18.1.3.4. 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
ReturnCode_t- Returns
RETCODE_OK if successful, an error code otherwise
Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED
- copy_from_topic_qos(writer_qos, topic_qos)¶
Copies TopicQos into the corresponding DataWriterQos
writer_qos topic_qos :rtype:
ReturnCode_t:return: 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 listeningqos – 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
- 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 listeningprofile_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
- Returns
Pointer to the created DataWriter. nullptr if failed.
- delete_contained_entities()¶
Deletes all contained DataWriters
- Return type
ReturnCode_t- 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
ReturnCode_t- 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
ReturnCode_t- 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
ReturnCode_t- Returns
RETCODE_OK if successful, an error code otherwise
Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED
- get_datawriter_qos_from_profile(profile_name, qos)¶
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
ReturnCode_t- Returns
RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.
- get_datawriters(writers)¶
Fills the given vector with all the datawriters of this publisher.
- Parameters
writers (std::vector< eprosima::fastdds::dds::DataWriter *,std::allocator< eprosima::fastdds::dds::DataWriter * > >) – 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
- 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
ReturnCode_t- Returns
RETCODE_OK
- 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
- Returns
PublisherListener pointer
- get_participant()¶
This operation returns the DomainParticipant to which the Publisher belongs.
- Return type
- Returns
Pointer to the DomainParticipant
- get_qos(*args)¶
Overload 1:
Allows accessing the Publisher Qos.
- Return type
- Returns
PublisherQos reference
Overload 2:
Retrieves the Publisher Qos.
- Return type
ReturnCode_t- 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
- 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
ReturnCode_t- 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
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 PublisherListener, sets the mask to StatusMask::all()
- Parameters
listener (
PublisherListener) – new value for the PublisherListener- Return type
ReturnCode_t- Returns
RETCODE_OK
Overload 2:
Modifies the PublisherListener.
- Parameters
listener (
PublisherListener) – new value for the PublisherListenermask (
StatusMask) – StatusMask that holds statuses the listener responds to
- Return type
ReturnCode_t- 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
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.
- suspend_publications()¶
Indicates to FastDDS that the contained DataWriters are about to be modified
- Return type
ReturnCode_t- 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
ReturnCode_t- 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.