17.2.11. RTPSDomain

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

static 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.

static RTPSParticipant *createParticipant(uint32_t domain_id, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *plisten = nullptr)

Create a 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.

Returns

Pointer to the RTPSParticipant.

static RTPSParticipant *createParticipant(uint32_t domain_id, bool enabled, const RTPSParticipantAttributes &attrs, RTPSParticipantListener *plisten = nullptr)

Create a RTPSParticipant.

Warning

The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the RTPSParticipant.

static RTPSWriter *createRTPSWriter(RTPSParticipant *p, WriterAttributes &watt, WriterHistory *hist, WriterListener *listen = nullptr)

Create a RTPSWriter in a participant.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSWriter.

static RTPSWriter *createRTPSWriter(RTPSParticipant *p, WriterAttributes &watt, const std::shared_ptr<IPayloadPool> &payload_pool, WriterHistory *hist, WriterListener *listen = nullptr)

Create a RTPSWriter in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSWriter.

static RTPSWriter *createRTPSWriter(RTPSParticipant *p, WriterAttributes &watt, const std::shared_ptr<IPayloadPool> &payload_pool, const std::shared_ptr<IChangePool> &change_pool, WriterHistory *hist, WriterListener *listen = nullptr)

Create a RTPSWriter in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSWriter.

static RTPSWriter *createRTPSWriter(RTPSParticipant *p, const EntityId_t &entity_id, WriterAttributes &watt, const std::shared_ptr<IPayloadPool> &payload_pool, const std::shared_ptr<IChangePool> &change_pool, WriterHistory *hist, WriterListener *listen = nullptr)

Create a RTPSWriter in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSWriter.

static RTPSWriter *createRTPSWriter(RTPSParticipant *p, const EntityId_t &entity_id, WriterAttributes &watt, const std::shared_ptr<IPayloadPool> &payload_pool, WriterHistory *hist, WriterListener *listen = nullptr)

Create a RTPSWriter in a participant.

Warning

The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSWriter.

static bool removeRTPSWriter(RTPSWriter *writer)

Remove a RTPSWriter.

Parameters

writer – Pointer to the writer you want to remove.

Returns

True if correctly removed.

static RTPSReader *createRTPSReader(RTPSParticipant *p, ReaderAttributes &ratt, ReaderHistory *hist, ReaderListener *listen = nullptr)

Create a RTPSReader in a participant.

Warning

The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSReader.

static RTPSReader *createRTPSReader(RTPSParticipant *p, ReaderAttributes &ratt, const std::shared_ptr<IPayloadPool> &payload_pool, ReaderHistory *hist, ReaderListener *listen = nullptr)

Create a RTPReader in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSReader.

static RTPSReader *createRTPSReader(RTPSParticipant *p, const EntityId_t &entity_id, ReaderAttributes &ratt, const std::shared_ptr<IPayloadPool> &payload_pool, ReaderHistory *hist, ReaderListener *listen = nullptr)

Create a RTPSReader in a participant using a custom payload pool.

Warning

The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the created RTPSReader.

static bool removeRTPSReader(RTPSReader *reader)

Remove a RTPSReader.

Parameters

reader – Pointer to the reader you want to remove.

Returns

True if correctly removed.

static bool removeRTPSParticipant(RTPSParticipant *p)

Remove a RTPSParticipant and delete all its associated Writers, Readers, resources, etc.

Parameters

p – [in] Pointer to the RTPSParticipant;

Returns

True if correct.

static inline void setMaxRTPSParticipantId(uint32_t maxRTPSParticipantId)

Set the maximum RTPSParticipantID.

Parameters

maxRTPSParticipantId – ID.

static 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.

Warning

The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(), so its use may result in undefined behaviour.

Parameters
Returns

Pointer to the RTPSParticipant.