3. DDS Layer¶
eProsima Fast DDS exposes two different APIs to interact with the communication service at different levels. The main API is the Data Distribution Service (DDS) Data-Centric Publish-Subscribe (DCPS) Platform Independent Model (PIM) API, or DDS DCPS PIM for short, which is defined by the Data Distribution Service (DDS) version 1.4 specification, to which Fast DDS complies. This section is devoted to explain the main characteristics and modes-of-use of this API under Fast DDS, providing an in depth explanation of the five modules into which it is divided:
Core: It defines the abstract classes and interfaces that are refined by the other modules. It also provides the Quality of Service (QoS) definitions, as well as support for the notification-based interaction style with the middleware.
Domain: It contains the
DomainParticipantclass that acts as an entry-point of the Service, as well as a factory for many of the classes. The
DomainParticipantalso acts as a container for the other objects that make up the Service.
- 3.1. Core
- 3.2. Domain
- 3.3. Publisher
- 3.4. Subscriber
- 3.5. Topic