19.1.2.1. 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: ReturnCode_t
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_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: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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_subscriber(subscriber)¶

Deletes an existing Subscriber.

Parameters: subscriber (Subscriber) – to be deleted.
Return type: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
Returns: RETCODE_OK

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: ReturnCode_t
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:

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.

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

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:

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.

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

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:

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.

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

get_discovered_participant_data(participant_data, participant_handle)¶

Retrieves the DomainParticipant data of a discovered not ignored participant.

participant_data Reference to the ParticipantBuiltinTopicData object to return the data :type participant_handle: InstanceHandle_t :param participant_handle: InstanceHandle of DomainParticipant to retrieve the data from :rtype: ReturnCode_t :return: 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”.

participant_handles Reference to the vector where discovered participants will be returned :rtype: ReturnCode_t :return: 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.

topic_data Reference to the TopicBuiltinTopicData object to return the data :type topic_handle: InstanceHandle_t :param topic_handle: InstanceHandle of Topic to retrieve the data from :rtype: ReturnCode_t :return: 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”.

topic_handles Reference to the vector where discovered topics will be returned :rtype: ReturnCode_t :return: 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

ReturnCode_t

Returns

RETCODE_OK if the profile exists. 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: ReturnCode_t
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_resource_event()¶

Getter for the resource event

Return type: eprosima::fastrtps::rtps::ResourceEvent
Returns: A reference to the resource event

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

ReturnCode_t

Returns

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

get_topic_qos_from_profile(profile_name, qos)¶

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

ReturnCode_t

Returns

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

get_type_dependencies(_in)¶

When a DomainParticipant receives an incomplete list of TypeIdentifiers in a PublicationBuiltinTopicData or SubscriptionBuiltinTopicData, it may request the additional type dependencies by invoking the getTypeDependencies operation.

Parameters: in (eprosima::fastrtps::types::TypeIdentifierSeq) – TypeIdentifier sequence
Return type: SampleIdentity
Returns: SampleIdentity

get_types(_in)¶

A DomainParticipant may invoke the operation getTypes to retrieve the TypeObjects associated with a list of TypeIdentifiers.

Parameters: in (eprosima::fastrtps::types::TypeIdentifierSeq) – TypeIdentifier sequence
Return type: SampleIdentity
Returns: SampleIdentity

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: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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 FastRTPS, 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)¶

Register a custom content filter factory, which can be used to create a ContentFilteredTopic.

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

ReturnCode_t

Returns

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

Return type

ReturnCode_t

Returns

RETCODE_PRECONDITION_NOT_MET if the filter_class_name has been already registered.

Return type

ReturnCode_t

Returns

RETCODE_PRECONDITION_NOT_MET if filter_class_name is FASTDDS_SQLFILTER_NAME.

Return type

ReturnCode_t

Returns

RETCODE_OK if the filter is correctly registered.

register_remote_type(type_information, type_name, callback)¶

Helps the user to solve all dependencies calling internally to the type lookup service and registers the resulting dynamic type. The registration may be perform asynchronously, case in which the user will be notified through the given callback, which receives the type_name as unique argument.

Parameters

type_information (eprosima::fastrtps::types::TypeInformation) –
type_name (string) –
callback (std::function< void (std::string const &,eprosima::fastrtps::types::DynamicType_ptr const) >) –

Return type

ReturnCode_t

Returns

RETCODE_OK If the given type_information is enough to build the type without using the typelookup service (callback will not be called).

Return type

ReturnCode_t

Returns

RETCODE_OK if the given type is already available (callback will not be called).

Return type

ReturnCode_t

Returns

RETCODE_NO_DATA if type is not available yet (the callback will be called if negotiation is success, and ignored in other case).

Return type

ReturnCode_t

Returns

RETCODE_NOT_ENABLED if the DomainParticipant is not enabled.

Return type

ReturnCode_t

Returns

RETCODE_PRECONDITION_NOT_MET if the DomainParticipant type lookup service is disabled.

register_type(*args)¶

Overload 1:

Register a type in this participant.

Parameters

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

Return type

ReturnCode_t

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:

Register a type in this participant.

Parameters: type (TypeSupport) – TypeSupport.
Return type: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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: ReturnCode_t
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

ReturnCode_t

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: ReturnCode_t
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: ReturnCode_t
Returns: RETCODE_BAD_PARAMETER if the filter_class_name is nullptr.
Return type: ReturnCode_t
Returns: RERCODE_PRECONDITION_NOT_MET if the filter_class_name has not been previously registered.
Return type: ReturnCode_t
Returns: RERCODE_PRECONDITION_NOT_MET if there is any ContentFilteredTopic referencing the filter.
Return type: ReturnCode_t
Returns: RETCODE_OK if the filter is correctly unregistered.

unregister_type(typeName)¶

Unregister a type in this participant.

Parameters: typeName (string) – Name of the type
Return type: ReturnCode_t
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.