Class RTPSParticipant, contains the public API for a RTPSParticipant. More...

#include <RTPSParticipant.hpp>

Public Member Functions
const GUID_t &	getGuid () const
	Get the GUID_t of the RTPSParticipant.
void	announceRTPSParticipantState ()
	Force the announcement of the RTPSParticipant state.
void	stopRTPSParticipantAnnouncement ()
	Stop the RTPSParticipant announcement period. //TODO remove this method because is only for testing.
void	resetRTPSParticipantAnnouncement ()
	Reset the RTPSParticipant announcement period. //TODO remove this method because is only for testing.
bool	newRemoteWriterDiscovered (const GUID_t &pguid, int16_t userDefinedId)
	Indicate the Participant that you have discovered a new Remote Writer.
bool	newRemoteReaderDiscovered (const GUID_t &pguid, int16_t userDefinedId)
	Indicate the Participant that you have discovered a new Remote Reader.
uint32_t	getRTPSParticipantID () const
	Get the Participant ID.
bool	register_writer (RTPSWriter *rtps_writer, const TopicDescription &topic, const fastdds::dds::WriterQos &qos)
	Register a Writer in the BuiltinProtocols.
dds::ReturnCode_t	register_writer (RTPSWriter *rtps_writer, const TopicDescription &topic, const PublicationBuiltinTopicData &pub_builtin_topic_data)
	Register a Writer in the BuiltinProtocols.
bool	register_reader (RTPSReader rtps_reader, const TopicDescription &topic, const fastdds::dds::ReaderQos &qos, const ContentFilterProperty content_filter=nullptr)
	Register a Reader in the BuiltinProtocols.
dds::ReturnCode_t	register_reader (RTPSReader rtps_reader, const TopicDescription &topic, const SubscriptionBuiltinTopicData &sub_builtin_topic_data, const ContentFilterProperty content_filter=nullptr)
	Register a Reader in the BuiltinProtocols.
void	update_attributes (const RTPSParticipantAttributes &patt)
	Update participant attributes.
bool	update_writer (RTPSWriter *rtps_writer, const fastdds::dds::WriterQos &wqos)
	Update local writer QoS.
bool	update_reader (RTPSReader rtps_reader, const fastdds::dds::ReaderQos &rqos, const ContentFilterProperty content_filter=nullptr)
	Update local reader QoS.
std::vector< std::string >	getParticipantNames () const
	Returns a list with the participant names.
const RTPSParticipantAttributes &	get_attributes () const
	Get a reference of the current state of the RTPSParticipantParameters.
uint32_t	getMaxMessageSize () const
	Retrieves the maximum message size.
uint32_t	getMaxDataSize () const
	Retrieves the maximum data size.
ResourceEvent &	get_resource_event () const
WLP *	wlp () const
	A method to retrieve the built-in writer liveliness protocol.
bool	get_new_entity_id (EntityId_t &entityId)
	Fills a new entityId if set to unknown, or checks if a entity already exists with that entityId in other case.
void	set_check_type_function (std::function< bool(const std::string &)> &&check_type)
	Allows setting a function to check if a type is already known by the top level API participant.
void	set_listener (RTPSParticipantListener *listener)
	Modifies the participant listener.
uint32_t	get_domain_id () const
	Retrieves the DomainId.
void	enable ()
	This operation enables the RTPSParticipantImpl.
bool	ignore_participant (const GuidPrefix_t &participant_guid)
	Ignore all messages coming from the RTPSParticipant.
bool	ignore_writer (const GUID_t &writer_guid)
	Ignore all messages coming from the RTPSWriter.
bool	ignore_reader (const GUID_t &reader_guid)
	Ignore all messages coming from the RTPSReader.
std::vector< TransportNetmaskFilterInfo >	get_netmask_filter_info () const
	Returns registered transports' netmask filter information (transport's netmask filter kind and allowlist).
bool	get_publication_info (fastdds::rtps::PublicationBuiltinTopicData &data, const GUID_t &writer_guid) const
	Fills the provided publication discovery data with the information of the writer identified by writer_guid.
bool	get_subscription_info (fastdds::rtps::SubscriptionBuiltinTopicData &data, const GUID_t &reader_guid) const
	Fills the provided subscription discovery data with the information of the reader identified by reader_guid.

Protected Attributes
RTPSParticipantImpl *	mp_impl
	Pointer to the implementation.

Friends
class	RTPSParticipantImpl
class	RTPSDomain
class	RTPSDomainImpl

Detailed Description

Class RTPSParticipant, contains the public API for a RTPSParticipant.

Member Function Documentation

◆ announceRTPSParticipantState()

void announceRTPSParticipantState ( )

Force the announcement of the RTPSParticipant state.

◆ enable()

void enable ( )

This operation enables the RTPSParticipantImpl.

◆ get_attributes()

const RTPSParticipantAttributes & get_attributes ( ) const

Get a reference of the current state of the RTPSParticipantParameters.

Returns: RTPSParticipantAttributes reference.

◆ get_domain_id()

uint32_t get_domain_id ( ) const

Retrieves the DomainId.

◆ get_netmask_filter_info()

std::vector< TransportNetmaskFilterInfo > get_netmask_filter_info ( ) const

Returns registered transports' netmask filter information (transport's netmask filter kind and allowlist).

Returns: A vector with all registered transports' netmask filter information.

◆ get_new_entity_id()

bool get_new_entity_id ( EntityId_t & entityId )

Fills a new entityId if set to unknown, or checks if a entity already exists with that entityId in other case.

Parameters

entityId to check of fill. If filled, EntityKind will be "vendor-specific" (0x01)

Returns: True if filled or the entityId is available.

◆ get_publication_info()

bool get_publication_info	(	fastdds::rtps::PublicationBuiltinTopicData &	data,
		const GUID_t &	writer_guid ) const

Fills the provided publication discovery data with the information of the writer identified by writer_guid.

Parameters

[out]	data	publication discovery data to fill.
[in]	writer_guid	GUID of the writer to get the information from.

Returns: True if the writer was found and the data was filled.

◆ get_resource_event()

ResourceEvent & get_resource_event ( ) const

◆ get_subscription_info()

bool get_subscription_info	(	fastdds::rtps::SubscriptionBuiltinTopicData &	data,
		const GUID_t &	reader_guid ) const

Fills the provided subscription discovery data with the information of the reader identified by reader_guid.

Parameters

[out]	data	subscription discovery data to fill.
[in]	reader_guid	GUID of the reader to get the information from.

Returns: True if the reader was found and the data was filled.

◆ getGuid()

const GUID_t & getGuid ( ) const

Get the GUID_t of the RTPSParticipant.

◆ getMaxDataSize()

uint32_t getMaxDataSize ( ) const

Retrieves the maximum data size.

◆ getMaxMessageSize()

uint32_t getMaxMessageSize ( ) const

Retrieves the maximum message size.

◆ getParticipantNames()

std::vector< std::string > getParticipantNames ( ) const

Returns a list with the participant names.

Returns: list of participant names.

◆ getRTPSParticipantID()

uint32_t getRTPSParticipantID ( ) const

Get the Participant ID.

Returns: Participant ID.

◆ ignore_participant()

bool ignore_participant ( const GuidPrefix_t & participant_guid )

Ignore all messages coming from the RTPSParticipant.

Parameters

[in] participant_guid RTPSParticipant GUID to be ignored

Returns: True if correctly included into the ignore collection. False otherwise.

◆ ignore_reader()

bool ignore_reader ( const GUID_t & reader_guid )

Ignore all messages coming from the RTPSReader.

Parameters

[in] reader_guid RTPSReader GUID to be ignored

Returns: True if correctly included into the ignore collection. False otherwise.

◆ ignore_writer()

bool ignore_writer ( const GUID_t & writer_guid )

Ignore all messages coming from the RTPSWriter.

Parameters

[in] writer_guid RTPSWriter GUID to be ignored

Returns: True if correctly included into the ignore collection. False otherwise.

◆ newRemoteReaderDiscovered()

bool newRemoteReaderDiscovered	(	const GUID_t &	pguid,
		int16_t	userDefinedId )

Indicate the Participant that you have discovered a new Remote Reader.

This method can be used by the user to implements its own Static Endpoint Discovery Protocol

Parameters

pguid	GUID_t of the discovered Reader.
userDefinedId	ID of the discovered Reader.

Returns: True if correctly added.

◆ newRemoteWriterDiscovered()

bool newRemoteWriterDiscovered	(	const GUID_t &	pguid,
		int16_t	userDefinedId )

Indicate the Participant that you have discovered a new Remote Writer.

This method can be used by the user to implements its own Static Endpoint Discovery Protocol

Parameters

pguid	GUID_t of the discovered Writer.
userDefinedId	ID of the discovered Writer.

Returns: True if correctly added.

◆ register_reader() [1/2]

bool register_reader	(	RTPSReader *	rtps_reader,
		const TopicDescription &	topic,
		const fastdds::dds::ReaderQos &	qos,
		const ContentFilterProperty *	content_filter = nullptr )

Register a Reader in the BuiltinProtocols.

Parameters

rtps_reader	Pointer to the RTPSReader.
topic	Information regarding the topic where the reader is registering.
qos	Qos policies of the reader.
content_filter	Optional content filtering information.

Returns: True if correctly registered.

◆ register_reader() [2/2]

dds::ReturnCode_t register_reader	(	RTPSReader *	rtps_reader,
		const TopicDescription &	topic,
		const SubscriptionBuiltinTopicData &	sub_builtin_topic_data,
		const ContentFilterProperty *	content_filter = nullptr )

Register a Reader in the BuiltinProtocols.

Parameters

rtps_reader	Pointer to the RTPSReader.
topic	Information regarding the topic where the reader is registering.
sub_builtin_topic_data	Information on the subscription endpoint.
content_filter	Optional content filtering information.

Returns: True if correctly registered.

◆ register_writer() [1/2]

bool register_writer	(	RTPSWriter *	rtps_writer,
		const TopicDescription &	topic,
		const fastdds::dds::WriterQos &	qos )

Register a Writer in the BuiltinProtocols.

Parameters

rtps_writer	Pointer to the RTPSWriter.
topic	Information regarding the topic where the writer is registering.
qos	Qos policies of the writer.

Returns: True if correctly registered.

◆ register_writer() [2/2]

dds::ReturnCode_t register_writer	(	RTPSWriter *	rtps_writer,
		const TopicDescription &	topic,
		const PublicationBuiltinTopicData &	pub_builtin_topic_data )

Register a Writer in the BuiltinProtocols.

Parameters

rtps_writer	Pointer to the RTPSWriter.
topic	Information regarding the topic where the writer is registering.
pub_builtin_topic_data	Information on the publication endpoint.

Returns: True if correctly registered.

◆ resetRTPSParticipantAnnouncement()

void resetRTPSParticipantAnnouncement ( )

Reset the RTPSParticipant announcement period. //TODO remove this method because is only for testing.

◆ set_check_type_function()

void set_check_type_function ( std::function< bool(const std::string &)> && check_type )

Allows setting a function to check if a type is already known by the top level API participant.

◆ set_listener()

void set_listener ( RTPSParticipantListener * listener )

Modifies the participant listener.

Parameters

listener

◆ stopRTPSParticipantAnnouncement()

void stopRTPSParticipantAnnouncement ( )

Stop the RTPSParticipant announcement period. //TODO remove this method because is only for testing.

◆ update_attributes()

void update_attributes ( const RTPSParticipantAttributes & patt )

Update participant attributes.

Parameters

patt	New participant attributes.

◆ update_reader()

bool update_reader	(	RTPSReader *	rtps_reader,
		const fastdds::dds::ReaderQos &	rqos,
		const ContentFilterProperty *	content_filter = nullptr )

Update local reader QoS.

Parameters

rtps_reader	Reader to update.
rqos	New QoS for the reader.
content_filter	Optional content filtering information.

Returns: True on success

◆ update_writer()

bool update_writer	(	RTPSWriter *	rtps_writer,
		const fastdds::dds::WriterQos &	wqos )

Update local writer QoS.

Parameters

rtps_writer	Writer to update.
wqos	New QoS for the writer.

Returns: True on success

◆ wlp()

WLP * wlp ( ) const

A method to retrieve the built-in writer liveliness protocol.

Returns: Writer liveliness protocol

◆ RTPSDomain

friend class RTPSDomain

friend

◆ RTPSDomainImpl

friend class RTPSDomainImpl

friend

◆ RTPSParticipantImpl

friend class RTPSParticipantImpl

friend

Member Data Documentation

◆ mp_impl

RTPSParticipantImpl* mp_impl

protected

Pointer to the implementation.

The documentation for this class was generated from the following file:

include/fastdds/rtps/participant/RTPSParticipant.hpp

Public Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ announceRTPSParticipantState()

◆ enable()

◆ get_attributes()

◆ get_domain_id()

◆ get_netmask_filter_info()

◆ get_new_entity_id()

◆ get_publication_info()

◆ get_resource_event()

◆ get_subscription_info()

◆ getGuid()

◆ getMaxDataSize()

◆ getMaxMessageSize()

◆ getParticipantNames()

◆ getRTPSParticipantID()

◆ ignore_participant()

◆ ignore_reader()

◆ ignore_writer()

◆ newRemoteReaderDiscovered()

◆ newRemoteWriterDiscovered()

◆ register_reader() [1/2]

◆ register_reader() [2/2]

◆ register_writer() [1/2]

◆ register_writer() [2/2]

◆ resetRTPSParticipantAnnouncement()

◆ set_check_type_function()

◆ set_listener()

◆ stopRTPSParticipantAnnouncement()

◆ update_attributes()

◆ update_reader()

◆ update_writer()

◆ wlp()

Friends And Related Symbol Documentation

◆ RTPSDomain

◆ RTPSDomainImpl

◆ RTPSParticipantImpl

Member Data Documentation

◆ mp_impl