21.1.2.1. DomainParticipant¶

class fastdds.DomainParticipant(*args, **kwargs)¶

Class DomainParticipant used to group Publishers and Subscribers into a single working unit.

assert_liveliness()¶

This operation manually asserts the liveliness of the DomainParticipant. This is used in combination with the LIVELINESS QoS policy to indicate to the Service that the entity remains active.

This operation needs to only be used if the DomainParticipant contains DataWriter entities with the LIVELINESS set to MANUAL_BY_PARTICIPANT and it only affects the liveliness of those DataWriter entities. Otherwise, it has no effect.

Notes: Writing data via the write operation on a DataWriter asserts liveliness on the DataWriter itself and its DomainParticipant. Consequently the use of assert_liveliness is only needed if the application is not writing data regularly.

Return type:: int
Returns:: RETCODE_OK if the liveliness was asserted, RETCODE_ERROR otherwise.

contains_entity(a_handle, recursive=True)¶

This operation checks whether or not the given handle represents an Entity that was created from the DomainParticipant.

Parameters:

a_handle (InstanceHandle_t) – InstanceHandle of the entity to look for.
recursive (boolean) – The containment applies recursively. That is, it applies both to entities (TopicDescription, Publisher, or Subscriber) created directly using the DomainParticipant as well as entities created using a contained Publisher, or Subscriber as the factory, and so forth. (default: true)

Return type:

boolean

Returns:

True if entity is contained. False otherwise.

create_contentfilteredtopic(*args)¶

Overload 1:

Create a ContentFilteredTopic in this Participant.

Parameters:

name (string) – Name of the ContentFilteredTopic
related_topic (Topic) – Related Topic to being subscribed
filter_expression (string) – Logic expression to create filter
expression_parameters (std::vector< std::string,std::allocator< std::string > >) – Parameters to filter content

Return type:

ContentFilteredTopic

Returns:

Pointer to the created ContentFilteredTopic.

Return type:

ContentFilteredTopic

Returns:

nullptr if related_topic does not belong to this participant.

Return type:

ContentFilteredTopic

Returns:

nullptr if a topic with the specified name has already been created.

Return type:

ContentFilteredTopic

Returns:

nullptr if a filter cannot be created with the specified filter_expression and expression_parameters.

Overload 2:

Create a ContentFilteredTopic in this Participant using a custom filter.

Parameters:

name (string) – Name of the ContentFilteredTopic
related_topic (Topic) – Related Topic to being subscribed
filter_expression (string) – Logic expression to create filter
expression_parameters (std::vector< std::string,std::allocator< std::string > >) – Parameters to filter content
filter_class_name (string) – Name of the filter class to use

Return type:

ContentFilteredTopic

Returns:

Pointer to the created ContentFilteredTopic.

Return type:

ContentFilteredTopic

Returns:

nullptr if related_topic does not belong to this participant.

Return type:

ContentFilteredTopic

Returns:

nullptr if a topic with the specified name has already been created.

Return type:

ContentFilteredTopic

Returns:

nullptr if a filter cannot be created with the specified filter_expression and expression_parameters.

Return type:

ContentFilteredTopic

Returns:

nullptr if the specified filter_class_name has not been registered.

create_multitopic(name, type_name, subscription_expression, expression_parameters)¶

Create a MultiTopic in this Participant.

Parameters:

name (string) – Name of the MultiTopic
type_name (string) – Result type of the MultiTopic
subscription_expression (string) – Logic expression to combine filter
expression_parameters (std::vector< std::string,std::allocator< std::string > >) – Parameters to subscription content

Return type:

eprosima::fastdds::dds::MultiTopic

Returns:

Pointer to the created ContentFilteredTopic, nullptr in error case

create_publisher(*args)¶

Create a Publisher in this Participant.

Parameters:

qos (PublisherQos) – QoS of the Publisher.
listener (PublisherListener) – Pointer to the listener (default: nullptr)
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Publisher

Returns:

Pointer to the created Publisher.

create_publisher_with_profile(*args)¶

Create a Publisher in this Participant.

Parameters:

profile_name (string) – Publisher profile name.
listener (PublisherListener) – Pointer to the listener (default: nullptr)
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Publisher

Returns:

Pointer to the created Publisher.

create_service(service_name, service_type_name)¶

Create a RPC service.

Parameters:

service_name (string) – Name of the service.
service_type_name (string) – Type name of the service (Request & reply types)

Return type:

eprosima::fastdds::dds::rpc::Service

Returns:

Pointer to the created service. nullptr in error case.

create_service_replier(service, replier_qos)¶

Create a RPC Replier in a given Service. It will override the current service’s replier

Parameters:

service (eprosima::fastdds::dds::rpc::Service) – Pointer to a service object where the Replier will be created.
replier_qos (ReplierQos) – QoS of the replier.

Return type:

eprosima::fastdds::dds::rpc::Replier

Returns:

Pointer to the created replier. nullptr in error case.

create_service_requester(service, requester_qos)¶

Create a RPC Requester in a given Service.

Parameters:

service (eprosima::fastdds::dds::rpc::Service) – Pointer to a service object where the requester will be created.
requester_qos (RequesterQos) – QoS of the requester.

Return type:

eprosima::fastdds::dds::rpc::Requester

Returns:

Pointer to the created requester. nullptr in error case.

create_subscriber(*args)¶

Create a Subscriber in this Participant.

Parameters:

qos (SubscriberQos) – QoS of the Subscriber.
listener (SubscriberListener) – Pointer to the listener (default: nullptr)
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Subscriber

Returns:

Pointer to the created Subscriber.

create_subscriber_with_profile(*args)¶

Create a Subscriber in this Participant.

Parameters:

profile_name (string) – Subscriber profile name.
listener (SubscriberListener) – Pointer to the listener (default: nullptr)
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Subscriber

Returns:

Pointer to the created Subscriber.

create_topic(*args)¶

Create a Topic in this Participant.

Parameters:

topic_name (string) – Name of the Topic.
type_name (string) – Data type of the Topic.
qos (TopicQos) – QoS of the Topic.
listener (TopicListener) – Pointer to the listener (default: nullptr)
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Topic

Returns:

Pointer to the created Topic.

create_topic_with_profile(*args)¶

Create a Topic in this Participant.

Parameters:

topic_name (string) – Name of the Topic.
type_name (string) – Data type of the Topic.
profile_name (string) – Topic profile name.
listener (TopicListener) – Pointer to the listener (default: nullptr)
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Topic

Returns:

Pointer to the created Topic.

delete_contained_entities()¶

Deletes all the entities that were created by means of the “create” methods

Return type:: int
Returns:: RETURN_OK code if everything correct, error code otherwise

delete_contentfilteredtopic(a_contentfilteredtopic)¶

Deletes an existing ContentFilteredTopic.

Parameters:: a_contentfilteredtopic (ContentFilteredTopic) – ContentFilteredTopic to be deleted
Return type:: int
Returns:: RETCODE_BAD_PARAMETER if the topic passed is a nullptr, RETCODE_PRECONDITION_NOT_MET if the topic does not belong to this participant or if it is referenced by any entity and RETCODE_OK if the ContentFilteredTopic was deleted.

delete_multitopic(a_multitopic)¶

Deletes an existing MultiTopic.

Parameters:: a_multitopic (eprosima::fastdds::dds::MultiTopic) – MultiTopic to be deleted
Return type:: int
Returns:: RETCODE_BAD_PARAMETER if the topic passed is a nullptr, RETCODE_PRECONDITION_NOT_MET if the topic does not belong to this participant or if it is referenced by any entity and RETCODE_OK if the Topic was deleted.

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

delete_publisher(publisher)¶

Deletes an existing Publisher.

Parameters:: publisher (Publisher) – to be deleted.
Return type:: int
Returns:: RETCODE_PRECONDITION_NOT_MET if the publisher does not belong to this participant or if it has active DataWriters, RETCODE_OK if it is correctly deleted and RETCODE_ERROR otherwise.

delete_service(service)¶

Delete a registered RPC service

Parameters:: service (eprosima::fastdds::dds::rpc::Service) – Pointer to the service to be deleted.
Return type:: int
Returns:: RETCODE_OK if the service was deleted, or an specific error code otherwise.

delete_service_replier(service_name, replier)¶

Deletes an existing RPC Replier

Parameters:

service_name (string) – Name of the service where the replier is created.
replier (eprosima::fastdds::dds::rpc::Replier) – Pointer to the replier to be deleted.

Return type:

int

Returns:

RETCODE_OK if the replier was deleted, or an specific error code otherwise.

delete_service_requester(service_name, requester)¶

Deletes an existing RPC Requester

Parameters:

service_name (string) – Name of the service where the requester is created.
requester (eprosima::fastdds::dds::rpc::Requester) – Pointer to the requester to be deleted.

Return type:

int

Returns:

RETCODE_OK if the requester was deleted, or an specific error code otherwise.

delete_subscriber(subscriber)¶

Deletes an existing Subscriber.

Parameters:: subscriber (Subscriber) – to be deleted.
Return type:: int
Returns:: RETCODE_PRECONDITION_NOT_MET if the subscriber does not belong to this participant or if it has active DataReaders, RETCODE_OK if it is correctly deleted and RETCODE_ERROR otherwise.

delete_topic(topic)¶

Deletes an existing Topic.

Parameters:: topic (Topic) – to be deleted.
Return type:: int
Returns:: RETCODE_BAD_PARAMETER if the topic passed is a nullptr, RETCODE_PRECONDITION_NOT_MET if the topic does not belong to this participant or if it is referenced by any entity and RETCODE_OK if the Topic was deleted.

enable()¶

This operation enables the DomainParticipant

Return type:: int
Returns:: RETCODE_OK

find_service(service_name)¶

Find a RPC service by name

Parameters:: service_name (string) – Name of the service to search for.
Return type:: eprosima::fastdds::dds::rpc::Service
Returns:: Pointer to the service object if found, nullptr if not found.

find_service_type(service_type_name)¶

This method gives access to a registered service type based on its name.

Parameters:: service_type_name (string) – Name of the type
Return type:: eprosima::fastdds::dds::rpc::ServiceTypeSupport
Returns:: ServiceTypeSupport corresponding to the service_type_name

find_topic(topic_name, timeout)¶

Gives access to an existing (or ready to exist) enabled Topic. It should be noted that the returned Topic is a local object that acts as a proxy to designate the global concept of topic. Topics obtained by means of find_topic, must also be deleted by means of delete_topic so that the local resources can be released. If a Topic is obtained multiple times by means of find_topic or create_topic, it must also be deleted that same number of times using delete_topic.

Parameters:

topic_name (string) – Topic name
timeout (Duration_t) – Maximum time to wait for the Topic

Return type:

Topic

Returns:

Pointer to the existing Topic, nullptr in case of error or timeout

find_type(type_name)¶

This method gives access to a registered type based on its name.

Parameters:: type_name (string) – Name of the type
Return type:: TypeSupport
Returns:: TypeSupport corresponding to the type_name

get_builtin_subscriber()¶

Allows access to the builtin Subscriber.

Return type:: Subscriber
Returns:: Pointer to the builtin Subscriber, nullptr in error case

get_current_time(current_time)¶

This operation returns the current value of the time that the service uses to time-stamp data-writes and to set the reception-timestamp for the data-updates it receives.

Parameters:: current_time (Time_t) – Time_t reference where the current time is returned
Return type:: int
Returns:: RETCODE_OK

get_default_publisher_qos(*args)¶

Overload 1:

This operation retrieves the default value of the Publisher QoS, that is, the QoS policies which will be used for newly created Publisher entities in the case where the QoS policies are defaulted in the create_publisher operation.

The values retrieved get_default_publisher_qos will match the set of values specified on the last successful call to set_default_publisher_qos, or else, if the call was never made, the default values.

Return type:: PublisherQos
Returns:: Current default publisher qos.

Overload 2:

Parameters:: qos (PublisherQos) – PublisherQos reference where the default_publisher_qos is returned
Return type:: int
Returns:: RETCODE_OK

get_default_publisher_qos_from_xml(xml, qos)¶

Fills the ‘PublisherQos’ with the default publisher profile found in the provided XML (if there is).

Notes: This method does not update the default publisher qos (returned by get_default_publisher_qos).

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (PublisherQos) – ‘PublisherQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_default_replier_qos_from_xml(xml, qos)¶

Fills the ‘ReplierQos’ with the default replier profile found in the provided XML (if there is).

Notes: This method does not update the default replier qos.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (ReplierQos) – ‘ReplierQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_default_requester_qos_from_xml(xml, qos)¶

Fills the ‘RequesterQos’ with the default requester profile found in the provided XML (if there is).

Notes: This method does not update the default requester qos.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (RequesterQos) – ‘RequesterQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_default_subscriber_qos(*args)¶

Overload 1:

This operation retrieves the default value of the Subscriber QoS, that is, the QoS policies which will be used for newly created Subscriber entities in the case where the QoS policies are defaulted in the create_subscriber operation.

The values retrieved get_default_subscriber_qos will match the set of values specified on the last successful call to set_default_subscriber_qos, or else, if the call was never made, the default values.

Return type:: SubscriberQos
Returns:: Current default subscriber qos.

Overload 2:

Parameters:: qos (SubscriberQos) – SubscriberQos reference where the default_subscriber_qos is returned
Return type:: int
Returns:: RETCODE_OK

get_default_subscriber_qos_from_xml(xml, qos)¶

Fills the ‘SubscriberQos’ with the default subscriber profile found in the provided XML (if there is).

Notes: This method does not update the default subscriber qos (returned by get_default_subscriber_qos).

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (SubscriberQos) – ‘SubscriberQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_default_topic_qos(*args)¶

Overload 1:

This operation retrieves the default value of the Topic QoS, that is, the QoS policies that will be used for newly created Topic entities in the case where the QoS policies are defaulted in the create_topic operation.

The values retrieved get_default_topic_qos will match the set of values specified on the last successful call to set_default_topic_qos, or else, TOPIC_QOS_DEFAULT if the call was never made.

Return type:: TopicQos
Returns:: Current default topic qos.

Overload 2:

The values retrieved get_default_topic_qos will match the set of values specified on the last successful call to set_default_topic_qos, or else, TOPIC_QOS_DEFAULT if the call was never made.

Parameters:: qos (TopicQos) – TopicQos reference where the default_topic_qos is returned
Return type:: int
Returns:: RETCODE_OK

get_default_topic_qos_from_xml(*args)¶

Overload 1:

Fills the ‘TopicQos’ with the default topic profile found in the provided XML (if there is).

Notes: This method does not update the default topic qos (returned by get_default_topic_qos).

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘TopicQos’ with the default topic profile found in the provided XML (if there is), and also its corresponding topic and data type names (if specified).

Notes: This method does not update the default topic qos (returned by get_default_topic_qos).

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.
topic_name (string) – String where the name of the topic associated to this profile is returned (if specified).
topic_data_type (string) – String where the name of the topic data type associated to this profile is returned (if specified).

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_discovered_participant_data(participant_data, participant_handle)¶

Retrieves the DomainParticipant data of a discovered not ignored participant.

Parameters:

[out] – participant_data Reference to the ParticipantBuiltinTopicData object to return the data
participant_handle (InstanceHandle_t) – InstanceHandle of DomainParticipant to retrieve the data from

Return type:

int

Returns:

RETCODE_OK if everything correct, PRECONDITION_NOT_MET if participant does not exist

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_discovered_participants(participant_handles)¶

Retrieves the list of DomainParticipants that have been discovered in the domain and are not “ignored”.

Parameters:: [out] – participant_handles Reference to the vector where discovered participants will be returned
Return type:: int
Returns:: RETCODE_OK if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_discovered_topic_data(topic_data, topic_handle)¶

Retrieves the Topic data of a discovered not ignored topic.

Parameters:

[out] – topic_data Reference to the TopicBuiltinTopicData object to return the data
topic_handle (InstanceHandle_t) – InstanceHandle of Topic to retrieve the data from

Return type:

int

Returns:

RETCODE_OK if everything correct, PRECONDITION_NOT_MET if topic does not exist

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_discovered_topics(topic_handles)¶

Retrieves the list of topics that have been discovered in the domain and are not “ignored”.

Parameters:: [out] – topic_handles Reference to the vector where discovered topics will be returned
Return type:: int
Returns:: RETCODE_OK if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_domain_id()¶

This operation retrieves the domain_id used to create the DomainParticipant. The domain_id identifies the DDS domain to which the DomainParticipant belongs.

Return type:: int
Returns:: The Participant’s domain_id

get_instance_handle()¶

Returns the DomainParticipant’s handle.

Return type:: InstanceHandle_t
Returns:: InstanceHandle of this DomainParticipant.

get_listener()¶

Allows accessing the DomainParticipantListener.

Return type:: DomainParticipantListener
Returns:: DomainParticipantListener pointer

get_participant_names()¶

Getter for the participant names

Return type:: std::vector< std::string,std::allocator< std::string > >
Returns:: Vector with the names

get_publisher_qos_from_profile(profile_name, qos)¶

Fills the ‘PublisherQos’ with the values of the XML profile.

Parameters:

profile_name (string) – Publisher profile name.
qos (PublisherQos) – ‘PublisherQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ if the profile exists. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_publisher_qos_from_xml(*args)¶

Overload 1:

Fills the ‘PublisherQos’ with the first publisher profile found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (PublisherQos) – ‘PublisherQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘PublisherQos’ with the publisher profile with profile_name to be found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (PublisherQos) – ‘PublisherQos’ object where the qos is returned.
profile_name (string) – Publisher profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_qos(*args)¶

Overload 1:

This operation returns the value of the DomainParticipant QoS policies

Parameters:: qos (DomainParticipantQos) – DomainParticipantQos reference where the qos is going to be returned
Return type:: int
Returns:: RETCODE_OK

Overload 2:

This operation returns the value of the DomainParticipant QoS policies

Return type:: DomainParticipantQos
Returns:: A reference to the DomainParticipantQos

get_replier_qos_from_profile(profile_name, qos)¶

Fills the ‘ReplierQos’ with the values of the XML profile.

Parameters:

profile_name (string) – Replier profile name.
qos (ReplierQos) – ‘ReplierQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ if the profile exists. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_replier_qos_from_xml(*args)¶

Overload 1:

Fills the ‘ReplierQos’ with the first replier profile found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (ReplierQos) – ‘ReplierQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘ReplierQos’ with the replier profile with profile_name to be found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (ReplierQos) – ‘ReplierQos’ object where the qos is returned.
profile_name (string) – Replier profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_requester_qos_from_profile(profile_name, qos)¶

Fills the ‘RequesterQos’ with the values of the XML profile.

Parameters:

profile_name (string) – Requester profile name.
qos (RequesterQos) – ‘RequesterQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ if the profile exists. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_requester_qos_from_xml(*args)¶

Overload 1:

Fills the ‘RequesterQos’ with the first requester profile found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (RequesterQos) – ‘RequesterQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘RequesterQos’ with the requester profile with profile_name to be found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (RequesterQos) – ‘RequesterQos’ object where the qos is returned.
profile_name (string) – Requester profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_subscriber_qos_from_profile(profile_name, qos)¶

Fills the ‘SubscriberQos’ with the values of the XML profile.

Parameters:

profile_name (string) – Subscriber profile name.
qos (SubscriberQos) – ‘SubscriberQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ if the profile exists. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_subscriber_qos_from_xml(*args)¶

Overload 1:

Fills the ‘SubscriberQos’ with the first subscriber profile found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (SubscriberQos) – ‘SubscriberQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘SubscriberQos’ with the subscriber profile with profile_name to be found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (SubscriberQos) – ‘SubscriberQos’ object where the qos is returned.
profile_name (string) – Subscriber profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_topic_qos_from_profile(*args)¶

Overload 1:

Fills the ‘TopicQos’ with the values of the XML profile.

Parameters:

profile_name (string) – Topic profile name.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ if the profile exists. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘TopicQos’ with the values of the XML profile, and also its corresponding topic and data type names (if specified).

Parameters:

profile_name (string) – Topic profile name.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.
topic_name (string) – String where the name of the topic associated to this profile is returned (if specified).
topic_data_type (string) – String where the name of the topic data type associated to this profile is returned (if specified).

Return type:

int

Returns:

‘RETCODE_OK’ if the profile exists. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_topic_qos_from_xml(*args)¶

Overload 1:

Fills the ‘TopicQos’ with the first topic profile found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘TopicQos’ with the first topic profile found in the provided XML, and also its corresponding topic and data type names (if specified).

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.
topic_name (string) – String where the name of the topic associated to this profile is returned (if specified).
topic_data_type (string) – String where the name of the topic data type associated to this profile is returned (if specified).

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 3:

Fills the ‘TopicQos’ with the topic profile with profile_name to be found in the provided XML.

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.
profile_name (string) – Topic profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 4:

Fills the ‘TopicQos’ with the topic profile with profile_name to be found in the provided XML, and also its corresponding topic and data type names (if specified).

Parameters:

xml (string) – Raw XML string containing the profile to be used to fill the qos structure.
qos (TopicQos) – ‘TopicQos’ object where the qos is returned.
topic_name (string) – String where the name of the topic associated to this profile is returned (if specified).
topic_data_type (string) – String where the name of the topic data type associated to this profile is returned (if specified).
profile_name (string) – Topic profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

guid()¶

Getter for the Participant GUID

Return type:: GUID_t
Returns:: A reference to the GUID

ignore_participant(handle)¶

Locally ignore a remote domain participant.

Notes: This action is not reversible.

Parameters:: handle (InstanceHandle_t) – Identifier of the remote participant to ignore
Return type:: int
Returns:: RETURN_OK code if everything correct, RETCODE_BAD_PARAMENTER otherwise

ignore_publication(handle)¶

Locally ignore a remote datawriter.

Notes: This action is not reversible.

Parameters:: handle (InstanceHandle_t) – Identifier of the datawriter to ignore
Return type:: int
Returns:: RETURN_OK code if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

ignore_subscription(handle)¶

Locally ignore a remote datareader.

Notes: This action is not reversible.

Parameters:: handle (InstanceHandle_t) – Identifier of the datareader to ignore
Return type:: int
Returns:: RETURN_OK code if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

ignore_topic(handle)¶

Locally ignore a topic.

Notes: This action is not reversible.

Parameters:: handle (InstanceHandle_t) – Identifier of the topic to ignore
Return type:: int
Returns:: RETURN_OK code if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

lookup_content_filter_factory(filter_class_name)¶

Lookup a custom content filter factory previously registered with register_content_filter_factory.

Parameters:: filter_class_name (string) – Name of the filter class. Cannot be nullptr.
Return type:: IContentFilterFactory
Returns:: nullptr if the given filter_class_name has not been previously registered on this DomainParticipant. Otherwise, the content filter factory previously registered with the given filter_class_name.

lookup_topicdescription(topic_name)¶

Looks up an existing, locally created ‘TopicDescription’, based on its name. May be called on a disabled participant.

Parameters:: topic_name (string) – Name of the ‘TopicDescription’ to search for.
Return type:: TopicDescription
Returns:: Pointer to the topic description, if it has been created locally. Otherwise, nullptr is returned.

Remarks: UNSAFE. It is unsafe to lookup a topic description while another thread is creating a topic.

new_remote_endpoint_discovered(partguid, userId, kind)¶

This method can be used when using a StaticEndpointDiscovery mechanism different that the one included in Fast DDS, for example when communicating with other implementations. It indicates the Participant that an Endpoint from the XML has been discovered and should be activated.

Parameters:

partguid (GUID_t) – Participant GUID_t.
userId (int) – User defined ID as shown in the XML file.
kind (int) – EndpointKind (WRITER or READER)

Return type:

boolean

Returns:

True if correctly found and activated.

register_content_filter_factory(filter_class_name, filter_factory)¶

DDS specifies a SQL-like content filter to be used by content filtered topics. If this filter does not meet your filtering requirements, you can register a custom filter factory.

To use a custom filter, a factory for it must be registered in the following places:

In any application that uses the custom filter factory to create a ContentFilteredTopic and the corresponding DataReader.
In each application that writes the data to the applications mentioned above.

For example, suppose Application A on the subscription side creates a Topic named X and a ContentFilteredTopic named filteredX (and a corresponding DataReader), using a previously registered content filter factory, myFilterFactory. With only that, you will have filtering at the subscription side. If you also want to perform filtering in any application that publishes Topic X, then you also need to register the same definition of the ContentFilterFactory myFilterFactory in that application.

Each filter_class_name can only be used to register a content filter factory once per DomainParticipant.

Parameters:

filter_class_name (string) – Name of the filter class. Cannot be nullptr, must not exceed 255 characters, and must be unique within this DomainParticipant.
filter_factory (IContentFilterFactory) – Factory of content filters to be registered. Cannot be nullptr.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if any parameter is nullptr, or the filter_class_name exceeds 255 characters.

Return type:

int

Returns:

RETCODE_PRECONDITION_NOT_MET if the filter_class_name has been already registered.

Return type:

int

Returns:

RETCODE_PRECONDITION_NOT_MET if filter_class_name is FASTDDS_SQLFILTER_NAME.

Return type:

int

Returns:

RETCODE_OK if the filter is correctly registered.

register_service_type(service_type, service_type_name)¶

Parameters:

service_type (eprosima::fastdds::dds::rpc::ServiceTypeSupport) – ServiceTypeSupport.
service_type_name (string) – The name that will be used to identify the service type.

Return type:

int

Returns:

RETCODE_OK if it is correctly registered. Error code otherwise.

register_type(*args)¶

Overload 1:

Parameters:

type (TypeSupport) – TypeSupport.
type_name (string) – The name that will be used to identify the Type.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the size of the name is 0, RERCODE_PRECONDITION_NOT_MET if there is another TypeSupport with the same name and RETCODE_OK if it is correctly registered.

Overload 2:

Parameters:: type (TypeSupport) – TypeSupport.
Return type:: int
Returns:: RETCODE_BAD_PARAMETER if the size of the name is 0, RERCODE_PRECONDITION_NOT_MET if there is another TypeSupport with the same name and RETCODE_OK if it is correctly registered.

set_default_publisher_qos(qos)¶

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

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

The special value PUBLISHER_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_publisher_qos operation had never been called.

Parameters:: qos (PublisherQos) – PublisherQos to be set
Return type:: int
Returns:: RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

set_default_subscriber_qos(qos)¶

This operation sets a default value of the Subscriber QoS policies that will be used for newly created Subscriber entities in the case where the QoS policies are defaulted in the create_subscriber operation.

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

The special value SUBSCRIBER_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_subscriber_qos operation had never been called.

Parameters:: qos (SubscriberQos) – SubscriberQos to be set
Return type:: int
Returns:: RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

set_default_topic_qos(qos)¶

This operation sets a default value of the Topic QoS policies which will be used for newly created Topic entities in the case where the QoS policies are defaulted in the create_topic 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 TOPIC_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_topic_qos operation had never been called.

Parameters:: qos (TopicQos) – TopicQos to be set
Return type:: int
Returns:: RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

set_listener(*args)¶

Overload 1:

Modifies the DomainParticipantListener, sets the mask to StatusMask::all()

Parameters:: listener (DomainParticipantListener) – new value for the DomainParticipantListener
Return type:: int
Returns:: RETCODE_OK

Overload 2:

Modifies the DomainParticipantListener.

Parameters:

listener (DomainParticipantListener) – new value for the DomainParticipantListener
mask (StatusMask) – StatusMask that holds statuses the listener responds to

Return type:

int

Returns:

RETCODE_OK

set_qos(qos)¶

This operation sets the value of the DomainParticipant QoS policies.

Parameters:: qos (DomainParticipantQos) – DomainParticipantQos to be set
Return type:: int
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.

property thisown¶: The membership flag

unregister_content_filter_factory(filter_class_name)¶

Unregister a custom content filter factory previously registered with register_content_filter_factory.

A filter_class_name can be unregistered only if it has been previously registered to the DomainParticipant with register_content_filter_factory.

The unregistration of filter is not allowed if there are any existing ContentFilteredTopic objects that are using the filter.

If there is any existing discovered DataReader with the same filter_class_name, filtering on the writer side will be stopped, but this operation will not fail.

Parameters:: filter_class_name (string) – Name of the filter class. Cannot be nullptr.
Return type:: int
Returns:: RETCODE_BAD_PARAMETER if the filter_class_name is nullptr.
Return type:: int
Returns:: RERCODE_PRECONDITION_NOT_MET if the filter_class_name has not been previously registered.
Return type:: int
Returns:: RERCODE_PRECONDITION_NOT_MET if there is any ContentFilteredTopic referencing the filter.
Return type:: int
Returns:: RETCODE_OK if the filter is correctly unregistered.

unregister_service_type(service_type_name)¶

Unregister a service type in this participant.

Parameters:: service_type_name (string) – Name of the type
Return type:: int
Returns:: RETCODE_OK if it is correctly unregistered. Error code otherwise.

unregister_type(typeName)¶

Unregister a type in this participant.

Parameters:: typeName (string) – Name of the type
Return type:: int
Returns:: RETCODE_BAD_PARAMETER if the size of the name is 0, RERCODE_PRECONDITION_NOT_MET if there are entities using that TypeSupport and RETCODE_OK if it is correctly unregistered.