15.2.10. RTPSDomain¶
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class
eprosima::fastrtps::rtps::RTPSDomain¶ Class RTPSDomain,it manages the creation and destruction of RTPSParticipant RTPSWriter and RTPSReader. It stores a list of all created RTPSParticipant. It has only static methods.
Public Static Functions
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void
stopAll()¶ Method to shut down all RTPSParticipants, readers, writers, etc. It must be called at the end of the process to avoid memory leaks. It also shut downs the DomainRTPSParticipant.
- Post
After this call, all the pointers to RTPS entities are invalidated and their use may result in undefined behaviour.
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RTPSParticipant *
createParticipant(uint32_t domain_id, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *plisten = nullptr)¶ Create a RTPSParticipant.
- Return
Pointer to the RTPSParticipant.
- Warning
The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.
- Parameters
domain_id: DomainId to be used by the RTPSParticipant (80 by default).attrs: RTPSParticipant Attributes.plisten: Pointer to the ParticipantListener.
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RTPSParticipant *
createParticipant(uint32_t domain_id, bool enabled, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *plisten = nullptr)¶ Create a RTPSParticipant.
- Return
Pointer to the RTPSParticipant.
- Warning
The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.
- Parameters
domain_id: DomainId to be used by the RTPSParticipant (80 by default).enabled: True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()attrs: RTPSParticipant Attributes.plisten: Pointer to the ParticipantListener.
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RTPSWriter *
createRTPSWriter(RTPSParticipant *p, WriterAttributes &watt, WriterHistory *hist, WriterListener *listen = nullptr)¶ Create a RTPSWriter in a participant.
- Return
Pointer to the created RTPSWriter.
- Warning
The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.
- Parameters
p: Pointer to the RTPSParticipant.watt: Writer Attributes.hist: Pointer to the WriterHistory.listen: Pointer to the WriterListener.
Create a RTPSWriter in a participant using a custom payload pool.
- Return
Pointer to the created RTPSWriter.
- Warning
The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.
- Parameters
p: Pointer to the RTPSParticipant.watt: Writer Attributes.payload_pool: Shared pointer to the IPayloadPoolhist: Pointer to the WriterHistory.listen: Pointer to the WriterListener.
Create a RTPSWriter in a participant.
- Return
Pointer to the created RTPSWriter.
- Warning
The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.
- Parameters
p: Pointer to the RTPSParticipant.entity_id: Specific entity id to use for the created writer.watt: Writer Attributes.payload_pool: Shared pointer to the IPayloadPoolhist: Pointer to the WriterHistory.listen: Pointer to the WriterListener.
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bool
removeRTPSWriter(RTPSWriter *writer)¶ Remove a RTPSWriter.
- Return
True if correctly removed.
- Parameters
writer: Pointer to the writer you want to remove.
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RTPSReader *
createRTPSReader(RTPSParticipant *p, ReaderAttributes &ratt, ReaderHistory *hist, ReaderListener *listen = nullptr)¶ Create a RTPSReader in a participant.
- Return
Pointer to the created RTPSReader.
- Warning
The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.
- Parameters
p: Pointer to the RTPSParticipant.ratt: Reader Attributes.hist: Pointer to the ReaderHistory.listen: Pointer to the ReaderListener.
Create a RTPReader in a participant using a custom payload pool.
- Return
Pointer to the created RTPSReader.
- Warning
The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.
- Parameters
p: Pointer to the RTPSParticipant.ratt: Reader Attributes.payload_pool: Shared pointer to the IPayloadPoolhist: Pointer to the ReaderHistory.listen: Pointer to the ReaderListener.
Create a RTPSReader in a participant using a custom payload pool.
- Return
Pointer to the created RTPSReader.
- Warning
The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.
- Parameters
p: Pointer to the RTPSParticipant.entity_id: Specific entity id to use for the created reader.ratt: Reader Attributes.payload_pool: Shared pointer to the IPayloadPoolhist: Pointer to the ReaderHistory.listen: Pointer to the ReaderListener.
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bool
removeRTPSReader(RTPSReader *reader)¶ Remove a RTPSReader.
- Return
True if correctly removed.
- Parameters
reader: Pointer to the reader you want to remove.
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bool
removeRTPSParticipant(RTPSParticipant *p)¶ Remove a RTPSParticipant and delete all its associated Writers, Readers, resources, etc.
- Return
True if correct.
- Parameters
[in] p: Pointer to the RTPSParticipant;
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void
setMaxRTPSParticipantId(uint32_t maxRTPSParticipantId)¶ Set the maximum RTPSParticipantID.
- Parameters
maxRTPSParticipantId: ID.
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RTPSParticipant *
clientServerEnvironmentCreationOverride(uint32_t domain_id, bool enabled, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *listen)¶ Creates a RTPSParticipant as default server or client if ROS_MASTER_URI environment variable is set.
- Return
Pointer to the RTPSParticipant.
- Warning
The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.
- Parameters
domain_id: DDS domain associatedenabled: True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()attrs: RTPSParticipant Attributes.listen: Pointer to the ParticipantListener.
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void