Objects and Data Structures¶
In order to make the most of eProsima Fast RTPS it is important to have a grasp of the objects and data structures that conform the library. eProsima Fast RTPS objects are classified by modules, which are briefly listed and descripted in this section. For full coverage take a look at the API Reference document that comes with the distribution.
Publisher Subscriber Module¶
This module composes the Publisher-Subscriber abstraction we saw in the Library Overview. The concepts here are higher level than the RTPS standard.
DomainUsed to create, manage and destroy high-level Participants.
ParticipantContains Publishers and Subscribers, and manages their configuration.
ParticipantAttributesConfiguration parameters used in the creation of a Participant.
ParticipantListenerAllows you to implement callbacks within scope of the Participant.
PublisherSends (publishes) data in the form of topic changes.
PublisherAttributesConfiguration parameters for the construction of a Publisher.
PublisherListenerAllows you to implement callbacks within scope of the Publisher.
SubscriberReceives data for the topics it subscribes to.
SubscriberAttributesConfiguration parameters for the construction of a Subscriber.
SubscriberListenerAllows you to implement callbacks within scope of the Subscriber.
This module directly maps to the ideas defined in the RTPS standard, and allows you to interact with RTPS entities directly. It consists of a few sub-modules:
CacheChange_tRepresents a change to a topic, to be stored in a history cache.
DataPayload associated to a cache change. May be empty depending on the message and change type.
MessageDefines the organization of a RTPS Message.
HeaderStandard header that identifies a message as belonging to the RTPS protocol, and includes the vendor id.
Sub-Message HeaderIdentifier for an RTPS sub-message. An RTPS Message can be composed of several sub-messages.
MessageReceiverDeserializes and processes received RTPS messages.
RTPSMessageCreatorComposes RTPS messages.
RTPSDomainUse it to create, manage and destroy low-level RTPSParticipants.
RTPSParticipantContains RTPS Writers and Readers, and manages their configuration.
RTPSParticipantAttributesConfiguration parameters used in the creation of an RTPS Participant.
PDPSimpleAllows the participant to become aware of the other participants within the Network, through the Participant Discovery Protocol.
EDPSimpleAllows the Participant to become aware of the endpoints (RTPS Writers and Readers) present in the other Participants within the network, through the Endpoint Discovery Protocol.
EDPStaticReads information about remote endpoints from a user file.
TimedEventBase class for periodic or timed events.
RTPSReaderBase class for the reader endpoint.
ReaderAttributesConfiguration parameters used in the creation of an RTPS Reader.
ReaderHistoryHistory data structure. Stores recent topic changes.
ReaderListenerUse it to define callbacks in scope of the Reader.
RTPSWriterBase class for the writer endpoint.
WriterAttributesConfiguration parameters used in the creation of an RTPS Writer.
WriterHistoryHistory data structure. Stores outgoing topic changes and schedules them to be sent.