20.1.3.4. Publisher

class fastdds.Publisher(*args, **kwargs)

Class Publisher, used to send data to associated subscribers.

begin_coherent_changes()

Signals the beginning of a set of coherent cache changes using the Datawriters attached to the publisher

Return type:: int
Returns:: RETCODE_OK if successful, an error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

static copy_from_topic_qos(writer_qos, topic_qos)

Copies TopicQos into the corresponding DataWriterQos

Parameters:

[out] – writer_qos
[in] – topic_qos

Return type:

int

Returns:

RETCODE_OK if successful, an error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

create_datawriter(*args)

This operation creates a DataWriter. The returned DataWriter will be attached and belongs to the Publisher.

Parameters:

topic (Topic) – Topic the DataWriter will be listening
qos – QoS of the DataWriter.
listener (DataWriterListener) – Pointer to the listener (default: nullptr).
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all).

Return type:

DataWriter

Returns:

Pointer to the created DataWriter. nullptr if failed.

create_datawriter_with_profile(*args)

This operation creates a DataWriter. The returned DataWriter will be attached and belongs to the Publisher.

Parameters:

topic (Topic) – Topic the DataWriter will be listening
profile_name (string) – DataWriter profile name.
listener (DataWriterListener) – Pointer to the listener (default: nullptr).
mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all).

Return type:

DataWriter

Returns:

Pointer to the created DataWriter. nullptr if failed.

delete_contained_entities()

Deletes all contained DataWriters

Return type:: int
Returns:: RETCODE_OK if successful, an error code otherwise

delete_datawriter(writer)

This operation deletes a DataWriter that belongs to the Publisher.

The delete_datawriter operation must be called on the same Publisher object used to create the DataWriter. If delete_datawriter is called on a different Publisher, the operation will have no effect and it will return false.

The deletion of the DataWriter will automatically unregister all instances. Depending on the settings of the WRITER_DATA_LIFECYCLE QosPolicy, the deletion of the DataWriter may also dispose all instances.

Parameters:: writer (DataWriter) – DataWriter to delete
Return type:: int
Returns:: RETCODE_PRECONDITION_NOT_MET if it does not belong to this Publisher, RETCODE_OK if it is correctly deleted and RETCODE_ERROR otherwise.

enable()

This operation enables the Publisher

Return type:: int
Returns:: RETCODE_OK is successfully enabled. RETCODE_PRECONDITION_NOT_MET if the participant creating this Publisher is not enabled.

end_coherent_changes()

Signals the end of a set of coherent cache changes

Return type:: int
Returns:: RETCODE_OK if successful, an error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_datawriter_qos_from_profile(*args)

Overload 1:

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

Parameters:

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

Return type:

int

Returns:

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

Overload 2:

Fills the ‘DataWriterQos’ with the values of the XML profile, and also its corresponding topic name (if specified).

Parameters:

profile_name (string) – DataWriter profile name.
qos (DataWriterQos) – ‘DataWriterQos’ object where the qos is returned.
topic_name (string) – String where the name of the topic associated to this profile is returned (if specified).

Return type:

int

Returns:

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

get_datawriter_qos_from_xml(*args)

Overload 1:

Fills the ‘DataWriterQos’ with the first DataWriter profile found in the provided XML.

Parameters:

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

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘DataWriterQos’ with the first DataWriter profile found in the provided XML, and also its corresponding topic name (if specified).

Parameters:

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

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 3:

Fills the ‘DataWriterQos’ with the DataWriter 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 (DataWriterQos) – ‘DataWriterQos’ object where the qos is returned.
profile_name (string) – DataWriter profile name.

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 4:

Fills the ‘DataWriterQos’ with the DataWriter profile with profile_name to be found in the provided XML, and also its corresponding topic name (if specified).

Parameters:

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

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_datawriters(writers)

Fills the given vector with all the datawriters of this publisher.

Parameters:: writers (DataWriterVector) – Vector where the DataWriters are returned
Return type:: boolean
Returns:: true

get_default_datawriter_qos(*args)

Overload 1:

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

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

Return type:: DataWriterQos
Returns:: Current default WriterQos

Overload 2:

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

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

Parameters:: qos (DataWriterQos) – Reference to the current default WriterQos.
Return type:: int
Returns:: RETCODE_OK

get_default_datawriter_qos_from_xml(*args)

Overload 1:

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

Notes: This method does not update the default datawriter qos (returned by get_default_datawriter_qos).

Parameters:

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

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

Overload 2:

Fills the ‘DataWriterQos’ with the default DataWriter profile found in the provided XML (if there is), and also its corresponding topic name (if specified).

Notes: This method does not update the default datawriter qos (returned by get_default_datawriter_qos).

Parameters:

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

Return type:

int

Returns:

‘RETCODE_OK’ on success. ‘RETCODE_BAD_PARAMETER’ otherwise.

get_instance_handle()

Returns the Publisher’s handle.

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

get_listener()

Retrieves the attached PublisherListener.

Return type:: PublisherListener
Returns:: PublisherListener pointer

get_participant()

This operation returns the DomainParticipant to which the Publisher belongs.

Return type:: DomainParticipant
Returns:: Pointer to the DomainParticipant

get_qos(*args)

Overload 1:

Allows accessing the Publisher Qos.

Return type:: PublisherQos
Returns:: PublisherQos reference

Overload 2:

Retrieves the Publisher Qos.

Return type:: int
Returns:: RETCODE_OK

has_datawriters()

This operation checks if the publisher has DataWriters

Return type:: boolean
Returns:: true if the publisher has one or several DataWriters, false otherwise

lookup_datawriter(topic_name)

This operation retrieves a previously created DataWriter belonging to the Publisher that is attached to a Topic with a matching topic_name. If no such DataWriter exists, the operation will return nullptr.

If multiple DataWriter attached to the Publisher satisfy this condition, then the operation will return one of them. It is not specified which one.

Parameters:: topic_name (string) – Name of the Topic
Return type:: DataWriter
Returns:: Pointer to a previously created DataWriter associated to a Topic with the requested topic_name

resume_publications()

Indicates to FastDDS that the modifications to the DataWriters are complete.

Return type:: int
Returns:: RETCODE_OK if successful, an error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

set_default_datawriter_qos(qos)

This operation sets a default value of the DataWriter QoS policies which will be used for newly created DataWriter entities in the case where the QoS policies are defaulted in the create_datawriter 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 DATAWRITER_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_datawriter_qos operation had never been called.

Parameters:: qos (DataWriterQos) – DataWriterQos 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 PublisherListener, sets the mask to StatusMask::all()

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

Overload 2:

Modifies the PublisherListener.

Parameters:

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

Return type:

int

Returns:

RETCODE_OK

set_qos(qos)

Allows modifying the Publisher Qos. The given Qos must be supported by the PublisherQos.

Parameters:: qos (PublisherQos) – PublisherQos 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.

suspend_publications()

Indicates to FastDDS that the contained DataWriters are about to be modified

Return type:: int
Returns:: RETCODE_OK if successful, an error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

property thisown: The membership flag

wait_for_acknowledgments(max_wait)

This operation blocks the calling thread until either all data written by the reliable DataWriter entities is acknowledged by all matched reliable DataReader entities, or else the duration specified by the max_wait parameter elapses, whichever happens first. A return value of true indicates that all the samples written have been acknowledged by all reliable matched data readers; a return value of false indicates that max_wait elapsed before all the data was acknowledged.

Parameters:: max_wait (Duration_t) – Maximum blocking time for this operation
Return type:: int
Returns:: RETCODE_TIMEOUT if the function takes more than the maximum blocking time established, RETCODE_OK if the Publisher receives the acknowledgments and RETCODE_ERROR otherwise.