUEST,
     RMW_CONNEXT_MESSAGE_REPLY
   };
   
   RMW_CONNEXTDDS_PUBLIC extern const char * const RMW_CONNEXTDDS_ID;
   extern const char * const RMW_CONNEXTDDS_SERIALIZATION_FORMAT;
   
   rmw_ret_t
   rmw_connextdds_set_log_verbosity(rmw_log_severity_t severity);
   
   rmw_ret_t
   rmw_connextdds_initialize_participant_factory_context(
     rmw_context_impl_t * const ctx);
   
   rmw_ret_t
   rmw_connextdds_finalize_participant_factory_context(
     rmw_context_impl_t * const ctx);
   
   rmw_ret_t
   rmw_connextdds_initialize_participant_qos_impl(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipantQos * const dp_qos);
   
   rmw_ret_t
   rmw_connextdds_configure_participant(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipant * const participant);
   
   rmw_ret_t
   rmw_connextdds_create_contentfilteredtopic(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipant * const dp,
     DDS_Topic * const base_topic,
     const char * const cft_name,
     const char * const cft_filter,
     const rcutils_string_array_t * const cft_expression_parameters,
     DDS_TopicDescription ** const cft_out);
   
   rmw_ret_t
   rmw_connextdds_delete_contentfilteredtopic(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipant * const dp,
     DDS_TopicDescription * const cft_topic);
   
   rmw_ret_t
   rmw_connextdds_get_datawriter_qos(
     rmw_context_impl_t * const ctx,
     RMW_Connext_MessageTypeSupport * const type_support,
     DDS_Topic * const topic,
     DDS_DataWriterQos * const qos,
     const rmw_qos_profile_t * const qos_policies,
     const rmw_publisher_options_t * const pub_options);
   
   rmw_ret_t
   rmw_connextdds_get_datareader_qos(
     rmw_context_impl_t * const ctx,
     RMW_Connext_MessageTypeSupport * const type_support,
     DDS_TopicDescription * const topic_desc,
     DDS_DataReaderQos * const qos,
     const rmw_qos_profile_t * const qos_policies,
     const rmw_subscription_options_t * const sub_options);
   
   DDS_DataWriter *
   rmw_connextdds_create_datawriter(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipant * const participant,
     DDS_Publisher * const pub,
     const rmw_qos_profile_t * const qos_policies,
     const rmw_publisher_options_t * const publisher_options,
     const bool internal,
     RMW_Connext_MessageTypeSupport * const type_support,
     DDS_Topic * const topic,
     DDS_DataWriterQos * const dw_qos);
   
   DDS_DataReader *
   rmw_connextdds_create_datareader(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipant * const participant,
     DDS_Subscriber * const sub,
     const rmw_qos_profile_t * const qos_policies,
     const rmw_subscription_options_t * const subscriber_options,
     const bool internal,
     RMW_Connext_MessageTypeSupport * const type_support,
     DDS_TopicDescription * const topic_desc,
     DDS_DataReaderQos * const dr_qos);
   
   rmw_ret_t
   rmw_connextdds_write_message(
     RMW_Connext_Publisher * const pub,
     RMW_Connext_Message * const message,
     int64_t * const sn_out);
   
   rmw_ret_t
   rmw_connextdds_take_samples(
     RMW_Connext_Subscriber * const sub);
   
   rmw_ret_t
   rmw_connextdds_return_samples(
     RMW_Connext_Subscriber * const sub);
   
   rmw_ret_t
   rmw_connextdds_filter_sample(
     RMW_Connext_Subscriber * const sub,
     const void * const sample,
     const DDS_SampleInfo * const info,
     const DDS_InstanceHandle_t * const request_writer_handle,
     bool * const accepted);
   
   rmw_ret_t
   rmw_connextdds_register_type_support(
     rmw_context_impl_t * const ctx,
     const rosidl_message_type_support_t * const type_supports,
     DDS_DomainParticipant * const participant,
     const RMW_Connext_MessageType message_type,
     const void * const intro_members,
     const bool intro_members_cpp,
     const char * const type_name);
   
   rmw_ret_t
   rmw_connextdds_unregister_type_support(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipant * const participant,
     const char * const type_name);
   
   rmw_ret_t
   rmw_connextdds_dcps_participant_get_reader(
     rmw_context_impl_t * const ctx,
     DDS_DataReader ** const reader_out);
   
   rmw_ret_t
   rmw_connextdds_dcps_publication_get_reader(
     rmw_context_impl_t * const ctx,
     DDS_DataReader ** const reader_out);
   
   rmw_ret_t
   rmw_connextdds_dcps_subscription_get_reader(
     rmw_context_impl_t * const ctx,
     DDS_DataReader ** const reader_out);
   
   rmw_ret_t
   rmw_connextdds_enable_builtin_readers(rmw_context_impl_t * const ctx);
   
   rmw_ret_t
   rmw_connextdds_dcps_participant_on_data(rmw_context_impl_t * const ctx);
   
   rmw_ret_t
   rmw_connextdds_dcps_publication_on_data(rmw_context_impl_t * const ctx);
   
   rmw_ret_t
   rmw_connextdds_dcps_subscription_on_data(rmw_context_impl_t * const ctx);
   
   void
   rmw_connextdds_ih_to_gid(
     const DDS_InstanceHandle_t & ih, rmw_gid_t & gid);
   
   void
   rmw_connextdds_configure_subscriber_condition_listener(
     RMW_Connext_SubscriberStatusCondition * cond,
     DDS_DataReaderListener * const listener,
     DDS_StatusMask * const listener_mask);
   
   void
   rmw_connextdds_builtinkey_to_guid(
     const DDS_BuiltinTopicKey_t * const self,
     DDS_GUID_t * const dst);
   
   rmw_ret_t
   rmw_connextdds_enable_security(
     rmw_context_impl_t * const ctx,
     DDS_DomainParticipantQos * const qos);
   
   // Define some macro aliases for security-related properties
   #ifndef DDS_SECURITY_PROPERTY_PREFIX
   #define DDS_SECURITY_PROPERTY_PREFIX \
     "com.rti.serv.secure"
   #endif /* DDS_SECURITY_PROPERTY_PREFIX */
   
   #ifndef DDS_SECURITY_IDENTITY_CA_PROPERTY
   #define DDS_SECURITY_IDENTITY_CA_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".authentication.ca_file"
   #endif /* DDS_SECURITY_IDENTITY_CA_PROPERTY */
   
   #ifndef DDS_SECURITY_PERMISSIONS_CA_PROPERTY
   #define DDS_SECURITY_PERMISSIONS_CA_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".access_control.permissions_authority_file"
   #endif /* DDS_SECURITY_PERMISSIONS_CA_PROPERTY */
   
   #ifndef DDS_SECURITY_PRIVATE_KEY_PROPERTY
   #define DDS_SECURITY_PRIVATE_KEY_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".authentication.private_key_file"
   #endif /* DDS_SECURITY_PRIVATE_KEY_PROPERTY */
   
   #ifndef DDS_SECURITY_IDENTITY_CERTIFICATE_PROPERTY
   #define DDS_SECURITY_IDENTITY_CERTIFICATE_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".authentication.certificate_file"
   #endif /* DDS_SECURITY_IDENTITY_CERTIFICATE_PROPERTY */
   
   #ifndef DDS_SECURITY_GOVERNANCE_PROPERTY
   #define DDS_SECURITY_GOVERNANCE_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".access_control.governance_file"
   #endif /* DDS_SECURITY_GOVERNANCE_PROPERTY */
   
   #ifndef DDS_SECURITY_PERMISSIONS_PROPERTY
   #define DDS_SECURITY_PERMISSIONS_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".access_control.permissions_file"
   #endif /* DDS_SECURITY_PERMISSIONS_PROPERTY */
   
   #ifndef DDS_SECURITY_LOGGING_FILE_PROPERTY
   #define DDS_SECURITY_LOGGING_FILE_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".logging.log_file"
   #endif /* DDS_SECURITY_LOGGING_FILE_PROPERTY */
   
   #ifndef DDS_SECURITY_LOGGING_DISTRIBUTE_PROPERTY
   #define DDS_SECURITY_LOGGING_DISTRIBUTE_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".logging.distribute.enable"
   #endif /* DDS_SECURITY_LOGGING_DISTRIBUTE_PROPERTY */
   
   #ifndef DDS_SECURITY_LOGGING_LEVEL_PROPERTY
   #define DDS_SECURITY_LOGGING_LEVEL_PROPERTY \
     DDS_SECURITY_PROPERTY_PREFIX ".logging.log_level"
   #endif /* DDS_SECURITY_LOGGING_LEVEL_PROPERTY */
   
   rmw_ret_t
   rmw_connextdds_set_cft_filter_expression(
     DDS_TopicDescription * const topic_desc,
     const char * const cft_expression,
     const rcutils_string_array_t * const cft_expression_parameters);
   
   rmw_ret_t
   rmw_connextdds_get_cft_filter_expression(
     DDS_TopicDescription * const topic_desc,
     rcutils_allocator_t * const allocator,
     rmw_subscription_content_filter_options_t * const options);
   
   #endif  // RMW_CONNEXTDDS__DDS_API_HPP_