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CoreDX TM Data Distribution ServiceThe leading Small Footprint DDS Middleware

C# Reference Manual

Twin Oaks Computing, IncCastle Rock, CO 80108

Oct 2013

©2009-2013 Twin Oaks Computing, Inc

All rights reserved.Published online 2009-2013

TrademarksTwin Oaks Computing, and CoreDX DDS, and the CoreDX DDS logo are trademarks of Twin Oaks Com-puting, Inc. All other products or company names mentioned are used for identification purposes only, andmay be trademarks of their respective owners.

Copy and Use RestrictionsNo part of this document may be reproduced, stored, or transmitted (electronically or mechanically) withoutthe prior written permission of Twin Oaks Computing, Inc. The software documented in this publication isprovided pursuant to a License Agreement containing restrictions on its use.

DISCLAIMER OF WARRANTYTHIS DOCUMENT IS PROVIDED "AS IS” AND ALL EXPRESS OR IMPLIED CONDITIONS, REPRE-SENTATIONS AND WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABIL-ITY, FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT, ARE DISCLAIMED, EX-CEPT TO THE EXTENT THAT SUCH DISCLAIMERS ARE HELD TO BE LEGALLY INVALID.

Contact

Twin Oaks Computing, Inc755 Maleta Ln, Ste 203Castle Rock, CO 80108

(720) [email protected]

http://www.twinoakscomputing.comhttp://twitter.com/CoreDX_DDS

Contents

1 Overview 1

2 Data Structure Documentation 5

2.1 DDS Entities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.2 DDS Quality of Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 DDS Conditions, Listeners, and WaitSets . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.4 DDS Listeners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.5 DDS Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.6 DDS WaitSets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.7 DDS Status Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.8 CoreDX DDS DynamicType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.9 DDS Builtin Entities and Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.10 CoreDX DDS Tranpsorts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3 API Documentation 21

3.1 Condition Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.2 ContentFilteredTopic Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.3 DataReader Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.4 DataReaderListener Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.5 DataReaderQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.6 DataWriter Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.7 DataWriterListener Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.8 DataWriterQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

ii CONTENTS

3.9 DDS Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3.10 DeadlineQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3.11 DestinationOrderQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . 49

3.12 DomainEntity Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3.13 DomainParticipant Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

3.14 DomainParticipantFactory Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 62

3.15 DomainParticipantFactoryQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . 66

3.16 DomainParticipantListener Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3.17 DomainParticipantQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

3.18 DurabilityQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

3.19 DurabilityServiceQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.20 Duration_t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

3.21 Entity Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

3.22 EntityFactoryQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

3.23 GroupDataQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

3.24 GuardCondition Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

3.25 HistoryQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

3.26 InconsistentTopicStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

3.27 LatencyBudgetQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

3.28 LifespanQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

3.29 LivelinessChangedStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

3.30 LivelinessLostStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

3.31 LivelinessQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

3.32 LmtTransport Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

3.33 LmtTransportConfig Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

3.34 MultiTopic Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

3.35 OfferedDeadlineMissedStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . 90

3.36 OfferedIncompatibleQosStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . 91

3.37 OwnershipQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

3.38 OwnershipStrengthQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . 93

3.39 PartitionQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Generated on Tue Oct 1 10:27:26 2013 for CoreDX Data Distribution Service by Doxygen

CONTENTS iii

3.40 PresentationQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

3.41 PublicationMatchedStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 96

3.42 Publisher Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

3.43 PublisherListener Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

3.44 PublisherQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

3.45 QueryCondition Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

3.46 ReadCondition Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

3.47 ReaderDataLifecycleQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . 109

3.48 ReliabilityQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

3.49 RequestedDeadlineMissedStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . 111

3.50 RequestedIncompatibleQosStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . 112

3.51 ResourceLimitsQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 113

3.52 RTPSReaderQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

3.53 RTPSWriterQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

3.54 SampleInfo Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

3.55 SampleLostStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

3.56 SampleRejectedStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

3.57 StatusCondition Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

3.58 Subscriber Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

3.59 SubscriberListener Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

3.60 SubscriberQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

3.61 SubscriptionMatchedStatus Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 131

3.62 TcpTransport Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

3.63 TcpTransportConfig Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

3.64 ThreadModelQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

3.65 Time_t Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

3.66 TimeBasedFilterQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 137

3.67 Topic Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

3.68 TopicDataQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

3.69 TopicDescription Interface Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

3.70 TopicListener Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143


iv CONTENTS

3.71 TopicQos Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

3.72 Transport Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

3.73 TransportPriorityQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . 147

3.74 UdpTransport Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

3.75 UdpTransportConfig Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

3.76 UserDataQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

3.77 WaitSet Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

3.78 WriterDataLifecycleQosPolicy Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . 156

4 Data Structure Index 157

4.1 Class List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

5 Not Yet Supported 161


Chapter 1

Overview

Welcome to the CoreDX DDS for C# API documentation from Twin Oaks Computing, Inc.

Introduction

CoreDX DDS is a small-footprint, high-performance communications middleware compliant with the OMGData Distribution Service (DDS) standard. CoreDX DDS supports multiple hardware architectures and op-erating systems, and is intended to facilitate the development of robust, near real-time, highly distributedsystems.

This is the CoreDX DDS for C# Reference Manual. It provides a detailed reference for the CoreDX DataDistribution Service implementation from Twin Oaks Computing, Inc. The manual includes documentationon all of the CoreDX DDS data types and Application Programming Interface (API) routines.

The CoreDX DDS Programmers Guide provides more information on using the CoreDX DDS API andrelated tools to produce a complete DDS enabled application.

The CoreDX DDS software provides a high-throughput, standards compliant, data communications infras-tructure. CoreDX DDS offers the tools you need to realize Open Architecture goals. Built with a focus onperformance, the CoreDX DDS software delivers a quality implementation of the OMG Data DistributionService (DDS) standard.

The CoreDX DDS software implements the essential Data-Centric Publish-Subscribe (DCPS) communica-tions layer as documented in the OMG DDS Standard. This standalone package, provides everything neededto integrate QoS enabled, Publish-Subscribe messaging into an application. The core software is written in theC language, and is optimized to be small and fast. The core package includes C and C++ language bindingsfor application integration. This reference manual describes the CoreDX DDS "C#" language binding.

2 Overview

Intended Audience

This document is intended for software developers who are integrating the CoreDX DDS software into theirapplication(s). The reference manual assumes that the reader is competent in programming languages andsoftware development concepts. CoreDX DDS supports multiple languages, and this reference manual fo-cuses on the C# programming language.

Contents

The reference documentation includes information on the following API constructs:

1. Entities.This includes the primary objects with which an application must interact to enable DDSpublish-subscribe communications.

• DomainParticipantFactory

• DomainParticipant

• Topic

• ContentFilteredTopic

• MultiTopic

• Publisher

• Subscriber

• DataReader

• DataWriter

2. Quality of Service. This section documents the Quality of Service (QoS) structures that configure thebehavior of the CoreDX DDS middleware.

• DomainParticipantFactoryQos

• DomainParticipantQos

• TopicQos

• PublisherQos

• SubscriberQos

• DataReaderQos

• DataWriterQos

3. Listeners and Events. This section covers the various structures and concepts involved in deliveringevents to the application.

• DomainParticipantListener

• TopicListener


3

• PublisherListener

• SubscriberListener

• DataReaderListener

• DataWriterListener

4. Status. This section describes the types of status maintained by the infrastructure.

• InconsistentTopicStatus

• LivelinessChangedStatus

• LivelinessLostStatus

• OfferedDeadlineMissedStatus

• OfferedIncompatibleQosStatus

• PublicationMatchedStatus

• RequestedDeadlineMissedStatus

• RequestedIncompatibleQosStatus

• SampleLostStatus

• SampleRejectedStatus

• SubscriptionMatchedStatus

5. Transports. This section includes Transport objects.

• UDP Transport

• TCP Transport

• LMT Transport (local machine)

6. Miscellaneous. This section includes miscellaneous support objects.

• Condition

• GuardCondition

• StatusCondition

• QueryCondition

• WaitSet


4 Overview


Chapter 2

Data Structure Documentation

2.1 DDS Entities

Classes

• class DomainParticipant

The DomainParticipant is used to configure, create and destroy Publisher, Subscriber and Topic objects.

• class DomainParticipantFactory

DomainParticipantFactory constructs DomainParticipants.

• class DataReader

The DataReader entity allows the application to subscribe to and read data.

• class DataWriter

The DataWriter entity provides an interface for the application to publish (write) data. The DataWriter is anabstract class that is extended to support a particular data type required by the application. A DataReader isassociated with, and writes on, a single Topic.

• class Entity

Base class for all DDS Entities.

• class DomainEntity

Base class for all DDS Domain Entities.

• class Publisher

The Publisher configures, creates, manages and destroys DataWriters.

6 Data Structure Documentation

• class SubscriberThe Subscriber configures, creates, manages and destroys DataReaders.

• class TopicTopic is the basic description of data to be published or subscribed. A topic is identified by a name and a type.A Topic is created by calling DomainParticipant.create_topic(). Prior to creating a Topic, the associated datatype must be registered with the DomainParticipant via a call to the TypeSupportXYZ.register_type() function.[The register_type() function is auto-generated ’type-specific’ code.].

• class ContentFilteredTopicContentFilteredTopic provides a topic that may include data filtered from a related Topic. The ContentFil-teredTopic is associated with another un-filtered topic related_topic. It applies a filter to the data of therelated topic. If a data sample passes the filter, it will be made available to a DataReader associated with theContentFilteredTopic.


2.2 DDS Quality of Service 7

2.2 DDS Quality of Service

Classes

• struct ThreadModelQosPolicy

Configure the threading features of CoreDX DDS.

• class DomainParticipantFactoryQos

Structure that holds DomainParticipantFactory Quality of Service policies.

• class DomainParticipantQos

Structure that holds DomainParticipant Quality of Service policies.

• class TopicQos

Structure that holds DDS_Topic Quality of Service policies.

• class PublisherQos

Structure that holds Publisher Quality of Service policies.

• class SubscriberQos

Structure that holds DDS_Subscriber Quality of Service policies.

• class DataWriterQos

Structure that holds DataWriter Quality of Service policies.

• class DataReaderQos

Structure that holds DataReader Quality of Service policies.

Enumerations

• enum DurabilityQosPolicyKind { VOLATILE_DURABILITY_QOS, TRANSIENT_LOCAL_-DURABILITY_QOS, TRANSIENT_DURABILITY_QOS, PERSISTENT_DURABILITY_QOS }

Valid kinds of Durability Qos.

• enum PresentationQosPolicyAccessScopeKind { INSTANCE_PRESENTATION_QOS, TOPIC_-PRESENTATION_QOS, GROUP_PRESENTATION_QOS }

Valid kinds of Presentation Qos.

• enum OwnershipQosPolicyKind { SHARED_OWNERSHIP_QOS, EXCLUSIVE_OWNERSHIP_-QOS }

Valid kinds of Ownership Qos.



• enum LivelinessQosPolicyKind { AUTOMATIC_LIVELINESS_QOS, MANUAL_BY_-PARTICIPANT_LIVELINESS_QOS, MANUAL_BY_TOPIC_LIVELINESS_QOS }

The ’kinds’ of Liveliness Qos Policy supported.

• enum ReliabilityQosPolicyKind { , BEST_EFFORT_RELIABILITY_QOS, RELIABLE_-RELIABILITY_QOS }

Valid kinds of Reliability Qos.

• enum DestinationOrderQosPolicyKind { BY_RECEPTION_TIMESTAMP_-DESTINATIONORDER_QOS, BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS}

Valid kinds of DestinationOrder Qos.

• enum HistoryQosPolicyKind { KEEP_LAST_HISTORY_QOS, KEEP_ALL_HISTORY_QOS }

Valid kinds of History Qos.

• enum DiscoveryQosPolicyDiscoveryKind { PEER_DISCOVERY_QOS, CENTRAL_DISCOVERY_-QOS }

Valid kinds of Discovery Qos.

2.2.1 Enumeration Type Documentation

2.2.1.1 enum DestinationOrderQosPolicyKind

Valid kinds of DestinationOrder Qos.

Enumerator:

BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS

BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS

2.2.1.2 enum DiscoveryQosPolicyDiscoveryKind

Valid kinds of Discovery Qos.

Enumerator:

PEER_DISCOVERY_QOS

CENTRAL_DISCOVERY_QOS


2.2 DDS Quality of Service 9

2.2.1.3 enum DurabilityQosPolicyKind

Valid kinds of Durability Qos.

Enumerator:

VOLATILE_DURABILITY_QOS

TRANSIENT_LOCAL_DURABILITY_QOS

TRANSIENT_DURABILITY_QOS

PERSISTENT_DURABILITY_QOS

2.2.1.4 enum HistoryQosPolicyKind

Valid kinds of History Qos.

Enumerator:

KEEP_LAST_HISTORY_QOS

KEEP_ALL_HISTORY_QOS

2.2.1.5 enum LivelinessQosPolicyKind

The ’kinds’ of Liveliness Qos Policy supported.

Enumerator:

AUTOMATIC_LIVELINESS_QOS

MANUAL_BY_PARTICIPANT_LIVELINESS_QOS

MANUAL_BY_TOPIC_LIVELINESS_QOS

2.2.1.6 enum OwnershipQosPolicyKind

Valid kinds of Ownership Qos.

Enumerator:

SHARED_OWNERSHIP_QOS

EXCLUSIVE_OWNERSHIP_QOS



2.2.1.7 enum PresentationQosPolicyAccessScopeKind

Valid kinds of Presentation Qos.

Enumerator:

INSTANCE_PRESENTATION_QOSTOPIC_PRESENTATION_QOSGROUP_PRESENTATION_QOS

2.2.1.8 enum ReliabilityQosPolicyKind

Valid kinds of Reliability Qos.

Enumerator:

BEST_EFFORT_RELIABILITY_QOSRELIABLE_RELIABILITY_QOS


2.3 DDS Conditions, Listeners, and WaitSets 11

2.3 DDS Conditions, Listeners, and WaitSets

Modules

• DDS Listeners• DDS Conditions• DDS WaitSets



2.4 DDS Listeners

Classes

• class DomainParticipantListenerThe DomainParticipantListener provides asynchronous notification of DomainParticipant events.

• class TopicListenerThe TopicListener provides asynchronous notification of Topic events.

• class PublisherListenerThe PublisherListener provides asynchronous notification of Publisher events.

• class DataWriterListenerThe DataWriterListener provides asynchronous notification of DataWriter events.

• class SubscriberListenerThe SubscriberListener provides asynchronous notification of Subscriber events.

• class DataReaderListenerThe DataReaderListener provides asynchronous notification of DataReader events.


2.5 DDS Conditions 13

2.5 DDS Conditions

Classes

• class ConditionA Condition can be added to a WaitSet to provide synchronous event notification.

• class GuardConditionA GuardCondition is a Condition where the trigger_value is under application control.

• class ReadConditionA ReadCondition is a specialized Condition associated with a DataReader.

• class QueryConditionThe trigger_value is driven by the data available, after applying the filter, in the associated DataReader.



2.6 DDS WaitSets

Classes

• class WaitSetA DDS_WaitSet maintains a set of Condition objects and allows the application to wait until one or more ofthem have a trigger_value of TRUE.


2.7 DDS Status Structures 15

2.7 DDS Status Structures

Classes

• class InconsistentTopicStatusStatus related to the on_inconsistent_topic listener methods of the TopicListener structure.

• class OfferedDeadlineMissedStatusStatus related to the on_offered_deadline_missed listener methods of the DataWriter, Publisher, and Domain-Participant structures.

• class OfferedIncompatibleQosStatusStatus related to the on_offered_incompatible_qos listener methods of the DataWriter, Publisher, and Do-mainParticipant structures.

• class LivelinessLostStatusStatus related to the on_liveliness_lost listener methods of the DataWriter, Publisher, and DomainParticipantstructures.

• class PublicationMatchedStatusStatus related to the on_publication_matched listener methods of the DataWriter, Publisher, and DomainPar-ticipant structures.

• class RequestedDeadlineMissedStatusStatus related to the on_requested_deadline_missed listener methods of the DataReader, Subscriber, and Do-mainParticipant structures.

• class RequestedIncompatibleQosStatusStatus related to the on_requested_incompatible_qos listener methods of the DataReader, Subscriber, andDomainParticipant structures.

• class SampleRejectedStatusStatus related to the on_sample_rejected listener methods of the DataReader, Subscriber, and DomainPartic-ipant structures.

• class LivelinessChangedStatusStatus related to the on_liveliness_changed listener methods of the DataReader, Subscriber, and DomainPar-ticipant structures.

• class SubscriptionMatchedStatusStatus related to the on_subscription_matched listener methods of the DataReader, Subscriber, and Domain-Participant structures.

• class SampleLostStatus



Status related to the on_sample_lost listener methods of the DataReader, Subscriber, and DomainParticipantstructures.

Enumerations

• enum SampleRejectedStatusKind { NOT_REJECTED, REJECTED_BY_INSTANCE_LIMIT,REJECTED_BY_SAMPLES_LIMIT, REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT }

Indicator of the reason for a sample rejection.

2.7.1 Detailed Description

• InconsistentTopicStatus

• LivelinessChangedStatus

• LivelinessLostStatus

• OfferedDeadlineMissedStatus

• OfferedIncompatibleQosStatus

• PublicationMatchedStatus

• RequestedDeadlineMissedStatus

• RequestedIncompatibleQosStatus

• SampleLostStatus

• SampleRejectedStatus

• _SubscriptionMatchedStatus

2.7.2 Enumeration Type Documentation

2.7.2.1 enum SampleRejectedStatusKind

Indicator of the reason for a sample rejection.

Enumerator:

NOT_REJECTEDREJECTED_BY_INSTANCE_LIMITREJECTED_BY_SAMPLES_LIMITREJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT


2.8 CoreDX DDS DynamicType 17

2.8 CoreDX DDS DynamicType



2.9 DDS Builtin Entities and Data Types


2.10 CoreDX DDS Tranpsorts 19

2.10 CoreDX DDS Tranpsorts

Classes

• class TransportAn instance of a Transport that can be added to a DomainParticipant.

• class IpTransportInterfaceDefines an interface for use by the UdpTransport.

• class UdpTransportAn instance of a Transport that can be added to a DomainParticipant.

• class UdpTransportConfigStructure that holds UDP Transport configuration items.

• class TcpTransportAn instance of a TCP Transport that can be added to a DomainParticipant.

• class TcpTransportConfigStructure that holds TCP Transport configuration items.

• class SslTransportAn instance of a SSL Transport that can be added to a DomainParticipant.

• class SslTransportConfigStructure that holds SSL Transport configuration items.

• class LmtTransportConfigStructure that holds LMT Transport configuration items.

• class LmtTransportAn instance of a LMT Transport that can be added to a DomainParticipant.


Chapter 3

API Documentation

3.1 Condition Class Reference

A Condition can be added to a WaitSet to provide synchronous event notification.

Inheritance diagram for Condition:

Condition

GuardCondition ReadCondition StatusCondition

QueryCondition

Public Member Functions

• bool get_trigger_value ()


A Condition can be added to a WaitSet to provide synchronous event notification. A Condition has a trigger_-value which can be true or false.

22 API Documentation

3.1.2 Member Function Documentation

3.1.2.1 bool get_trigger_value () [inline]

This routine returns the current value of the trigger_value in Condition c.

A non-zero return value indicates that the trigger_value is TRUE.

A zero return value indicates that the trigger_value is FALSE.


3.2 ContentFilteredTopic Class Reference 23

3.2 ContentFilteredTopic Class Reference

ContentFilteredTopic provides a topic that may include data filtered from a related Topic. The ContentFil-teredTopic is associated with another un-filtered topic related_topic. It applies a filter to the data of therelated topic. If a data sample passes the filter, it will be made available to a DataReader associated with theContentFilteredTopic.

Inheritance diagram for ContentFilteredTopic:

ContentFilteredTopic

TopicDescription


• DomainParticipant get_participant ()

This operation returns the parent DomainParticipant of the Topic.

• String get_type_name ()

This operation returns type_name of the Topic.

• String get_name ()

This operation returns topic_name of the Topic.

• Topic get_related_topic ()

This returns the real Topic associated with the ContentFilteredTopic.

• ReturnCode_t get_expression_parameters (List< String > eparams)

This accesses the current set of parameters used by the ContentFilteredTopic.

• ReturnCode_t set_expression_parameters (List< String > filter_parameters)

This specifies a new set of parameters for use with the filter_expression.


ContentFilteredTopic provides a topic that may include data filtered from a related Topic. The ContentFil-teredTopic is associated with another un-filtered topic related_topic. It applies a filter to the data of therelated topic. If a data sample passes the filter, it will be made available to a DataReader associated withthe ContentFilteredTopic. The filter_expression is an SQL like condition expression, and filter_parameters



provide optional parameters that are referenced by the filter_expression. The syntax of the filter expressionis similar to the WHERE clause in SQL. For example "x<4" is a valid filter expression. It would test thatdata member ’x’ is less than value ’4’. If the filter expression evaluates to TRUE, then the data sample willbe available, otherwise the data sample would be ’filtered’ (excluded).

CoreDX DDS supports the ’LIKE’ operator (and NOT LIKE) for regular expression string matching. Thepattern string in a LIKE clause can contain ” to match zero or more characters, ’_’ to match a single character,or ’[<characters>]’ to match a range of characters.

CoreDX DDS also includes support for the ’IN’ operator. This provides a very powerful mechanism fortesting that a value appears in a set of values. For example "symbol IN (’ge’, ’msft’, ’ibm’)" will select allsamples that have a symbol value of ’ge’, ’msft’, or ’ibm’. This could also be written as a series of equalitytests combined with the OR operator; however, the IN operator is much more efficient. A filter that matcheson several hundred or even thousands of values can be implemented very efficiently using the ’IN’ operator.

The filter_expression can refer to parameters. The syntax for paramters is the percent sign ” followed by anumber. The number is the index of the paramter in the filter_paramters sequence. Parameters are countedstarting at zero. So, "%0" refers to the first parameter, and "%4" refers to the fifth paramter. Using this syntax,the expression "x<%0" would test the value of ’x’ against the first parameter in the sequence.

See also

DDS.DomainParticipant.create_contentfilteredtopic()


3.2.2.1 ReturnCode_t get_expression_parameters (List< String > eparams) [inline]

This accesses the current set of parameters used by the ContentFilteredTopic.

The parameters String Sequence is populated with the current set of parameters.

3.2.2.2 Topic get_related_topic () [inline]

This returns the real Topic associated with the ContentFilteredTopic.

That is, the Topic provided when the ContentFilteredTopic was created.

3.2.2.3 ReturnCode_t set_expression_parameters (List< String > filter_parameters) [inline]

This specifies a new set of parameters for use with the filter_expression.

The filter_expression is an SQL like condition expression, and the parameters argument provides optionalparameters that are referenced by the filter_expression. The syntax for refering to paramters in a filter_-expression is the percent sign ” followed by a number. The number is the index of the paramter in thefilter_paramters sequence. Parameters are counted starting at zero. So, "%0" refers to the first parameter,


3.2 ContentFilteredTopic Class Reference 25

and "%4" refers to the fifth paramter. Using this syntax, the expression "x<%0" would test the value of ’x’against the first parameter in the sequence.



3.3 DataReader Class Reference

The DataReader entity allows the application to subscribe to and read data.

Inheritance diagram for DataReader:

DataReader

DomainEntity

Entity


• new ReturnCode_t enable ()• override InstanceHandle_t get_instance_handle ()• ReadCondition create_readcondition (uint sample_states, uint view_states, uint instance_states)• QueryCondition create_querycondition (uint sample_states, uint view_states, uint instance_states,

String query_expression, List< String > query_parameters)

Creates a DDS.QueryCondition.

• ReturnCode_t delete_readcondition (ReadCondition rc)• ReturnCode_t delete_contained_entities ()• ReturnCode_t set_qos (DataReaderQos qos)• ReturnCode_t get_qos (DataReaderQos qos)• ReturnCode_t set_listener (DataReaderListener new_listener, uint mask)• DataReaderListener get_listener ()• TopicDescription get_topicdescription ()• Subscriber get_subscriber ()• ReturnCode_t get_sample_rejected_status (out SampleRejectedStatus status)• ReturnCode_t get_liveliness_changed_status (out LivelinessChangedStatus status)• ReturnCode_t get_requested_deadline_missed_status (out RequestedDeadlineMissedStatus status)• ReturnCode_t get_requested_incompatible_qos_status (out RequestedIncompatibleQosStatus status)• ReturnCode_t get_subscription_matched_status (out SubscriptionMatchedStatus status)• ReturnCode_t get_sample_lost_status (out SampleLostStatus status)• ReturnCode_t wait_for_historical_data (Duration_t max_wait)• ReturnCode_t get_matched_publications (List< InstanceHandle_t > publication_handles)


3.3 DataReader Class Reference 27


The DataReader entity allows the application to subscribe to and read data. The DataReadre is an abstractclass that is extended to support a particular data type required by the application. A DataReader is associatedwith a single TopicDescription (Topic, MultiTopic, or ContentFilteredTopic).


3.3.2.1 QueryCondition create_querycondition (uint sample_states, uint view_states, uintinstance_states, String query_expression, List< String > query_parameters) [inline]

Creates a DDS.QueryCondition.

The returned QueryCondition can be used as an argument to read_w_condition() or take_w_condition().

The query_expression is an SQL like condition expression, and query_parameters provide optional pa-rameters that are referenced by the query_expression. The syntax of the query expression is similar to theWHERE clause in SQL. For example "x<4" is a valid query expression. It would test that data member ’x’is less than value ’4’. If the query expression evaluates to TRUE, then the data sample will be available,otherwise the data sample will be ’filtered’ (excluded).

CoreDX DDS supports the ’LIKE’ operator (and NOT LIKE) for regular expression string matching. Thepattern string in a LIKE clause can contain ” to match zero or more characters, ’_’ to match a single character,or ’[<characters>]’ to match a range of characters.

CoreDX DDS also includes support for the ’IN’ operator. This provides a very powerful mechanism fortesting that a value appears in a set of values. For example "symbol IN (’ge’, ’msft’, ’ibm’)" will select allsamples that have a symbol value of ’ge’, ’msft’, or ’ibm’. This could also be written as a series of equalitytests combined with the OR operator; however, the IN operator is much more efficient. A query that matcheson several hundred or even thousands of values can be implemented very efficiently using the ’IN’ operator.

The query_expression can refer to parameters. The syntax for paramters is the percent sign ” followed by anumber. The number is the index of the paramter in the query_paramters sequence. Parameters are countedstarting at zero. So, "%0" refers to the first parameter, and "%4" refers to the fifth paramter. Using this syntax,the expression "x<%0" would test the value of ’x’ against the first parameter in the sequence.

See also

FooDataReader::read_w_condition().FooDataReader::take_w_condition().

Not Yet Supported

QueryConditions are not yet supported as triggers for a WaitSet.



3.3.2.2 ReadCondition create_readcondition (uint sample_states, uint view_states, uintinstance_states) [inline]

Creates a ReadCondition that is associated with this DataReader. The returned condition can beadded to a WaitSet or used in a call to the specialized read() or take() operations. For example seeDataReaderFoo.read_w_condition();

3.3.2.3 ReturnCode_t delete_contained_entities () [inline]

This operation deletes all the ReadCondition and QueryCondition objects previously created by means of theDataReader.create_readcondition() and DataReader.create_querycondition() operations.

After successful execution, the application may delete the Publisher by calling Subscriber.delete_-datareader().

If any of the objects cannot be deleted, this routine will return DDS.RETCODE_PRECONDITION_NOT_-MET.

3.3.2.4 ReturnCode_t delete_readcondition (ReadCondition rc) [inline]

Destroys a ReadCondition (or QueryCondition). The provided a_condition must have been previously cre-ated via a call to DataReader.create_readcondition() or DataReader.create_querycondition().

The a_condition argument must belong to DataReader dr. Otherwise, the error DDS.RETCODE_-PRECONDITION_NOT_MET will be returned.

If the DataReader is actively processing the ReadCondition, this routine will return DDS.RETCODE_-ERROR; in this case, the delete_readcondition() call should be re-tried.

3.3.2.5 new ReturnCode_t enable () [inline, virtual]

Enables the DataReader. A DataReader is created either enabled or not based on the SubscriberQos settingentity_factory. When a DataReader is not enabled, only the following sub-set of all DataReader operationsare legal:

• operations to get and set QoS policies,

• get_statuscondition(),

• get_status_changes(),

Any other operation may return the DDS.RETCODE_NOT_ENABLED error. DataReader_enable() may becalled on an already enabled DataReader [it will have no effect].

Reimplemented from Entity.



3.3.2.6 override InstanceHandle_t get_instance_handle () [inline, virtual]

Gets the handle that locally identifies this Entity.


3.3.2.7 DataReaderListener get_listener () [inline]

This operation returns the currently installed DataReaderListener.

3.3.2.8 ReturnCode_t get_liveliness_changed_status (out LivelinessChangedStatus status)[inline]

Provides access to the current LivelinessChangedStatus of the DataReader. As a side-effect, this routine willreset the total_count_change status field to zero.

3.3.2.9 ReturnCode_t get_matched_publications (List< InstanceHandle_t > publication_handles)[inline]

This operation retrieves the list of DataWriters currently matched with this DataReader dr. This list will in-clude the handles that identify DataWriters which have matching Topic and compatible QoS with DataReader.

If a DataWriter has been ignored by a call to DomainParticipant.ignore_publication(), then it will not appearin the list.

Parameters

publication_handles A vector that will be populated with InstanceHandle_t(s).

3.3.2.10 ReturnCode_t get_qos (DataReaderQos qos) [inline]

Returns the current DataReaderQos settings held in the DataReader dr. This routines copies data from theDataReader QoS properties into qos.

3.3.2.11 ReturnCode_t get_requested_deadline_missed_status (out RequestedDeadlineMissedStatusstatus) [inline]

Provides access to the current RequestedDeadlineMissedStatus of the DataReader. As a side-effect, thisroutine will reset the total_count_change status field to zero.



3.3.2.12 ReturnCode_t get_requested_incompatible_qos_status (outRequestedIncompatibleQosStatus status) [inline]

Provides access to the current RequestedIncompatibleQosStatus of the DataReader. As a side-effect, thisroutine will reset the total_count_change status field to zero.

3.3.2.13 ReturnCode_t get_sample_lost_status (out SampleLostStatus status) [inline]

Provides access to the current SampleLostStatus of the DataReader. As a side-effect, this routine will resetthe total_count_change status field to zero.

3.3.2.14 ReturnCode_t get_sample_rejected_status (out SampleRejectedStatus status) [inline]

Provides access to the current SampleRejectedStatus of the DataReader. As a side-effect, this routine willreset the total_count_change status field to zero.

3.3.2.15 Subscriber get_subscriber () [inline]

Returns the Subscribier that contains DataReader dr.

3.3.2.16 ReturnCode_t get_subscription_matched_status (out SubscriptionMatchedStatus status)[inline]

Provides access to the current SubscriptionMatchedStatus of the DataReader. As a side-effect, this routinewill reset the total_count_change status field to zero.

3.3.2.17 TopicDescription get_topicdescription () [inline]

Returns the TopicDescription associated with DataReader dr.

3.3.2.18 ReturnCode_t set_listener (DataReaderListener new_listener, uint mask) [inline]

Installs a DataReaderListener on DataReader dr. Only one listener may be attached to a DataReader at atime. A call to set_listener() will replace any current listener with a_listener.

a_listener can be NULL, which indicates a listener that does nothing.

3.3.2.19 ReturnCode_t set_qos (DataReaderQos qos) [inline]

Sets the DataReaderQos values. These QoS values affect the behavior of the DataReader. This rou-tine may fail if the provided qos argument is not internally consistent. In this case, DDS.RETCODE_-



INCONSISTENT_POLICY will be returned, and no changes will be made to the DataReader QoS.

3.3.2.20 ReturnCode_t wait_for_historical_data (Duration_t max_wait) [inline]

This routine blocks until all ’historical’ data is received.

Parameters

max_wait The maximum amount of time to block while waiting. Can be set to { DDS.DURATION_-INFINITE_SEC, DDS.DURATION_INFINITE_NSEC }



3.4 DataReaderListener Class Reference

The DataReaderListener provides asynchronous notification of DataReader events.

Public Attributes

• requested_deadline_missed_delegate on_requested_deadline_missed• requested_incompatible_qos_delegate on_requested_incompatible_qos• sample_rejected_delegate on_sample_rejected• liveliness_changed_delegate on_liveliness_changed• data_available_delegate on_data_available• subscription_matched_delegate on_subscription_matched• sample_lost_delegate on_sample_lost


The DataReaderListener provides asynchronous notification of DataReader events. This listener can be in-stalled during DataReader creation, Subscriber.create_datareader(), as well as by calling DataReader.set_-listener().

Note

The listener callback methods should be lightweight and should not block. If a callback method blocks,it will block all other callback operations within the same DomainParticipant.

3.4.2 Member Data Documentation

3.4.2.1 data_available_delegate on_data_available

3.4.2.2 liveliness_changed_delegate on_liveliness_changed

3.4.2.3 requested_deadline_missed_delegate on_requested_deadline_missed

3.4.2.4 requested_incompatible_qos_delegate on_requested_incompatible_qos

3.4.2.5 sample_lost_delegate on_sample_lost

3.4.2.6 sample_rejected_delegate on_sample_rejected

3.4.2.7 subscription_matched_delegate on_subscription_matched


3.5 DataReaderQos Class Reference 33

3.5 DataReaderQos Class Reference


Public Attributes

• DurabilityQosPolicy durability• DeadlineQosPolicy deadline• LatencyBudgetQosPolicy latency_budget• LivelinessQosPolicy liveliness• ReliabilityQosPolicy reliability• DestinationOrderQosPolicy destination_order• HistoryQosPolicy history• ResourceLimitsQosPolicy resource_limits• UserDataQosPolicy user_data• OwnershipQosPolicy ownership• TimeBasedFilterQosPolicy time_based_filter• ReaderDataLifecycleQosPolicy reader_data_lifecycle



See also

DataReader::set_qos()DataReader::get_qos()Subscriber::create_datareader()Subscriber::set_default_datareader_qos()Subscriber::get_default_datareader_qos()


3.5.2.1 DeadlineQosPolicy deadline

The requested update frequency for data instances.

3.5.2.2 DestinationOrderQosPolicy destination_order

The destination order logic requested by the DataReader.



3.5.2.3 DurabilityQosPolicy durability

The durability policy requested by the DataReader.

3.5.2.4 HistoryQosPolicy history

The data history requested by the DataReader.

3.5.2.5 LatencyBudgetQosPolicy latency_budget

The latency requested by the DataReader.

3.5.2.6 LivelinessQosPolicy liveliness

The liveliness mechanism requested by the DataReader.

3.5.2.7 OwnershipQosPolicy ownership

The type of ’ownership’ offered by the DataReader.

3.5.2.8 ReaderDataLifecycleQosPolicy reader_data_lifecycle

Controls the auto-purge behavior of the DataReader.

3.5.2.9 ReliabilityQosPolicy reliability

The transport reliability requested by the DataReader.

3.5.2.10 ResourceLimitsQosPolicy resource_limits

The resource limits set on the DataReader.

3.5.2.11 TimeBasedFilterQosPolicy time_based_filter

The maximum update frequency required/desired by the DataReader.

3.5.2.12 UserDataQosPolicy user_data

A sequence of octets associated with the DataReader.


3.6 DataWriter Class Reference 35

3.6 DataWriter Class Reference


Inheritance diagram for DataWriter:

DataWriter

DomainEntity

Entity


• override ReturnCode_t enable ()• override InstanceHandle_t get_instance_handle ()• ReturnCode_t set_qos (DataWriterQos qos)• ReturnCode_t get_qos (DataWriterQos qos)• ReturnCode_t set_listener (DataWriterListener new_listener, uint mask)• DataWriterListener get_listener ()• Topic get_topic ()• Publisher get_publisher ()• ReturnCode_t wait_for_acknowledgments (Duration_t max_wait)

Block until this writer has received acknowledgements for all written data.

• ReturnCode_t assert_liveliness ()• ReturnCode_t get_liveliness_lost_status (out LivelinessLostStatus status)• ReturnCode_t get_offered_deadline_missed_status (out OfferedDeadlineMissedStatus status)• ReturnCode_t get_offered_incompatible_qos_status (out OfferedIncompatibleQosStatus status)• ReturnCode_t get_publication_matched_status (out PublicationMatchedStatus status)• ReturnCode_t get_matched_subscriptions (List< InstanceHandle_t > subscription_handles)• ReturnCode_t get_matched_subscription_data (SubscriptionBuiltinTopicData subscription_data,

InstanceHandle_t subscription_handle)






3.6.2.1 ReturnCode_t assert_liveliness () [inline]

This operation manually asserts the liveliness of the DataWriter dw. This operation is useful if the LIVE-LINESS QoS setting is LivelinessQosPolicyKind.MANUAL_BY_PARTICIPANT_LIVELINESS_QOS orLivelinessQosPolicyKind.MANUAL_BY_TOPIC_LIVELINESS_QOS; otherwise, it has no effect.

The write operation automatically asserts livelines on the DataWriter and its DomainParticipant. There-fore, assert_liveliness is required only if hte application is not writing data frequently enough to satisfy theLIVELINESS setting.

3.6.2.2 override ReturnCode_t enable () [inline, virtual]

Enables the DataWriter. A DataWriter is created either enabled or not based on the PublisherQos settingentity_factory. When a DataWriter is not enabled, only the following sub-set of all DataWriter operationsare legal:




Any other operation may return the DDS.RETCODE_NOT_ENABLED error. DataWriter_enable() may becalled on an already enabled DataWriter [it will have no effect].





3.6.2.4 DataWriterListener get_listener () [inline]

This operation returns the currently installed DataWriterListener.

3.6.2.5 ReturnCode_t get_liveliness_lost_status (out LivelinessLostStatus status) [inline]

Provides access to the current LivelinessLostStatus of the DataWriter. As a side-effect, this routine will resetthe total_count_change status field to zero.


3.6 DataWriter Class Reference 37

3.6.2.6 ReturnCode_t get_matched_subscription_data (SubscriptionBuiltinTopicDatasubscription_data, InstanceHandle_t subscription_handle) [inline]

This operation returns data that describes a particular matched DataReader identified by subscription_-handle. An appropriate handle can be obtained through a call to DataWriter.get_matched_subscriptions().

If subscription_handle does not identify a matched DataReader, this routine will return DDS.RETCODE_-PRECONDITION_NOT_MET.

3.6.2.7 ReturnCode_t get_matched_subscriptions (List< InstanceHandle_t > subscription_handles)[inline]

This operation retrieves the list of DataReaders currently matched with the DataWriter dw. This list will in-clude the handles that identify DataReaders which have matching Topic and compatible QoS with DataWriter.

If a DataReader has been ignored by a call to DomainParticipant.ignore_subscription(), then it will not appearin the list.

Parameters

subscription_handles A vector that will be populated with InstanceHandle_t(s).

3.6.2.8 ReturnCode_t get_offered_deadline_missed_status (out OfferedDeadlineMissedStatus status)[inline]

Provides access to the current OfferedDeadlineMissedStatus of the DataWriter. As a side-effect, this routinewill reset the total_count_change status field to zero.

3.6.2.9 ReturnCode_t get_offered_incompatible_qos_status (out OfferedIncompatibleQosStatusstatus) [inline]

Provides access to the current OfferedIncompatibleQosStatus of the DataWriter. As a side-effect, this routinewill reset the total_count_change status field to zero.

3.6.2.10 ReturnCode_t get_publication_matched_status (out PublicationMatchedStatus status)[inline]

Provides access to the current PublicationMatchedStatus of the DataWriter. As a side-effect, this routine willreset the total_count_change and current_count_change status fields to zero.

3.6.2.11 Publisher get_publisher () [inline]

Returns the Publisher that contains DataWriter dw.



3.6.2.12 ReturnCode_t get_qos (DataWriterQos qos) [inline]

Returns the current DataWriterQos settings held in the DataWriter dw. This routines copies data from theDataWriter QoS properties into qos.

3.6.2.13 Topic get_topic () [inline]

Returns the Topic associated with DataWriter dw.

3.6.2.14 ReturnCode_t set_listener (DataWriterListener new_listener, uint mask) [inline]

Installs a DataWriterListener on DataWriter dw. Only one listener may be attached to a DataWriter at a time.A call to set_listener() will replace any current listener with a_listener.


3.6.2.15 ReturnCode_t set_qos (DataWriterQos qos) [inline]

Sets the DataWriterQos values. These QoS values affect the behavior of the DataWriter. This routine may failif the provided qos argument is not internally consistent. In this case, DDS.RETCODE_INCONSISTENT_-POLICY will be returned, and no changes will be made to the DataWriter QoS.

3.6.2.16 ReturnCode_t wait_for_acknowledgments (Duration_t max_wait) [inline]

Block until this writer has received acknowledgements for all written data.

This routine will block until all data written by the writer has been acknowledged, or until the ’max_wait’duration has passed. ’max_wait’ can be set to INFINITE, in which case this routine may block indefinitely.

Return values

DDS.RETCODE_TIMEOUT returned if ’max_wait’ passes before all acks are received

DDS.RETCODE_OK returned if all acks have been received before ’max_wait’


3.7 DataWriterListener Class Reference 39

3.7 DataWriterListener Class Reference

The DataWriterListener provides asynchronous notification of DataWriter events.

Public Attributes

• offered_deadline_missed_delegate on_offered_deadline_missed• offered_incompatible_qos_delegate on_offered_incompatible_qos• liveliness_lost_delegate on_liveliness_lost• publication_matched_delegate on_publication_matched


The DataWriterListener provides asynchronous notification of DataWriter events. This listener can beinstalled during DataWriter creation, Publisher.create_datawriter(), as well as by calling DataWriter.set_-listener().

Note



3.7.2.1 liveliness_lost_delegate on_liveliness_lost

3.7.2.2 offered_deadline_missed_delegate on_offered_deadline_missed

3.7.2.3 offered_incompatible_qos_delegate on_offered_incompatible_qos

3.7.2.4 publication_matched_delegate on_publication_matched



3.8 DataWriterQos Class Reference


Public Attributes

• DurabilityQosPolicy durability• DurabilityServiceQosPolicy durability_service• DeadlineQosPolicy deadline• LatencyBudgetQosPolicy latency_budget• LivelinessQosPolicy liveliness• ReliabilityQosPolicy reliability• DestinationOrderQosPolicy destination_order• HistoryQosPolicy history• ResourceLimitsQosPolicy resource_limits• TransportPriorityQosPolicy transport_priority• LifespanQosPolicy lifespan• UserDataQosPolicy user_data• OwnershipQosPolicy ownership• OwnershipStrengthQosPolicy ownership_strength• WriterDataLifecycleQosPolicy writer_data_lifecycle



See also

DataWriter::set_qos()DataWriter::get_qos()Publisher::create_datawriter()Publisher::set_default_datawriter_qos()Publisher::get_default_datawriter_qos()



The deadline committed to by the DataWriter.


The destination order logic offered by the DataWriter.


3.8 DataWriterQos Class Reference 41


The durability policy offered by the DataWriter.

3.8.2.4 DurabilityServiceQosPolicy durability_service

The durability service configuration offered by the DataWriter.


The data history maintained by the DataWriter.


The latency allowed by the DataWriter.

3.8.2.7 LifespanQosPolicy lifespan

The expiration time for old samples managed by the DataWriter.


The liveliness mechanism offered by the DataWriter.


The type of ’ownership’ offered by the DataWriter.

3.8.2.10 OwnershipStrengthQosPolicy ownership_strength

The measure of ’ownership strength’ offered by the DataWriter.


The transport reliability offered by the DataWriter.


The resource limits set on the DataWriter.



3.8.2.13 TransportPriorityQosPolicy transport_priority

The transport priority supported by the DataWriter.


A sequence of octets associated with the DataWriter.

3.8.2.15 WriterDataLifecycleQosPolicy writer_data_lifecycle

Indicates if unregistered instances should be automatically disposed by the DataWriter.


3.9 DDS Class Reference 43

3.9 DDS Class Reference

The ’DDS’ class includes several convient constants.

Public Attributes

• const int LENGTH_UNLIMITED = -1• const int DURATION_INFINITE_SEC = 0x7fffffff• const uint DURATION_INFINITE_NSEC = 0xffffffff• const int DURATION_ZERO_SEC = 0• const int DURATION_ZERO_NSEC = 0• const int TIMESTAMP_INVALID_SEC = -1• const uint TIMESTAMP_INVALID_NSEC = 0xffffffff• const uint READ_SAMPLE_STATE = 0x0001• const uint NOT_READ_SAMPLE_STATE = 0x0002• const uint ANY_SAMPLE_STATE = 0x00FF• const uint NEW_VIEW_STATE = 0x0001• const uint NOT_NEW_VIEW_STATE = 0x0002• const uint ANY_VIEW_STATE = 0x00FF• const uint ALIVE_INSTANCE_STATE = 0x0001• const uint NOT_ALIVE_DISPOSED_INSTANCE_STATE = 0x0002• const uint NOT_ALIVE_NO_WRITERS_INSTANCE_STATE = 0x0004• const uint NOT_ALIVE_INSTANCE_STATE = 0x0006• const uint ANY_INSTANCE_STATE = 0x00FF• const uint INCONSISTENT_TOPIC_STATUS = 0x0001• const uint OFFERED_DEADLINE_MISSED_STATUS = 0x0002• const uint REQUESTED_DEADLINE_MISSED_STATUS = 0x0004• const uint OFFERED_INCOMPATIBLE_QOS_STATUS = 0x0020• const uint REQUESTED_INCOMPATIBLE_QOS_STATUS = 0x0040• const uint SAMPLE_LOST_STATUS = 0x0080• const uint SAMPLE_REJECTED_STATUS = 0x0100• const uint DATA_ON_READERS_STATUS = 0x0200• const uint DATA_AVAILABLE_STATUS = 0x0400• const uint LIVELINESS_LOST_STATUS = 0x0800• const uint LIVELINESS_CHANGED_STATUS = 0x1000• const uint PUBLICATION_MATCHED_STATUS = 0x2000• const uint SUBSCRIPTION_MATCHED_STATUS = 0x4000• const uint ALL_STATUS = 0xffff• const QosPolicyId_t USERDATA_QOS_POLICY_ID = QosPolicyId_t.USERDATA_QOS_-

POLICY_ID• const QosPolicyId_t DURABILITY_QOS_POLICY_ID = QosPolicyId_t.DURABILITY_QOS_-

POLICY_ID



• const QosPolicyId_t PRESENTATION_QOS_POLICY_ID = QosPolicyId_t.PRESENTATION_-QOS_POLICY_ID

• const QosPolicyId_t DEADLINE_QOS_POLICY_ID = QosPolicyId_t.DEADLINE_QOS_-POLICY_ID

• const QosPolicyId_t LATENCYBUDGET_QOS_POLICY_ID = QosPolicyId_-t.LATENCYBUDGET_QOS_POLICY_ID

• const QosPolicyId_t OWNERSHIP_QOS_POLICY_ID = QosPolicyId_t.OWNERSHIP_QOS_-POLICY_ID

• const QosPolicyId_t OWNERSHIPSTRENGTH_QOS_POLICY_ID = QosPolicyId_-t.OWNERSHIPSTRENGTH_QOS_POLICY_ID

• const QosPolicyId_t LIVELINESS_QOS_POLICY_ID = QosPolicyId_t.LIVELINESS_QOS_-POLICY_ID

• const QosPolicyId_t TIMEBASEDFILTER_QOS_POLICY_ID = QosPolicyId_-t.TIMEBASEDFILTER_QOS_POLICY_ID

• const QosPolicyId_t PARTITION_QOS_POLICY_ID = QosPolicyId_t.PARTITION_QOS_-POLICY_ID

• const QosPolicyId_t RELIABILITY_QOS_POLICY_ID = QosPolicyId_t.RELIABILITY_QOS_-POLICY_ID

• const QosPolicyId_t DESTINATIONORDER_QOS_POLICY_ID = QosPolicyId_-t.DESTINATIONORDER_QOS_POLICY_ID

• const QosPolicyId_t HISTORY_QOS_POLICY_ID = QosPolicyId_t.HISTORY_QOS_POLICY_ID• const QosPolicyId_t RESOURCELIMITS_QOS_POLICY_ID = QosPolicyId_-

t.RESOURCELIMITS_QOS_POLICY_ID• const QosPolicyId_t ENTITYFACTORY_QOS_POLICY_ID = QosPolicyId_t.ENTITYFACTORY_-

QOS_POLICY_ID• const QosPolicyId_t WRITERDATALIFECYCLE_QOS_POLICY_ID = QosPolicyId_-

t.WRITERDATALIFECYCLE_QOS_POLICY_ID• const QosPolicyId_t READERDATALIFECYCLE_QOS_POLICY_ID = QosPolicyId_-

t.READERDATALIFECYCLE_QOS_POLICY_ID• const QosPolicyId_t TOPICDATA_QOS_POLICY_ID = QosPolicyId_t.TOPICDATA_QOS_-

POLICY_ID• const QosPolicyId_t GROUPDATA_QOS_POLICY_ID = QosPolicyId_t.GROUPDATA_QOS_-

POLICY_ID• const QosPolicyId_t TRANSPORTPRIORITY_QOS_POLICY_ID = QosPolicyId_-

t.TRANSPORTPRIORITY_QOS_POLICY_ID• const QosPolicyId_t LIFESPAN_QOS_POLICY_ID = QosPolicyId_t.LIFESPAN_QOS_POLICY_ID• const QosPolicyId_t DURABILITYSERVICE_QOS_POLICY_ID = QosPolicyId_-

t.DURABILITYSERVICE_QOS_POLICY_ID• const QosPolicyId_t DATA_REPRESENTATION_QOS_POLICY_ID = QosPolicyId_t.DATA_-

REPRESENTATION_QOS_POLICY_ID• const ReturnCode_t RETCODE_OK = ReturnCode_t.RETCODE_OK• const ReturnCode_t RETCODE_ERROR = ReturnCode_t.RETCODE_ERROR• const ReturnCode_t RETCODE_UNSUPPORTED = ReturnCode_t.RETCODE_UNSUPPORTED



• const ReturnCode_t RETCODE_BAD_PARAMETER = ReturnCode_t.RETCODE_BAD_-PARAMETER

• const ReturnCode_t RETCODE_PRECONDITION_NOT_MET = ReturnCode_t.RETCODE_-PRECONDITION_NOT_MET

• const ReturnCode_t RETCODE_OUT_OF_RESOURCES = ReturnCode_t.RETCODE_OUT_OF_-RESOURCES

• const ReturnCode_t RETCODE_NOT_ENABLED = ReturnCode_t.RETCODE_NOT_ENABLED

• const ReturnCode_t RETCODE_IMMUTABLE_POLICY = ReturnCode_t.RETCODE_-IMMUTABLE_POLICY

• const ReturnCode_t RETCODE_INCONSISTENT_POLICY = ReturnCode_t.RETCODE_-INCONSISTENT_POLICY

• const ReturnCode_t RETCODE_ALREADY_DELETED = ReturnCode_t.RETCODE_ALREADY_-DELETED

• const ReturnCode_t RETCODE_TIMEOUT = ReturnCode_t.RETCODE_TIMEOUT

• const ReturnCode_t RETCODE_NO_DATA = ReturnCode_t.RETCODE_NO_DATA

• const DomainParticipantQos PARTICIPANT_QOS_DEFAULT = null

• const TopicQos TOPIC_QOS_DEFAULT = null

• const PublisherQos PUBLISHER_QOS_DEFAULT = null

• const SubscriberQos SUBSCRIBER_QOS_DEFAULT = null

• const DataWriterQos DATAWRITER_QOS_DEFAULT = null

• const DataReaderQos DATAREADER_QOS_DEFAULT = null

Static Public Attributes

• static readonly InstanceHandle_t HANDLE_NIL = new InstanceHandle_t((IntPtr)0)


The ’DDS’ class includes several convient constants.




3.9.2.1 const uint ALIVE_INSTANCE_STATE = 0x0001

3.9.2.2 const uint ALL_STATUS = 0xffff

3.9.2.3 const uint ANY_INSTANCE_STATE = 0x00FF

3.9.2.4 const uint ANY_SAMPLE_STATE = 0x00FF

3.9.2.5 const uint ANY_VIEW_STATE = 0x00FF

3.9.2.6 const uint DATA_AVAILABLE_STATUS = 0x0400

3.9.2.7 const uint DATA_ON_READERS_STATUS = 0x0200

3.9.2.8 const QosPolicyId_t DATA_REPRESENTATION_QOS_POLICY_ID =QosPolicyId_t.DATA_REPRESENTATION_QOS_POLICY_ID

3.9.2.9 const DataReaderQos DATAREADER_QOS_DEFAULT = null

3.9.2.10 const DataWriterQos DATAWRITER_QOS_DEFAULT = null

3.9.2.11 const QosPolicyId_t DEADLINE_QOS_POLICY_ID = QosPolicyId_t.DEADLINE_QOS_-POLICY_ID

3.9.2.12 const QosPolicyId_t DESTINATIONORDER_QOS_POLICY_ID =QosPolicyId_t.DESTINATIONORDER_QOS_POLICY_ID

3.9.2.13 const QosPolicyId_t DURABILITY_QOS_POLICY_ID = QosPolicyId_t.DURABILITY_-QOS_POLICY_ID

3.9.2.14 const QosPolicyId_t DURABILITYSERVICE_QOS_POLICY_ID =QosPolicyId_t.DURABILITYSERVICE_QOS_POLICY_ID

3.9.2.15 const uint DURATION_INFINITE_NSEC = 0xffffffff

3.9.2.16 const int DURATION_INFINITE_SEC = 0x7fffffff

3.9.2.17 const int DURATION_ZERO_NSEC = 0

3.9.2.18 const int DURATION_ZERO_SEC = 0

3.9.2.19 const QosPolicyId_t ENTITYFACTORY_QOS_POLICY_ID =QosPolicyId_t.ENTITYFACTORY_QOS_POLICY_ID

3.9.2.20 const QosPolicyId_t GROUPDATA_QOS_POLICY_ID = QosPolicyId_t.GROUPDATA_-QOS_POLICY_ID

3.9.2.21 readonly InstanceHandle_t HANDLE_NIL = new InstanceHandle_t((IntPtr)0) [static]

3.9.2.22 const QosPolicyId_t HISTORY_QOS_POLICY_ID = QosPolicyId_t.HISTORY_QOS_-POLICY_ID

3.9.2.23 const uint INCONSISTENT_TOPIC_STATUS = 0x0001

3.9.2.24 const QosPolicyId_t LATENCYBUDGET_QOS_POLICY_ID =QosPolicyId_t.LATENCYBUDGET_QOS_POLICY_ID

3.9.2.25 const int LENGTH_UNLIMITED = -1

3.9.2.26 const QosPolicyId_t LIFESPAN_QOS_POLICY_ID = QosPolicyId_t.LIFESPAN_QOS_-POLICY_ID

3.9.2.27 const uint LIVELINESS_CHANGED_STATUS = 0x1000

3.9.2.28 const uint LIVELINESS_LOST_STATUS = 0x0800

3.9.2.29 const QosPolicyId_t LIVELINESS_QOS_POLICY_ID = QosPolicyId_t.LIVELINESS_-QOS_POLICY_ID

3.9.2.30 const uint NEW_VIEW_STATE = 0x0001

3.9.2.31 const uint NOT_ALIVE_DISPOSED_INSTANCE_STATE = 0x0002

3.9.2.32 const uint NOT_ALIVE_INSTANCE_STATE = 0x0006

3.9.2.33 const uint NOT_ALIVE_NO_WRITERS_INSTANCE_STATE = 0x0004

3.9.2.34 const uint NOT_NEW_VIEW_STATE = 0x0002

3.9.2.35 const uint NOT_READ_SAMPLE_STATE = 0x0002

3.9.2.36 const uint OFFERED_DEADLINE_MISSED_STATUS = 0x0002

3.9.2.37 const uint OFFERED_INCOMPATIBLE_QOS_STATUS = 0x0020

3.9.2.38 const QosPolicyId_t OWNERSHIP_QOS_POLICY_ID = QosPolicyId_t.OWNERSHIP_-QOS_POLICY_ID

3.9.2.39 const QosPolicyId_t OWNERSHIPSTRENGTH_QOS_POLICY_ID =QosPolicyId_t.OWNERSHIPSTRENGTH_QOS_POLICY_ID

3.9.2.40 const DomainParticipantQos PARTICIPANT_QOS_DEFAULT = null

3.9.2.41 const QosPolicyId_t PARTITION_QOS_POLICY_ID = QosPolicyId_t.PARTITION_-QOS_POLICY_ID

3.9.2.42 const QosPolicyId_t PRESENTATION_QOS_POLICY_ID =QosPolicyId_t.PRESENTATION_QOS_POLICY_ID

3.9.2.43 const uint PUBLICATION_MATCHED_STATUS = 0x2000

3.9.2.44 const PublisherQos PUBLISHER_QOS_DEFAULT = null

3.9.2.45 const uint READ_SAMPLE_STATE = 0x0001

3.9.2.46 const QosPolicyId_t READERDATALIFECYCLE_QOS_POLICY_ID =QosPolicyId_t.READERDATALIFECYCLE_QOS_POLICY_ID

3.9.2.47 const QosPolicyId_t RELIABILITY_QOS_POLICY_ID = QosPolicyId_t.RELIABILITY_-QOS_POLICY_ID

3.9.2.48 const uint REQUESTED_DEADLINE_MISSED_STATUS = 0x0004

3.9.2.49 const uint REQUESTED_INCOMPATIBLE_QOS_STATUS = 0x0040

3.9.2.50 const QosPolicyId_t RESOURCELIMITS_QOS_POLICY_ID =QosPolicyId_t.RESOURCELIMITS_QOS_POLICY_ID

3.9.2.51 const ReturnCode_t RETCODE_ALREADY_DELETED = ReturnCode_t.RETCODE_-ALREADY_DELETED

3.9.2.52 const ReturnCode_t RETCODE_BAD_PARAMETER = ReturnCode_t.RETCODE_BAD_-PARAMETER

3.9.2.53 const ReturnCode_t RETCODE_ERROR = ReturnCode_t.RETCODE_ERROR

3.9.2.54 const ReturnCode_t RETCODE_IMMUTABLE_POLICY =ReturnCode_t.RETCODE_IMMUTABLE_POLICY

3.9.2.55 const ReturnCode_t RETCODE_INCONSISTENT_POLICY =ReturnCode_t.RETCODE_INCONSISTENT_POLICY

3.9.2.56 const ReturnCode_t RETCODE_NO_DATA = ReturnCode_t.RETCODE_NO_DATA

3.9.2.57 const ReturnCode_t RETCODE_NOT_ENABLED = ReturnCode_t.RETCODE_NOT_-ENABLED

3.9.2.58 const ReturnCode_t RETCODE_OK = ReturnCode_t.RETCODE_OK

3.9.2.59 const ReturnCode_t RETCODE_OUT_OF_RESOURCES =ReturnCode_t.RETCODE_OUT_OF_RESOURCES

3.9.2.60 const ReturnCode_t RETCODE_PRECONDITION_NOT_MET =ReturnCode_t.RETCODE_PRECONDITION_NOT_MET

3.9.2.61 const ReturnCode_t RETCODE_TIMEOUT = ReturnCode_t.RETCODE_TIMEOUT

3.9.2.62 const ReturnCode_t RETCODE_UNSUPPORTED = ReturnCode_t.RETCODE_-UNSUPPORTED

3.9.2.63 const uint SAMPLE_LOST_STATUS = 0x0080

3.9.2.64 const uint SAMPLE_REJECTED_STATUS = 0x0100

3.9.2.65 const SubscriberQos SUBSCRIBER_QOS_DEFAULT = null

3.9.2.66 const uint SUBSCRIPTION_MATCHED_STATUS = 0x4000

3.9.2.67 const QosPolicyId_t TIMEBASEDFILTER_QOS_POLICY_ID =QosPolicyId_t.TIMEBASEDFILTER_QOS_POLICY_ID

3.9.2.68 const uint TIMESTAMP_INVALID_NSEC = 0xffffffff

3.9.2.69 const int TIMESTAMP_INVALID_SEC = -1

3.9.2.70 const TopicQos TOPIC_QOS_DEFAULT = null

3.9.2.71 const QosPolicyId_t TOPICDATA_QOS_POLICY_ID = QosPolicyId_t.TOPICDATA_-QOS_POLICY_ID

3.9.2.72 const QosPolicyId_t TRANSPORTPRIORITY_QOS_POLICY_ID =QosPolicyId_t.TRANSPORTPRIORITY_QOS_POLICY_ID

3.9.2.73 const QosPolicyId_t USERDATA_QOS_POLICY_ID = QosPolicyId_t.USERDATA_QOS_-POLICY_ID

3.9.2.74 const QosPolicyId_t WRITERDATALIFECYCLE_QOS_POLICY_ID =QosPolicyId_t.WRITERDATALIFECYCLE_QOS_POLICY_ID



3.10 DeadlineQosPolicy Struct Reference

This QoS policy establishes a minimum update period for data instances.

Public Attributes

• Duration_t period


This QoS policy establishes a minimum update period for data instances. DataWriters specify that eachdata instance will be updated at least once every ’period’. A DataReader requests that the Writer commit toupdating each instance at least once every ’period’.

The policy is compatible (between a Writer and a Reader) if the offered deadline period <= requested deadlineperiod.

If a DataWriter fails to meet the update period, then the DataWriter is notified by a call to the offered_-deadline_missed listener, and the DataReader is notified by a call to the requested_deadlin_missed listener.

See also

DataReaderListener::on_requested_deadline_missedDataWriterListener::on_offered_deadline_missed


3.10.2.1 Duration_t period


3.11 DestinationOrderQosPolicy Struct Reference 49

3.11 DestinationOrderQosPolicy Struct Reference

This QoS policy controls how each Subscriber orders received data samples.

Public Attributes

• DestinationOrderQosPolicyKind kind


This QoS policy controls how each Subscriber orders received data samples. Can be BY_RECEPTION_-TIMESTAMP or BY_SOURCE_TIMESTAMP. The samples are ordered either based on their order ofreception, or by the order of timestamps generated by the source (DataWriter).

CoreDX DDS currently implements only BY_RECEPTION_TIMESTAMP.


3.11.2.1 DestinationOrderQosPolicyKind kind



3.12 DomainEntity Class Reference


Inheritance diagram for DomainEntity:

DomainEntity

Entity

DataReader DataWriter Publisher Subscriber Topic




3.13 DomainParticipant Class Reference 51

3.13 DomainParticipant Class Reference

The DomainParticipant is used to configure, create and destroy Publisher, Subscriber and Topic objects.

Inheritance diagram for DomainParticipant:

DomainParticipant

Entity


• override ReturnCode_t enable ()

Enables the DomainParticipant.

• override InstanceHandle_t get_instance_handle ()• ReturnCode_t get_qos (DomainParticipantQos qos)• ReturnCode_t set_qos (DomainParticipantQos qos)• ReturnCode_t set_listener (DomainParticipantListener new_listener, uint mask)• DomainParticipantListener get_listener ()• Publisher create_publisher (PublisherQos qos, PublisherListener listener, uint mask)• ReturnCode_t delete_publisher (Publisher p)• Subscriber create_subscriber (SubscriberQos qos, SubscriberListener listener, uint mask)• ReturnCode_t delete_subscriber (Subscriber s)• Topic create_topic (string topic_name, string type_name, TopicQos qos, TopicListener listener, uint

mask)• ReturnCode_t delete_topic (Topic topic)• ContentFilteredTopic create_contentfilteredtopic (String name, Topic related_topic, String filter_-

expression, List< String > filter_parameters)• ReturnCode_t delete_contentfilteredtopic (ContentFilteredTopic cft)• MultiTopic create_multitopic (String name, String type_name, String subscription_expression, List<

String > expression_params)• ReturnCode_t delete_multitopic (MultiTopic a_multitopic)• Topic find_topic (String topic_name, Duration_t timeout)• TopicDescription lookup_topicdescription (String name)• Subscriber get_builtin_subscriber ()• ReturnCode_t ignore_participant (InstanceHandle_t handle)• ReturnCode_t ignore_topic (InstanceHandle_t handle)• ReturnCode_t ignore_publication (InstanceHandle_t handle)• ReturnCode_t ignore_subscription (InstanceHandle_t handle)



• long get_domain_id ()• ReturnCode_t delete_contained_entities ()• ReturnCode_t assert_liveliness ()• ReturnCode_t set_default_publisher_qos (PublisherQos qos)• ReturnCode_t get_default_publisher_qos (PublisherQos qos)• ReturnCode_t set_default_subscriber_qos (SubscriberQos qos)• ReturnCode_t get_default_subscriber_qos (SubscriberQos qos)• ReturnCode_t set_default_topic_qos (TopicQos qos)• ReturnCode_t get_default_topic_qos (TopicQos qos)• ReturnCode_t get_discovered_participants (List< InstanceHandle_t > participant_handles)• ReturnCode_t get_discovered_participant_data (ParticipantBuiltinTopicData participant_data,

InstanceHandle_t participant_handle)• ReturnCode_t get_discovered_topics (List< InstanceHandle_t > topic_handles)• ReturnCode_t get_discovered_topic_data (TopicBuiltinTopicData topic_data, InstanceHandle_-

t topic_handle)• bool contains_entity (InstanceHandle_t handle)• ReturnCode_t get_current_time (ref Time_t current_time)• ReturnCode_t register_type (TypeSupport ts, string type_name)

Registers a TypeSupport with the Participant.

• ReturnCode_t add_transport (Transport t)

Install the provided Transport.

• ReturnCode_t do_work (Duration_t time_slice)

Transfer control to the DomainParticipant so it can do background processing.


The DomainParticipant is used to configure, create and destroy Publisher, Subscriber and Topic objects.The DomainParticipant is a container for the objects that it creates. The objects operate within the domainidentified by the domain_id provided when the DomainParticipant was created. Objects within differentdomains do not communicate or interfere with each other.


3.13.2.1 ReturnCode_t add_transport (Transport t) [inline]

Install the provided Transport.

Must be called before enabling the DomainParticipant. The DomainParticipant will default to using standardUDP RTPS transport, if no other transports are added.



See also

LmtTransportConfigLmtTransportTcpTransportConfigTcpTransportUdpTransportConfigUdpTransport

3.13.2.2 ReturnCode_t assert_liveliness () [inline]

This operation manually asserts the liveliness of the DomainParticipant dp. This operation indicates that theDomainParticipant is still alive. It is effective only if the DomainParticipant contains on ore more DataWriterobjects with LIVELINES QoS set to MANUAL_BY_PARTICIPANT_LIVELINESS_QOS. In this case, theoperation will assert the liveliness of those particular DataWriter objects.

Writing data via the DataWriter write operation automatically asserts the liveliness of the DataWriter and itscontaining DomainParticipant. Therefore, the use of DomainParticipant.assert_liveliness() is needed only ifthe application is not writing data frequently enough to keep the DataWriter considered ’alive’.

3.13.2.3 bool contains_entity (InstanceHandle_t handle) [inline]

This operation checks whether or not the given handle a_handle represents an object that was created by theDomainParticipant d. This applies recursively to all objects created by the DomainParticipant.

The routine will return true (non-zero) if the handle is found, zero otherwise.

3.13.2.4 ContentFilteredTopic create_contentfilteredtopic (String name, Topic related_topic, Stringfilter_expression, List< String > filter_parameters) [inline]

This operation creates a ContentFilteredTopic.

The ContentFilteredTopic is associated with another un-filtered topic related_topic.

The filter_expression is an SQL like condition expression, and filter_parameters provide optional parame-ters that are referenced by the filter_expression. The syntax of the filter expression is similar to the WHEREclause in SQL. For example "x<4" is a valid filter expression. It would test that data member ’x’ is less thanvalue ’4’. If the filter expression evaluates to TRUE, then the data sample will be available, otherwise thedata sample would be ’filtered’ (excluded).

The filter_expression can refer to parameters. The syntax for paramters is the percent sign ” followed by anumber. The number is the index of the paramter in the filter_paramters sequence. Parameters are countedstarting at zero. So, "%0" refers to the first parameter, and "%4" refers to the fifth paramter. Using this syntax,the expression "x<%0" would test the value of ’x’ against the first parameter in the sequence.



3.13.2.5 MultiTopic create_multitopic (String name, String type_name, Stringsubscription_expression, List< String > expression_params) [inline]

Not Yet Supported

This is currently unsupported in the C# language binding.

3.13.2.6 Publisher create_publisher (PublisherQos qos, PublisherListener listener, uint mask)[inline]

This operation creates a Publisher with the specified PublisherQoS settings and PublisherListener. The valueDDS.PUBLISHER_QOS_DEFAULT may be provided for the qos argument. This will indicate that the thedefault publisher QoS settings held in the DomainParticipant should be used.

This operation may fail and return NULL if the QoS settings are internally inconsistent.

3.13.2.7 Subscriber create_subscriber (SubscriberQos qos, SubscriberListener listener, uint mask)[inline]

This operation creates a Subscriber with the specified SubscriberQos and SubscriberListener. The valueDDS.SUBSCRIBER_QOS_DEFAULT may be provided for the qos argument. This will indicate that thethe default subscriber QoS settings held in the DomainParticipant should be used.


3.13.2.8 Topic create_topic (string topic_name, string type_name, TopicQos qos, TopicListenerlistener, uint mask) [inline]

This operation creates a Topic with the specified TopicQos settings and TopicListener.

The value DDS.TOPIC_QOS_DEFAULT may be provided for the qos argument. This will indicate that thethe default topic QoS settings held in the DomainParticipant should be used.

The topic is created with a reference to the data type indicated by the type_name argument. The datatype must have been registered with the DomainParticipant (by a call to register_type() on the appropriateTypeSupport object) prior to calling create_topic().


The topic returned from this operation (if not NULL) must be deleted by calling DomainParticipant.delete_-topic().


This operation deletes all the objects created by means of the create operations on DomainParticipant dp.This routine will recursively call the corresponding delete_contained_entities() operation on each of the



contained objects (Publishers, Subscribers, Topics, ContentFilteredTopics, and MultiTopics). If success-ful, this operation will recursively delete all objects contained with this DomainParticipant. After successfulexecution, the application may delete the DomainParticipant by calling DomainParticipantFactory.delete_-participant().

If any of the objects cannot be deleted, this routine will return ReturnCode_t.RETCODE_-PRECONDITION_NOT_MET.

3.13.2.10 ReturnCode_t delete_contentfilteredtopic (ContentFilteredTopic cft) [inline]

This operation deletes a previously allocated ContentFilteredTopic. This operation will fail if there are anyDataReader, DataWriter, ContentFilteredTopic, or MultiTopic objects that reference the specified Topic. Inthis case, the operation will return ReturnCode_t.RETCODE_PRECONDITION_NOT_MET.

The Topic must be owned by DomainPartipant dp; otherwise ReturnCode_t.RETCODE_-PRECONDITION_NOT_MET will be returned.

3.13.2.11 ReturnCode_t delete_multitopic (MultiTopic a_multitopic) [inline]

Not Yet Supported


3.13.2.12 ReturnCode_t delete_publisher (Publisher p) [inline]

This operation deletes an existing Publisher. A Publisher cannot be deleted if it contains any DataWriter ob-jects. In this case, delete_publisher will return ReturnCode_t.RETCODE_PRECONDITION_NOT_MET.

If the DomainParticipant dp does not contain the provided Publisher p, the operation will returnReturnCode_t.RETCODE_PRECONDITION_NOT_MET.

3.13.2.13 ReturnCode_t delete_subscriber (Subscriber s) [inline]

This operation deletes an existing Subscriber. A Subscriber cannot be deleted if it contains any DataReaderobjects. In this case, delete_subscriber will return ReturnCode_t.RETCODE_PRECONDITION_NOT_-MET.

If the DomainParticipant dp does not contain the provided Subscriber s, the operation will returnReturnCode_t.RETCODE_PRECONDITION_NOT_MET.

3.13.2.14 ReturnCode_t delete_topic (Topic topic) [inline]

This operation deletes a Topic. This operation will fail if there are any DataReader, DataWriter, ContentFil-teredTopic, or MultiTopic objects that reference the specified Topic. In this case, the operation will return



ReturnCode_t.RETCODE_PRECONDITION_NOT_MET.

The Topic must be owned by DomainPartipant dp; otherwise ReturnCode_t.RETCODE_-PRECONDITION_NOT_MET will be returned.

3.13.2.15 ReturnCode_t do_work (Duration_t time_slice) [inline]

Transfer control to the DomainParticipant so it can do background processing.

This function is to be called only if the DomainParticipant is configured to use NO threads via the thread_-model QoS policy. The participant will continue to execute background processing until at least ’time_slice’time passes. This routine will attempt to use no more than ’time_slice’ time, but this is not a guarantee.

Note

If the DomainParticipant has threads enabled (default case), then the Participant takes care of schedulingbackground work on its own, and this routine is not necessary and should not be called.


Enables the DomainParticipant.

A DomainParticipant is created either enabled or not based on the DomainParticipantFactoryQoS settingentity_factory. When a DomainPartcipant is not enabled, only the following sub-set of all DomainParticipantoperations are legal:


• factory operations (create, delete),



• lookup operations

Any other DomainParticipant operation will return the ReturnCode_t.RETCODE_NOT_ENABLED error.DomainParticipant.enable() may be called on an already enabled DomainParticipant [it will have no effect].


3.13.2.17 Topic find_topic (String topic_name, Duration_t timeout) [inline]

This operation returns a Topic identified by the provided topic_name. If a topic with name topic_name isknown to exist, the function returns this matching topic immediately. Otherwise, the operation will block forup to the timeout duration. If a topic with name topic_name is discovered or otherwise created, the operationwill cease to wait, and will return the matching topic.



If a matching topic is not known by the time the timout has expired, the operation will return NULL.

Like DomainParticipant_create_topic(), the topic returned from this operation (if not NULL) must be deletedby calling DomainParticipant.delete_topic().

3.13.2.18 Subscriber get_builtin_subscriber () [inline]

Returns the built-in Subscriber.

Each DomainParticipant contains several built-in Topic objects as well as corresponding DataReader objectsto access them. These built-in DataReader objects belong to the single built-in Subscriber that is accessedthrough this operation.

The built-in Topics are used to communicate information about other DomainParticipant, Topic, DataReader,and DataWriter objects.

An application should not explicitly delete the Subscriber returned by this operation - it is managed internally.

See also

ParticipantBuiltinTopicDataDataReaderPublicationBuiltinTopicDataDataReaderSubscriptionBuiltinTopicDataDataReader

3.13.2.19 ReturnCode_t get_current_time (ref Time_t current_time) [inline]

This operation returns the current value of the time used by the service.

3.13.2.20 ReturnCode_t get_default_publisher_qos (PublisherQos qos) [inline]

Provides access to the default PublisherQos settings held in the factory. The provided qos argument is popu-lated with the default qos settings.

3.13.2.21 ReturnCode_t get_default_subscriber_qos (SubscriberQos qos) [inline]

Provides access to the default SubscriberQos settings held in the factory. The provided qos argument ispopulated with the default qos settings.

3.13.2.22 ReturnCode_t get_default_topic_qos (TopicQos qos) [inline]

Provides access to the default TopicQos settings held in the factory. The provided qos argument is populatedwith the default qos settings.



3.13.2.23 ReturnCode_t get_discovered_participant_data (ParticipantBuiltinTopicDataparticipant_data, InstanceHandle_t participant_handle) [inline]

This operation returns data that describes a particular discovered participant identified by participant_-handle. An appropriate handle can be obtained through a call to DomainParticipant.get_discovered_-participants().

If participant_handle does not identify a known DomainParticipant, this routine will return ReturnCode_-t.RETCODE_PRECONDITION_NOT_MET.

3.13.2.24 ReturnCode_t get_discovered_participants (List< InstanceHandle_t >participant_handles) [inline]

This operation returns the list of handles identifying the DomainParticipant objects that have been discovered.The returned list will include only participants which are in the same domain as participant d, and which arenot explicitly ignored as a result of a call to DomainParticipant.ignore_participant().

3.13.2.25 ReturnCode_t get_discovered_topic_data (TopicBuiltinTopicData topic_data,InstanceHandle_t topic_handle) [inline]

This operation returns data that describes a particular discovered topic identified by topic_handle. An ap-propriate handle can be obtained through a call to DomainParticipant.get_discovered_topics().

If topic_handle does not identify a known Topic, this routine will return ReturnCode_t.RETCODE_-PRECONDITION_NOT_MET.

Not Yet Supported


3.13.2.26 ReturnCode_t get_discovered_topics (List< InstanceHandle_t > topic_handles)[inline]

This operation returns the list of handles identifying the Topic objects that have been discovered. The returnedlist will include only topics which are in the same domain as participant d, and which are not explicitly ignoredas a result of a call to DomainParticipant.ignore_topic().

Not Yet Supported


3.13.2.27 long get_domain_id () [inline]

Gets the domain_id to which the DomainParticipant belongs.






3.13.2.29 DomainParticipantListener get_listener () [inline]

This operation returns the currently installed DomainParticipantListener. Because the infrastructure makesa copy of the listener provided in DomainParticipant.set_listener(), the returned structure pointer will notmatch the pointer originally provided. However, the function pointers within the structure will match. Also,the application should not free the data referenced by the returned pointer.

3.13.2.30 ReturnCode_t get_qos (DomainParticipantQos qos) [inline]

Gets the DomainParticipantQoS settings of the DomainParticipant.

3.13.2.31 ReturnCode_t ignore_participant (InstanceHandle_t handle) [inline]

Instructs the DomainParticipant dp to ignore the external DomainParticipant identified by handle. This willcause the infrastructure to behave as if the external participant handle did not exist. The handle can bediscovered by accessing the built-in topic DCPSParticipant via the appropriate built-in DataReader.

There is no mechanism to reverse this operation.

3.13.2.32 ReturnCode_t ignore_publication (InstanceHandle_t handle) [inline]

This operation instructs the DomainParticipant dp to ignore a Publication identified by handle. The handlecan be discovered by accessing the built-in topic DCPSPublication via the appropriate built-in DataReader.


Not Yet Supported


3.13.2.33 ReturnCode_t ignore_subscription (InstanceHandle_t handle) [inline]

This operation instructs the DomainParticipant dp to ignore a Subscription identified by handle. The handlecan be discovered by accessing the built-in topic DCPSSubscription via the appropriate built-in DataReader.




Not Yet Supported


3.13.2.34 ReturnCode_t ignore_topic (InstanceHandle_t handle) [inline]

This operation instructs the DomainParticipant dp to ignore a Topic identified by handle. This can be usedto save resources if a participant will never participate on certain Topics. The handle can be discovered byaccessing the built-in topic DCPSTopic via the appropriate built-in DataReader.


Not Yet Supported


3.13.2.35 TopicDescription lookup_topicdescription (String name) [inline]

This operation returns an existing, locally-created TopicDescription, named name. If a TopicDescriptionnamed name does not exist, then this routine will return NULL.

3.13.2.36 ReturnCode_t register_type (TypeSupport ts, string type_name) [inline]

Registers a TypeSupport with the Participant.

Associates a TypeSupport object with the provided ’type_name’. This TypeSupport will be used to handledata that has a matching type_name. If a TypeSupport has already been registered for the provied type_name,and the new type does not match the previously registered type, then an error is returned and the previouslyregistered TypeSupport is maintained. [Upon error, the new type is not registered.]

3.13.2.37 ReturnCode_t set_default_publisher_qos (PublisherQos qos) [inline]

Sets the default PublisherQos held in the DomainParticipant. This default qos will be used during subse-quent calls to DomainParticipant.create_publisher() if the special DDS.PUBLISHER_QOS_DEFAULT valueis provided for qos. This routine may fail if the provided qos argument is not internally consistent. In thiscase, ReturnCode_t.RETCODE_INCONSISTENT_POLICY will be returned, and no changes will be madeto the DomainParticipant.

3.13.2.38 ReturnCode_t set_default_subscriber_qos (SubscriberQos qos) [inline]

Sets the default SubscriberQos held in the DomainParticipant. This default qos will be used during subsequentcalls to DomainParticipant.create_subscriber() if the special DDS.SUBSCRIBER_QOS_DEFAULT value isprovided for qos. This routine may fail if the provided qos argument is not internally consistent. In this case,



ReturnCode_t.RETCODE_INCONSISTENT_POLICY will be returned, and no changes will be made to theDomainParticipant.

3.13.2.39 ReturnCode_t set_default_topic_qos (TopicQos qos) [inline]

Sets the default TopicQos held in the DomainParticipant. This default qos will be used during subsequentcalls to DomainParticipant.create_topic() [and related] if the special DDS.TOPIC_QOS_DEFAULT value isprovided for qos. This routine may fail if the provided qos argument is not internally consistent. In this case,ReturnCode_t.RETCODE_INCONSISTENT_POLICY will be returned, and no changes will be made to theDomainParticipant.

3.13.2.40 ReturnCode_t set_listener (DomainParticipantListener new_listener, uint mask)[inline]

This operation installs a DomainParticipantListener on the DomainParticipant. Only one listener may beattached to a DomainParticipant at a time. A call to set_listener() will replace any current listener witha_listener.


The infrastructure will make an internal copy of the listener structure so that it need not be persisted by theapplication.

3.13.2.41 ReturnCode_t set_qos (DomainParticipantQos qos) [inline]

Sets the DomainParticipantQoS values. These QoS values affect the behavior of the DomainParticipant.This routine may fail if the provided qos argument is not internally consistent. In this case, ReturnCode_-t.RETCODE_INCONSISTENT_POLICY will be returned, and no changes will be made to the DomainPar-ticipant QoS.



3.14 DomainParticipantFactory Class Reference

DomainParticipantFactory constructs DomainParticipants.


• DomainParticipant create_participant (uint domain_id, DomainParticipantQos qos, DomainPartici-pantListener listener, uint mask)

Creates a DomainParticipant.

• ReturnCode_t delete_participant (DomainParticipant participant)Destroys the provided DomainParticipant.

• DomainParticipant lookup_participant (uint domain_id)Returns a previously created DomainParticipant belonging to the specified domain_id.

• ReturnCode_t set_default_participant_qos (DomainParticipantQos qos)Sets the default DDS.DomainParticipantQos held in the factory.

• ReturnCode_t get_default_participant_qos (DomainParticipantQos qos)Provides access to the default Participant qos held in the factory.

• ReturnCode_t set_qos (DomainParticipantFactoryQos qos)Sets the DomainParticipantFactory QoS values.

• ReturnCode_t get_qos (DomainParticipantFactoryQos qos)Provides access to the QoS settings of the DomainParticipantFactory.

• ReturnCode_t set_license (string lic)Configures the license file or license string to enable CoreDX DDS.

• ReturnCode_t set_license_debug (bool debug)Enables debug output from the CoreDX DDS run-time license system.

Static Public Member Functions

• static DomainParticipantFactory get_instance ()

Properties

• static DomainParticipantFactory Instance [get]


3.14 DomainParticipantFactory Class Reference 63


DomainParticipantFactory constructs DomainParticipants. The DomainParticipantFactory is used to config-ure, create and destroy DomainParticipant instances.

Author

Twin Oaks Computing, Inc


3.14.2.1 DomainParticipant create_participant (uint domain_id, DomainParticipantQos qos,DomainParticipantListener listener, uint mask) [inline]

Creates a DomainParticipant.

This operation creates a new DomainParticipant object. The caller provides the domain_id to which theParticipant should belong. The listener and mask arguments are used to specify a set of callback routineswhich will be invoked upon detection of certain events. The qos argument specifies the DomainParticipantQuality of Service settings that should be used when creating the DomainParticipant. It may be specifiedas DDS.PARTICIPANT_QOS_DEFAULT to instruct CoreDX to use the default qos settings held in the Do-mainParticipantFactory. This routine will return NULL if it fails to create a DomainParticipant.

Returns

DomainParticipant

3.14.2.2 ReturnCode_t delete_participant (DomainParticipant participant) [inline]

Destroys the provided DomainParticipant.

This routine will fail if all Entities (Publishers, Subscribers, etc) created through the specified DomainPartic-ipant have not yet been deleted. (In this case, RETCODE_PRECONDITION_NOT_MET will be returned.)

3.14.2.3 ReturnCode_t get_default_participant_qos (DomainParticipantQos qos) [inline]

Provides access to the default Participant qos held in the factory.

The provided qos argument is populated with the default qos settings.

3.14.2.4 static DomainParticipantFactory get_instance () [inline, static]

Get access to the singleton DomainParticipantFactory.



3.14.2.5 DomainParticipant lookup_participant (uint domain_id) [inline]

Returns a previously created DomainParticipant belonging to the specified domain_id.

If there are multiple DomainParticipants in existence within the specified domain, one of them will be re-turned.

3.14.2.6 ReturnCode_t set_default_participant_qos (DomainParticipantQos qos) [inline]

Sets the default DDS.DomainParticipantQos held in the factory.

This default qos will be used during subsequent calls to DDS.DomainParticipantFactory.create_participant()if the special DDS.PARTICIPANT_QOS_DEFAULT value is provided for qos.

This routine may fail if the provided qos argument is not internally consistent. In this case, DDS.RETCODE_-INCONSISTENT_POLICY will be returned, and no changes will be made to the DomainParticipantFactory.

3.14.2.7 ReturnCode_t set_license (string lic) [inline]

Configures the license file or license string to enable CoreDX DDS.

CoreDX DDS normally requires a license to run. This license can be sepecified several ways:

• By environment variable (for example: TLM_LICENSE)

• By calling DomainParticipantFactory.set_license_file() with the full path and name of a license file

• By calling DomainParticipantFactory.set_license_file() with the license string enclosed in "<" ">"

3.14.2.8 ReturnCode_t set_license_debug (bool debug) [inline]

Enables debug output from the CoreDX DDS run-time license system.

This routine will configure CoreDX DDS to generate debug information in processing the license at run-time.The ’deubg’ parameter may be either: ’nonzero’ to enable debug output or ’zero’ to disable debug ouput.

3.14.2.9 ReturnCode_t set_qos (DomainParticipantFactoryQos qos) [inline]

Sets the DomainParticipantFactory QoS values.

These QoS values affect the behavior of the factory.

This routine may fail if the provided qos argument is not internally consistent. In this case,DDS.INCONSISTENT_POLICY will be returned, and no changes will be made to the DomainParticipant-Factory.


3.14 DomainParticipantFactory Class Reference 65

3.14.3 Property Documentation

3.14.3.1 DomainParticipantFactory Instance [static, get]

A C# style property with accessor. use it like this: DomainParticipantFactory.Instance.create_participant()



3.15 DomainParticipantFactoryQos Class Reference


Public Attributes

• EntityFactoryQosPolicy entity_factory



See also

DomainParticipantFactory::set_qos()DomainParticipantFactory::get_qos()


3.15.2.1 EntityFactoryQosPolicy entity_factory

Controls the behavior of the DomainParticipant ’create’ operations.


3.16 DomainParticipantListener Class Reference 67

3.16 DomainParticipantListener Class Reference

The DomainParticipantListener provides asynchronous notification of DomainParticipant events.

Public Attributes

• inconsistent_topic_delegate on_inconsistent_topic

• offered_deadline_missed_delegate on_offered_deadline_missed

• offered_incompatible_qos_delegate on_offered_incompatible_qos

• liveliness_lost_delegate on_liveliness_lost

• publication_matched_delegate on_publication_matched

• requested_deadline_missed_delegate on_requested_deadline_missed

• requested_incompatible_qos_delegate on_requested_incompatible_qos

• sample_rejected_delegate on_sample_rejected

• liveliness_changed_delegate on_liveliness_changed

• data_available_delegate on_data_available

• subscription_matched_delegate on_subscription_matched

• sample_lost_delegate on_sample_lost

• data_on_readers_delegate on_data_on_readers


The DomainParticipantListener provides asynchronous notification of DomainParticipant events. This lis-tener can be installed during DomainParticipant creation, DomainParticipantFactory.create_participant(), aswell as by calling DomainParticipantset_listener().

Note






3.16.2.2 data_on_readers_delegate on_data_on_readers

3.16.2.3 inconsistent_topic_delegate on_inconsistent_topic












3.17 DomainParticipantQos Class Reference 69

3.17 DomainParticipantQos Class Reference


Public Attributes

• UserDataQosPolicy user_data• EntityFactoryQosPolicy entity_factory• EntityNameQosPolicy entity_name• LoggingQosPolicy logging• PeerParticipantQosPolicy peer_participants• DiscoveryQosPolicy discovery• ThreadModelQosPolicy thread_model



See also

DomainParticipant::set_qos()DomainParticipant::get_qos()DomainParticipantFactory::create_participant()DomainParticipantFactory::set_default_participant_qos()DomainParticipantFactory::get_default_participant_qos()


3.17.2.1 DiscoveryQosPolicy discovery

Configure the behavior of discovery and discovery entities


Controls the behavior of the DomainParticipant create operations.

3.17.2.3 EntityNameQosPolicy entity_name

Assign a name to this entity



3.17.2.4 LoggingQosPolicy logging

Control the logging output

3.17.2.5 PeerParticipantQosPolicy peer_participants

Specifies a list of DomainParticipant peers to attempt communication with. Augments default discovery.

3.17.2.6 ThreadModelQosPolicy thread_model

Configure the threading features of CoreDX DDS


A sequence of octets associated with a DomainParticipant.


3.18 DurabilityQosPolicy Struct Reference 71

3.18 DurabilityQosPolicy Struct Reference

Public Attributes

• DurabilityQosPolicyKind kind


The DurablityQosPolicy controls the durablity of data. The DDS API identifies several degrees of datadurability.

1. VOLATILE: The data is volatile, and is not persisted beyond the initial publication.

2. TRANSIENT_LOCAL: The data is persisted locally within the source DataWriter. If that DataWriteris destroyed, or the containing application exits, the data is no longer available.

3. TRANSIENT: The data is persisted beyond the lifecycle of the originating DataWriter, and is availableeven after that DataWriter has been destroyed. However, data does not persist a reboot of the computer.

4. PERSISTENT: The data is persisted to ’off-line’ storage, and is available even after a system reboot.

A DataWriter can offer to provide a level of durablity for data that it generates, and a DataReader requests thelevel of durability that it requires. If the DataReader requests a ’higher’ level of durability than that offeredby the DataWriter, then the QoS policy is incompatible.

CoreDX DDS currently supports VOLATILE and TRANSIENT_LOCAL.


3.18.2.1 DurabilityQosPolicyKind kind



3.19 DurabilityServiceQosPolicy Struct Reference

Public Attributes

• Duration_t service_cleanup_delay• HistoryQosPolicyKind history_kind• int history_depth• int max_samples• int max_instances• int max_samples_per_instance


The DurablityServiceQosPolicy supports the durablity of data. The DDS API identifies several degrees ofdata durability.

1. VOLATILE: The data is volatile, and is not persisted beyond the initial publication.

2. TRANSIENT_LOCAL: The data is persisted locally within the source DataWriter. If that DataWriteris destroyed, or the containing application exits, the data is no longer available.

3. TRANSIENT: The data is persisted beyond the lifecycle of the originating DataWriter, and is availableeven after that DataWriter has been destroyed. However, data does not persist a reboot of the computer.

4. PERSISTENT: The data is persisted to ’off-line’ storage, and is available even after a system reboot.

If a durability of TRANSIENT or PERSISTENT is specified, then a service beyond the source DataWritermust be established to provide advanced data durability. This QoS policy helps to configure that durablityservice.

CoreDX DDS currently supports VOLATILE and TRANSIENT_LOCAL.


3.19.2.1 int history_depth

3.19.2.2 HistoryQosPolicyKind history_kind

3.19.2.3 int max_instances

3.19.2.4 int max_samples

3.19.2.5 int max_samples_per_instance

3.19.2.6 Duration_t service_cleanup_delay


3.20 Duration_t Struct Reference 73

3.20 Duration_t Struct Reference

Duration_t is used to indicate a duration of time.

Public Attributes

• int sec• uint nanosec


Duration_t is used to indicate a duration of time.


3.20.2.1 uint nanosec

3.20.2.2 int sec



3.21 Entity Class Reference


Inheritance diagram for Entity:

Entity

DomainEntity DomainParticipant

DataReader DataWriter Publisher Subscriber Topic


• virtual StatusCondition get_statuscondition ()• virtual uint get_status_changes ()• virtual ReturnCode_t enable ()• virtual InstanceHandle_t get_instance_handle ()




3.21.2.1 virtual ReturnCode_t enable () [inline, virtual]

Enable this Entity. An Entity will begin to communicate only after it is enabled.

Reimplemented in DomainParticipant, DataReader, DataWriter, Publisher, Subscriber, and Topic.

3.21.2.2 virtual InstanceHandle_t get_instance_handle () [inline, virtual]


Reimplemented in DomainParticipant, DataReader, DataWriter, Publisher, Subscriber, and Topic.

3.21.2.3 virtual uint get_status_changes () [inline, virtual]

Gets the current status changes from this Entity.


3.21 Entity Class Reference 75

3.21.2.4 virtual StatusCondition get_statuscondition () [inline, virtual]

Gets the StatusCondition associated with this Entity.



3.22 EntityFactoryQosPolicy Struct Reference

Public Attributes

• bool autoenable_created_entities


Controls the behavior of entity factories. Several DDS entities act as factories to create, control, and destroyother DDS entities. For example, the DomainParticipant is a factory for Publisher, Subscriber, and Topicentities. This QoS controls the behavior of a factory.

A DDS entity can be enabled at creation time. If the autoenable_created_entities is set to true, then thefactory will automatically call enable() on the entity during creation. Otherwise, the entity is created but notenabled. The application must specifically call enable() on the returned entity.


3.22.2.1 bool autoenable_created_entities


3.23 GroupDataQosPolicy Struct Reference 77

3.23 GroupDataQosPolicy Struct Reference

Allows the application to attach arbitrary information to a Publisher or Subscriber.

Public Attributes

• byte[ ] value


Allows the application to attach arbitrary information to a Publisher or Subscriber. The value of the GROUP_-DATA is propagated and made available to applications through the built-in topics.

The group data is implemented as a vector of Bytes, and can be used to store any application defined data.

This QoS can be used by an application in combination with the DataReaderListener and DataWriterListenerto implement conditional matching policies.


3.23.2.1 byte [ ] value



3.24 GuardCondition Class Reference

A GuardCondition is a Condition where the trigger_value is under application control.

Inheritance diagram for GuardCondition:

GuardCondition

Condition


• GuardCondition ()


A GuardCondition is a Condition where the trigger_value is under application control.

3.24.2 Constructor & Destructor Documentation

3.24.2.1 GuardCondition () [inline]

This routine creates a GuardCondition.


3.25 HistoryQosPolicy Struct Reference 79

3.25 HistoryQosPolicy Struct Reference

Controls the ammount of historical data maintained by a DataReader or DataWriter.

Public Attributes

• HistoryQosPolicyKind kind• int depth


Controls the ammount of historical data maintained by a DataReader or DataWriter. The history kind can beset to KEEP_ALL_HISTORY_QOS or KEEP_LAST_HISTORY_QOS.

If the history kind is KEEP_LAST, then the history depth field is used to determine the number of samplesto keep. The default setting is KEEP_LAST with a depth of 1. This means that for a single sample (the mostrecent) is kept for each data instance.

If the history kind is KEEP_ALL, then the depth field is unused, and all samples will be kept, within thelimits set by the ResourceLimits QoS policy.

This QoS policy must be consistent with the ResourceLimits policy.

See also

com.toc.coredx.DDS.ResourceLimitsQosPolicy


3.25.2.1 int depth

3.25.2.2 HistoryQosPolicyKind kind



3.26 InconsistentTopicStatus Class Reference

Status related to the on_inconsistent_topic listener methods of the TopicListener structure.

Public Attributes

• int total_countCummulative count of the discovered Topics having a matching name and inconsistent characteristics.

• int total_count_changeChange in total_count since the last time the listener was called or status was read.


Status related to the on_inconsistent_topic listener methods of the TopicListener structure.


3.27 LatencyBudgetQosPolicy Struct Reference 81

3.27 LatencyBudgetQosPolicy Struct Reference

Specifies allowable latency.

Public Attributes

• Duration_t duration


Specifies allowable latency. The latency budget is used internally by CoreDX DDS to optimize data messag-ing. If the middleware is provided a latency budget that is non-zero, then several internal operations can beoptimized to reduce message and processing overhead.

To be compatible, the DataWriter must offer a latency_budget that is equal to or smaller than that requestedby the DataReader.


3.27.2.1 Duration_t duration



3.28 LifespanQosPolicy Struct Reference

Specifies the maximum duration of validity of the data written by the DataWriter.

Public Attributes

• Duration_t duration


Specifies the maximum duration of validity of the data written by the DataWriter. The default value of thelifespan duration is infinite.


3.28.2.1 Duration_t duration


3.29 LivelinessChangedStatus Class Reference 83

3.29 LivelinessChangedStatus Class Reference

Status related to the on_liveliness_changed listener methods of the DataReader, Subscriber, and DomainPar-ticipant structures.

Public Attributes

• int alive_countThe number of ’active’ DataWriters matched to this DataReader.

• int not_alive_countThe number of ’not-alive’ DataWriters matched to this DataReader.

• int alive_count_changeChange in alive_count since the last time the listener was called or status was read.

• int not_alive_count_changeChange in not_alive_count since the last time the listener was called or status was read.

• InstanceHandle_t last_publication_handleHandle identifying the most recent DataWriter whose liveliness changed.


Status related to the on_liveliness_changed listener methods of the DataReader, Subscriber, and DomainPar-ticipant structures.



3.30 LivelinessLostStatus Class Reference

Status related to the on_liveliness_lost listener methods of the DataWriter, Publisher, and DomainParticipantstructures.

Public Attributes

• int total_countCummulative number of times that an ’alive’ DataWriter became not alive.



Status related to the on_liveliness_lost listener methods of the DataWriter, Publisher, and DomainParticipantstructures.


3.31 LivelinessQosPolicy Struct Reference 85

3.31 LivelinessQosPolicy Struct Reference

Determines the mechanism and parameters used by the application to determine whether an Entity is alive.

Public Attributes

• LivelinessQosPolicyKind kind• Duration_t lease_duration


Determines the mechanism and parameters used by the application to determine whether an Entity is alive.The QoS defines the kind of liveliness (how liveliness is maintained) as well as a ’lease_duration’ whichspecifies an interval for checking liveliness. The liveliness kind can be one of the following:

• AUTOMATIC

• MANUAL_BY_PARTICIPANT

• MANUAL_BY_TOPIC

The lease_duration indicates the maximum interval between liveliness indications from the publishing entity.If this period elapses with no indication from the publishing entity, then the entity is considered not alive.

Changes in liveliness are indicated to the application through status changes and the DataWriterListener.on_-liveliness_lost and DataReaderListener.on_liveliness_changed listeners.

See also

DataReaderListener::on_liveliness_changedDataWriterListener::on_liveliness_lost


3.31.2.1 LivelinessQosPolicyKind kind

3.31.2.2 Duration_t lease_duration



3.32 LmtTransport Class Reference

An instance of a LMT Transport that can be added to a DomainParticipant.

Inheritance diagram for LmtTransport:

LmtTransport

Transport


• static LmtTransport create_transport (LmtTransportConfig transport_config)Constructor.


An instance of a LMT Transport that can be added to a DomainParticipant. The LmtTransport support RTPScommunication through a local machine mechanism for optimized on-platform communications.

See also

DomainParticipant::add_transport(Transport) add_transport()


3.33 LmtTransportConfig Class Reference 87

3.33 LmtTransportConfig Class Reference

Structure that holds LMT Transport configuration items.


• LmtTransportConfig ()

Constructor. Initializes all configuration items with default values.

• ReturnCode_t get_default_config ()• ReturnCode_t get_env_config ()

Public Attributes

• int so_sndbuf• int so_rcvbuf• uint max_tx_size• uint max_rx_buf_size• uint debug_flags


Structure that holds LMT Transport configuration items.

See also



3.33.2.1 ReturnCode_t get_default_config () [inline]

Initialize the LmtTransportConfig object with default values. Currently assigned values may be overwrittenby defaults.

3.33.2.2 ReturnCode_t get_env_config () [inline]

Query for environment variables that impact lmt transport configuration. Load the values (if any) into theLmtTransportConfig object. Currently assigned values may be overwritten by values derived from environ-ment variables.




3.33.3.1 uint debug_flags

configure debug output of the transport

3.33.3.2 uint max_rx_buf_size

limit size of RX buffer (per connection)

3.33.3.3 uint max_tx_size

largest LMT packet size we transmit (default: 8192, max: 64K)

3.33.3.4 int so_rcvbuf

size in bytes for socket RCVBUF

3.33.3.5 int so_sndbuf

size in bytes for socket SNDBUF


3.34 MultiTopic Class Reference 89

3.34 MultiTopic Class Reference

DDS.MultiTopic provides a topic that may include data from multiple Topics.

Inheritance diagram for MultiTopic:

MultiTopic

TopicDescription


• DomainParticipant get_participant ()This operation returns the parent DomainParticipant of the Topic.

• String get_type_name ()This operation returns type_name of the Topic.

• String get_name ()This operation returns topic_name of the Topic.


DDS.MultiTopic provides a topic that may include data from multiple Topics.

Not Yet Supported

CoreDX DDS for C# does not yet implement MultiTopics.



3.35 OfferedDeadlineMissedStatus Class Reference

Status related to the on_offered_deadline_missed listener methods of the DataWriter, Publisher, and Domain-Participant structures.

Public Attributes

• int total_countCummulative count of the number of deadlines missed by this DataWriter.


• InstanceHandle_t last_instance_handleHandle identifying the most recent instance whose deadline was missed.


Status related to the on_offered_deadline_missed listener methods of the DataWriter, Publisher, and Domain-Participant structures.


3.36 OfferedIncompatibleQosStatus Class Reference 91

3.36 OfferedIncompatibleQosStatus Class Reference

Status related to the on_offered_incompatible_qos listener methods of the DataWriter, Publisher, and Do-mainParticipant structures.

Public Attributes

• int total_countCummulative count of the number of DataWriters discovered having matching Topic and incompatible QoS.


• QosPolicyId_t last_policy_idId of the most recent requested incompatible QoS policy.

• QosPolicyCount[ ] policiesA list of QoS policies and the total number of times each QoS policy was found to be incompatible.


Status related to the on_offered_incompatible_qos listener methods of the DataWriter, Publisher, and Do-mainParticipant structures.



3.37 OwnershipQosPolicy Struct Reference

Determines instance ownership in the case of multple writers. CoreDX DDS supports both SHARED_-OWNERSHIP_QOS and EXCLUSIVE_OWNERSHIP_QOS.

Public Attributes

• OwnershipQosPolicyKind kind


Determines instance ownership in the case of multple writers. CoreDX DDS supports both SHARED_-OWNERSHIP_QOS and EXCLUSIVE_OWNERSHIP_QOS.


3.37.2.1 OwnershipQosPolicyKind kind


3.38 OwnershipStrengthQosPolicy Struct Reference 93

3.38 OwnershipStrengthQosPolicy Struct Reference

Defines the strength, or priority, of a Writer. The strength is used to determine ownership in the caseof EXCLUSIVE_OWNERSHIP_QOS. When multiple writers publish data about the same instance, thestronger writer is considered the owner, and data from other writers is not delivered to the reader.

Public Attributes

• int value


Defines the strength, or priority, of a Writer. The strength is used to determine ownership in the caseof EXCLUSIVE_OWNERSHIP_QOS. When multiple writers publish data about the same instance, thestronger writer is considered the owner, and data from other writers is not delivered to the reader.


3.38.2.1 int value



3.39 PartitionQosPolicy Struct Reference

Public Attributes

• string[ ] name


Defines a logical data partition. This QoS is assigned to a Publisher or Subscriber. DataWriters andDataReaders exist within the partition defined by their parent. DataWriters and DataReaders communicateonly if they have a matching partition (and all other QoS and topic parameters match).

The partition QoS can be changed dynamically. Dynamic changes to partition may cause new matchesbetween DataWriters and DataReaders or may break existing matches.

The partition QoS comprises a vector of Strings. Two Partitions ’match’ if any string in one matches anystring in the other.

A partition string may be a regular expression with wildcards as defined by POSIX fnmatch API (1003.2-1992section B.6).

An empty Partition, that is a Partition with an empty name vector, is treated as a Partition with a single emptystring of "".


3.39.2.1 string [ ] name


3.40 PresentationQosPolicy Struct Reference 95

3.40 PresentationQosPolicy Struct Reference

Controls the presentation of received data samples to the application. CoreDX DDS currently supports onlythe access_scope = INSTANCE_PRESENTATION_QOS policy.

Public Attributes

• PresentationQosPolicyAccessScopeKind access_scope• bool coherent_access• bool ordered_access


Controls the presentation of received data samples to the application. CoreDX DDS currently supports onlythe access_scope = INSTANCE_PRESENTATION_QOS policy.


3.40.2.1 PresentationQosPolicyAccessScopeKind access_scope

The ’scope’ of the presentation policy. Determines the extent to which the sample ’coherency’ and ’order’are maintained.

3.40.2.2 bool coherent_access

Determines if coherent access is supported within the defined ’scope’.

3.40.2.3 bool ordered_access

Determines if ordered access is supported within the defined ’scope’.



3.41 PublicationMatchedStatus Class Reference

Status related to the on_publication_matched listener methods of the DataWriter, Publisher, and DomainPar-ticipant structures.

Public Attributes

• int total_countCummulative count of the number of times this DataWriter has discovered a matching DataReader.


• int current_countThe current number of DataReaders matched to the DataWriter.

• int current_count_changeChange in current_count since the last time the listener was called or status was read.


Status related to the on_publication_matched listener methods of the DataWriter, Publisher, and DomainPar-ticipant structures.


3.42 Publisher Class Reference 97

3.42 Publisher Class Reference


Inheritance diagram for Publisher:

Publisher

DomainEntity

Entity


• override ReturnCode_t enable ()• override InstanceHandle_t get_instance_handle ()• DomainParticipant get_participant ()• DataWriter create_datawriter (Topic topic, DataWriterQos dw_qos, DataWriterListener listener, uint

mask)• ReturnCode_t delete_datawriter (DataWriter datawriter)• ReturnCode_t delete_contained_entities ()• DataWriter lookup_datawriter (String topic_name)• ReturnCode_t set_qos (PublisherQos qos)• ReturnCode_t get_qos (PublisherQos qos)• ReturnCode_t set_listener (PublisherListener new_listener, uint mask)• PublisherListener get_listener ()• ReturnCode_t suspend_publications ()• ReturnCode_t resume_publications ()• ReturnCode_t begin_coherent_changes ()• ReturnCode_t end_coherent_changes ()• ReturnCode_t wait_for_acknowledgments (Duration_t max_wait)

Block until all writers contained by this publisher have received acknowledgements.

• ReturnCode_t set_default_datawriter_qos (DataWriterQos qos)• ReturnCode_t get_default_datawriter_qos (DataWriterQos qos)• ReturnCode_t copy_from_topic_qos (DataWriterQos qos, TopicQos topic_qos)






3.42.2.1 ReturnCode_t begin_coherent_changes () [inline]

Not Yet Supported

This operation is not yet implemented.

3.42.2.2 ReturnCode_t copy_from_topic_qos (DataWriterQos qos, TopicQos topic_qos)[inline]

This operation copies the QoS settings in a_topic_qos to the corresponding settings in a_datawriter_qos.The a_datawriter_qos parameter is populated with a copy of the QoS policies from the a_topic_qos struc-ture. QoS entries in the datawriter qos structure will be overwritten with the values from the topic.

3.42.2.3 DataWriter create_datawriter (Topic topic, DataWriterQos dw_qos, DataWriterListenerlistener, uint mask) [inline]

This operation creates a DataWriter. The created DataWriter is contained within the Publisher p. It is asso-ciated with the Topic, ContentFilteredTopic, or MultiTopic indicated by a_topic, and has the DataWriterQosindicated by qos. The qos argument may be passed DDS.DATAWRITER_QOS_DEFAULT, which indicatesthat the Publisher should use its currently configured default data writer QoS values. The DataWriterListenera_listener, is installed at creation time.

The created DataWriter (if not NULL) must be destroyed by a call to Publisher.delete_datawriter().

This routine will fail if the provided QoS settings are internally inconsistent. In this case, the routine willreturn NULL.


This operation deletes all the DataWriters created by means of the Publisher.create_datawriter() operation onthe Publisher p. This routine will recursively call the corresponding delete_contained_entities() operation oneach of the contained DataWriter objects. After successful execution, the application may delete the Publisherby calling DomainParticipant.delete_publisher().


3.42.2.5 ReturnCode_t delete_datawriter (DataWriter datawriter) [inline]

This operation deletes a DataWriter. If the provided DataWriter a_datawriter was not created by Publisherp, the routine will fail and will return ReturnCode_t.RETCODE_PRECONDITION_NOT_MET.




Enables the Publisher. A Publisher is created either enabled or not based on the DomainParticipantQos settingentity_factory. When a Publisher is not enabled, only the following sub-set of all Publisher operations arelegal:






Any other operation may return the ReturnCode_t.RETCODE_NOT_ENABLED error. Publisher_enable()may be called on an already enabled Subscriber [it will have no effect].


3.42.2.7 ReturnCode_t end_coherent_changes () [inline]

Not Yet Supported


3.42.2.8 ReturnCode_t get_default_datawriter_qos (DataWriterQos qos) [inline]

Provides access to the default DataWriterQos settings held in the Publisher p. The provided qos argument ispopulated with the current default qos settings.




3.42.2.10 PublisherListener get_listener () [inline]

This operation returns the currently installed PublisherListener.

3.42.2.11 DomainParticipant get_participant () [inline]

This operation returns the DomainParticipant this Publisher belongs to.



3.42.2.12 ReturnCode_t get_qos (PublisherQos qos) [inline]

Returns the current PublisherQos settings held in the Publisher p. The qos parameter is populated with acopy of the current Publisher QoS properties.

3.42.2.13 DataWriter lookup_datawriter (String topic_name) [inline]

This operation retrieves a previously-created DataWriter contained in the Publisher, attached to a Topicnamed topic_name. If multiple DataWriters are found, one of them will be returned. If no matchingDataWriter is found, this routine will return NULL.

3.42.2.14 ReturnCode_t resume_publications () [inline]

Not Yet Supported


3.42.2.15 ReturnCode_t set_default_datawriter_qos (DataWriterQos qos) [inline]

Sets the default DataWriterQos held in the Publisher. This default qos will be used during subsequent calls toPublisher.create_datawriter() if the special DDS.DATAWRITER_QOS_DEFAULT value is provided for qos.This routine may fail if the provided qos argument is not internally consistent. In this case, ReturnCode_-t.RETCODE_INCONSISTENT_POLICY will be returned, and no changes will be made to the Publisher.

3.42.2.16 ReturnCode_t set_listener (PublisherListener new_listener, uint mask) [inline]

Installs a PublisherListener on Publisher p. Only one listener may be attached to a Publisher at a time. A callto set_listener() will replace any current listener with a_listener.


3.42.2.17 ReturnCode_t set_qos (PublisherQos qos) [inline]

Sets the PublisherQos values. These QoS values affect the behavior of the Publisher. This routine mayfail if the provided qos argument is not internally consistent. In this case, ReturnCode_t.RETCODE_-INCONSISTENT_POLICY will be returned, and no changes will be made to the Publisher QoS.

3.42.2.18 ReturnCode_t suspend_publications () [inline]

Not Yet Supported




3.42.2.19 ReturnCode_t wait_for_acknowledgments (Duration_t max_wait) [inline]

Block until all writers contained by this publisher have received acknowledgements.

This routine will block until all data written by contained writers has been acknowledged, or until the ’max_-wait’ duration has passed. ’max_wait’ can be set to INFINITE, in which case this routine may block indefi-nitely.

Return values

DDS_RETCODE_TIME_OUT returned if ’max_wait’ passes before all acks are received

DDS_RETCODE_OK returned if all acks have been received before ’max_wait’



3.43 PublisherListener Class Reference

The PublisherListener provides asynchronous notification of Publisher events.

Public Attributes

• offered_deadline_missed_delegate on_offered_deadline_missed• offered_incompatible_qos_delegate on_offered_incompatible_qos• liveliness_lost_delegate on_liveliness_lost• publication_matched_delegate on_publication_matched


The PublisherListener provides asynchronous notification of Publisher events. This listener can be installedduring Publisher creation DomainParticipant.create_publisher(), as well as by calling Publisher.set_listener().

Note








3.44 PublisherQos Class Reference 103

3.44 PublisherQos Class Reference


Public Attributes

• PresentationQosPolicy presentation

• PartitionQosPolicy partition

• GroupDataQosPolicy group_data




See also

Publisher::set_qos()Publisher::get_qos()DomainParticipant::create_publisher()DomainParticipant::set_default_publisher_qos()DomainParticipant::get_default_publisher_qos()



Controls the behavior of the Publisher_create_datawriter() operation.

3.44.2.2 GroupDataQosPolicy group_data

A sequence of octets associated with the Publisher.

3.44.2.3 PartitionQosPolicy partition

Establishes a logical data partition. DataWriters and DataReaders that are ’in’ the same partition (ie, thepartition of the containing Publisher and Subscriber match) can communicate. If the partitions do not match,then they cannot communicate.



3.44.2.4 PresentationQosPolicy presentation

Controls the presentation of groups of changes.

See also

Publisher::begin_coherent_changes() begin_coherent_changes()Publisher::end_coherent_changes() end_coherent_changes()Subscriber::begin_access() begin_access()Subscriber::end_access() end_access()


3.45 QueryCondition Class Reference 105

3.45 QueryCondition Class Reference

The trigger_value is driven by the data available, after applying the filter, in the associated DataReader.

Inheritance diagram for QueryCondition:

QueryCondition

ReadCondition

Condition


• String get_query_expression ()

Provides access to the query expression.

• ReturnCode_t get_query_parameters (List< String > eparams)

Provides access to the parameters of the query expression.

• ReturnCode_t set_query_parameters (List< String > parameters)

Modifies the parameters of the query expression.


The trigger_value is driven by the data available, after applying the filter, in the associated DataReader.CoreDX DDS fully supports QueryConditions as an argument to DataReader::read_w_condition() andDataReader::take_w_conditions()

See also

DataReader::create_querycondition()FooDataReader::read_w_condition()FooDataReader::take_w_condition()

Not Yet Supported

CoreDX DDS does not yet support QueryConditions as triggers for a WaitSet.




3.45.2.1 String get_query_expression () [inline]

Provides access to the query expression.

The query expression is an SQL syntax conditional expression that is provided when the QueryCondition iscreated.

See also

DataReader::create_querycondition()

3.45.2.2 ReturnCode_t get_query_parameters (List< String > eparams) [inline]

Provides access to the parameters of the query expression.

The query expression is an SQL syntax conditional expression that is provided when the QueryCondition iscreated. The query expression may contain references to positional parameters of the form ’0’, ’1’. Theseparameters can be changed dynamically to affect the expression.

See also

DataReader::create_querycondition()QueryCondition::set_query_parameters()

3.45.2.3 ReturnCode_t set_query_parameters (List< String > parameters) [inline]

Modifies the parameters of the query expression.

The query_expression is an SQL like condition expression, and the parameters argument provides optionalparameters that are referenced by the query_expression. The syntax for refering to paramters in a query_-expression is the percent sign ” followed by a number. The number is the index of the paramter in thequery_paramters sequence. Parameters are counted starting at zero. So, "%0" refers to the first parameter,and "%4" refers to the fifth paramter. Using this syntax, the expression "x<%0" would test the value of ’x’against the first parameter in the sequence.

This routine allows the parameters to be changed dynamically.

See also

DataReader::create_querycondition()


3.46 ReadCondition Class Reference 107

3.46 ReadCondition Class Reference

A ReadCondition is a specialized Condition associated with a DataReader.

Inheritance diagram for ReadCondition:

ReadCondition

Condition

QueryCondition


• uint get_sample_state_mask ()• uint get_view_state_mask ()• uint get_instance_state_mask ()• DataReader get_datareader ()


A ReadCondition is a specialized Condition associated with a DataReader. The trigger_value is driven bythe data available in the associated DataReader. A ReadCondition is obtained by calling the DataReader_-create_readcondition() function. When the ReadCondition is no longer needed, it should be destroyed by acall to DataReader.delete_readcondition().

See also

DataReader::create_readcondition(long sample_states, long view_states, long instance_states)DataReader::delete_readcondition(ReadCondition)


3.46.2.1 DataReader get_datareader () [inline]

Gets the single DataReader associated with this ReadCondition.

3.46.2.2 uint get_instance_state_mask () [inline]

Gets the current value of the instance_state_mask in this ReadCondition.



3.46.2.3 uint get_sample_state_mask () [inline]

Gets the current value of the sample_state_mask in this ReadCondition.

3.46.2.4 uint get_view_state_mask () [inline]

Gets the current value of the view_state_mask in this ReadCondition.


3.47 ReaderDataLifecycleQosPolicy Struct Reference 109

3.47 ReaderDataLifecycleQosPolicy Struct Reference

Specifies the lifecycle behavior of data instances managed by the DataReader.

Public Attributes

• Duration_t autopurge_nowriter_samples_delay• Duration_t autopurge_disposed_samples_delay


Specifies the lifecycle behavior of data instances managed by the DataReader. autopurge_nowriter_-samples_delay indicates how long the DataReader will maintain instance samples that have instance_stateNOT_ALIVE_NO_WRITERS.

autopurge_disposed_samples_delay indicates how long the DataReader will retain information about in-stances that have instance_state NOT_ALIVE_DISPOSED.


3.47.2.1 Duration_t autopurge_disposed_samples_delay

3.47.2.2 Duration_t autopurge_nowriter_samples_delay



3.48 ReliabilityQosPolicy Struct Reference

Indicates the level of reliability offered/provided by the Entity. If kind is RELIABLE_RELIABILITY_QOS,then the middleware will attempt to deliver all samples in the history cache. If samples are not received, thenthey will be retried.

Public Attributes

• ReliabilityQosPolicyKind kind• Duration_t max_blocking_time


Indicates the level of reliability offered/provided by the Entity. If kind is RELIABLE_RELIABILITY_QOS,then the middleware will attempt to deliver all samples in the history cache. If samples are not received, thenthey will be retried. A kind of BEST_EFFORT_RELIABILITY_QOS indicates that the middleware does notneed to retry delivery of data samples.

The samples available in the history cache are affected by the HistoryQosPolicy, ResourceLimitsQosPolicy,and the DurabilityQosPolicy.

Note: If samples are removed from the history cache, then they are not be available to be resent.

See also

com.toc.coredx.DDS.HistoryQosPolicycom.toc.coredx.DDS.ResourceLimitsQosPolicycom.toc.coredx.DDS.DurabilityQosPolicy


3.48.2.1 ReliabilityQosPolicyKind kind

3.48.2.2 Duration_t max_blocking_time


3.49 RequestedDeadlineMissedStatus Class Reference 111

3.49 RequestedDeadlineMissedStatus Class Reference

Status related to the on_requested_deadline_missed listener methods of the DataReader, Subscriber, andDomainParticipant structures.

Public Attributes

• int total_countCummulative count of the number of detected deadline misses for any instance read by the DataReader.


• InstanceHandle_t last_instance_handleHandle identifying the most recent instance whose deadline was missed.


Status related to the on_requested_deadline_missed listener methods of the DataReader, Subscriber, andDomainParticipant structures.



3.50 RequestedIncompatibleQosStatus Class Reference

Status related to the on_requested_incompatible_qos listener methods of the DataReader, Subscriber, andDomainParticipant structures.

Public Attributes

• int total_countCummulative count of the number of discovered DataReaders having matching Topic and incompatible QoS.


• QosPolicyId_t last_policy_idHandle identifying the most recent QoS policy detected to be incompatible.

• QosPolicyCount[ ] policiesA list of QoS policies and the total number of times each QoS policy was found to be incompatible.


Status related to the on_requested_incompatible_qos listener methods of the DataReader, Subscriber, andDomainParticipant structures.


3.51 ResourceLimitsQosPolicy Struct Reference 113

3.51 ResourceLimitsQosPolicy Struct Reference

Specifies the resources that the Service can use to maintain data samples and instances.

Public Attributes

• int max_samples• int max_instances• int max_samples_per_instance


Specifies the resources that the Service can use to maintain data samples and instances.

See also

com.toc.coredx.DDS.ReliabilityQosPolicycom.toc.coredx.DDS.HistoryQosPolicy


3.51.2.1 int max_instances

3.51.2.2 int max_samples

3.51.2.3 int max_samples_per_instance



3.52 RTPSReaderQosPolicy Struct Reference

Public Attributes

• Duration_t heartbeat_response_delay• byte accept_batch_msg• byte send_typecode• byte send_initial_nack• uint precache_max_samples


Allows configuration of the internal RTPS Reader behavior. Specific to the RTPS wire protocol.


3.52.2.1 byte accept_batch_msg

3.52.2.2 Duration_t heartbeat_response_delay

3.52.2.3 uint precache_max_samples

3.52.2.4 byte send_initial_nack

3.52.2.5 byte send_typecode


3.53 RTPSWriterQosPolicy Struct Reference 115

3.53 RTPSWriterQosPolicy Struct Reference

Public Attributes

• Duration_t heartbeat_period• Duration_t nack_response_delay• Duration_t nack_suppress_delay• Duration_t ack_deadline• uint min_buffer_size• uint max_buffer_size• byte apply_filters• byte enable_batch_msg• byte send_typecode


Allows configuration of the internal RTPS Writer behavior. Specific to the RTPS wire protocol.


3.53.2.1 Duration_t ack_deadline

3.53.2.2 byte apply_filters

3.53.2.3 byte enable_batch_msg

3.53.2.4 Duration_t heartbeat_period

3.53.2.5 uint max_buffer_size

3.53.2.6 uint min_buffer_size

3.53.2.7 Duration_t nack_response_delay

3.53.2.8 Duration_t nack_suppress_delay

3.53.2.9 byte send_typecode



3.54 SampleInfo Class Reference

The SampleInfo structure contains information associated with each Sample. The DataReader.read() andtake() operations return two vectors. One vector contains Sample(s) and the other contains SampleInfo(s).There is a one-to-one correspondence between items in these two vectors. Each Sample is described by thecorresponding SampleInfo instance.

Public Attributes

• uint sample_state• uint view_state• uint instance_state• Time_t source_timestamp• Time_t reception_timestamp• InstanceHandle_t instance_handle• InstanceHandle_t publication_handle• int disposed_generation_count• int no_writers_generation_count• int sample_rank• int generation_rank• int absolute_generation_rank• bool valid_data


The SampleInfo structure contains information associated with each Sample. The DataReader.read() andtake() operations return two vectors. One vector contains Sample(s) and the other contains SampleInfo(s).There is a one-to-one correspondence between items in these two vectors. Each Sample is described by thecorresponding SampleInfo instance.


3.54.2.1 int absolute_generation_rank

The generation difference between this sample and the most recent sample. The absolute_generation_rankindicates the generation difference (ie, the number of times the instance was disposed and became alive again)between this sample, and the most recent sample (possibly not in the returned collection) of this instance.

3.54.2.2 int disposed_generation_count

The number of times the instance has become ’ALIVE’ after being explicitly disposed. (Computed at thetime the sample arrives at the DataReader.)


3.54 SampleInfo Class Reference 117

3.54.2.3 int generation_rank

The generation difference of this sample and the most recent sample in the collection. generation_rankindicates the generation difference (ie, the number of times the instance was disposed and became aliveagain) between this sample, and the most recent sample in the collection related to this instance.

3.54.2.4 InstanceHandle_t instance_handle

The handle that locally identifies the associated instance.

3.54.2.5 uint instance_state

Indicates whether the associated instance currently exists. instance_state can be one of:

DDS.ALIVE_INSTANCE_STATE

DDS.NOT_ALIVE_DISPOSED_INSTANCE_STATE

DDS.NOT_ALIVE_NO_WRITERS_INSTANCE_STATE

Can use DDS.NOT_ALIVE_INSTANCE_STATE as a test for either ’NOT_ALIVE’ state. For example if(sample_info->view_state & DDS.NOT_ALIVE_INSTANCE_STATE) ...

3.54.2.6 int no_writers_generation_count

The number of times the instance has become ’ALIVE’ after being automatically disposed due to no activewriters. (Computed at the time the sample arrives at the DataReader.)

3.54.2.7 InstanceHandle_t publication_handle

The local handle of the source DataWriter.

3.54.2.8 Time_t reception_timestamp

The time when the sample was received by the DataReader.

3.54.2.9 int sample_rank

Number of samples related to this instances that follow in the collection returned by the DataReader read ortake operations.



3.54.2.10 uint sample_state

The associated data sample has/has not been read previously.

sample_state indicates whether or not the DataReader has previously read the associated sample.

One of:

DDS.READ_SAMPLE_STATE

DDS.NOT_READ_SAMPLE_STATE.

Use DDS.ANY_SAMPLE_STATE to test for either state.

3.54.2.11 Time_t source_timestamp

The time provided by the DataWriter when the sample was written.

3.54.2.12 bool valid_data

Is set to true if the associated DataSample contains data. The associated DataSample may not contain data ifit this sample indicates a change in sample state (for example ALIVE -> DISPOSED).

3.54.2.13 uint view_state

Associated instance has/has not been seen before. view_state indicates whether the DataReader has alreadyseen samples for the most current generation of the related instance.

view_state can be one of:

DDS.NEW_VIEW_STATE

DDS.NOT_NEW_VIEW_STATE


3.55 SampleLostStatus Class Reference 119

3.55 SampleLostStatus Class Reference


Public Attributes

• int total_countCummulative count of all samples lost under the Topic.






3.56 SampleRejectedStatus Class Reference

Status related to the on_sample_rejected listener methods of the DataReader, Subscriber, and DomainPartic-ipant structures.

Public Attributes

• int total_countCummulative count of samples rejected by the DataReader.


• SampleRejectedStatusKind last_reasonThe reason for rejecting the most recently rejected sample.

• InstanceHandle_t last_instance_handleThe handle of the instance associated with the most recently rejected sample.


Status related to the on_sample_rejected listener methods of the DataReader, Subscriber, and DomainPartic-ipant structures.


3.57 StatusCondition Class Reference 121

3.57 StatusCondition Class Reference

A StatusCondition is a condition associated with an Entity. The trigger_value is driven by the communica-tion status of the associated Entity.

Inheritance diagram for StatusCondition:

StatusCondition

Condition


• ReturnCode_t set_enabled_statuses (uint mask)

• uint get_enabled_statuses ()

• Entity get_entity ()


A StatusCondition is a condition associated with an Entity. The trigger_value is driven by the communica-tion status of the associated Entity.


3.57.2.1 uint get_enabled_statuses () [inline]

This routine returns the statuses which are enabled in this StatusCondition. The statuses are returned as abitmask.

See also

DDS::ALL_STATUS

3.57.2.2 Entity get_entity () [inline]

This routine returns the single entity associated with this StatusCondition.



3.57.2.3 ReturnCode_t set_enabled_statuses (uint mask) [inline]

This routine sets the statuses which are enabled in this StatusCondition. The statuses are provided as abitmask.


3.58 Subscriber Class Reference 123

3.58 Subscriber Class Reference

The Subscriber configures, creates, manages and destroys DataReaders.

Inheritance diagram for Subscriber:

Subscriber

DomainEntity

Entity


• override ReturnCode_t enable ()• override InstanceHandle_t get_instance_handle ()• DataReader create_datareader (TopicDescription topic, DataReaderQos dr_qos, DataReaderListener

listener, uint mask)• ReturnCode_t delete_datareader (DataReader datareader)• ReturnCode_t delete_contained_entities ()• DataReader lookup_datareader (String topic_name)• ReturnCode_t get_datareaders (List< DataReader > readers, long sample_states, long view_states,

long instance_states)• DomainParticipant get_participant ()• ReturnCode_t set_qos (SubscriberQos qos)• ReturnCode_t get_qos (SubscriberQos qos)• ReturnCode_t set_listener (SubscriberListener new_listener, uint mask)• SubscriberListener get_listener ()• ReturnCode_t begin_access ()• ReturnCode_t end_access ()• ReturnCode_t set_default_datareader_qos (DataReaderQos qos)• ReturnCode_t get_default_datareader_qos (DataReaderQos qos)• ReturnCode_t copy_from_topic_qos (DataReaderQos qos, TopicQos topic_qos)


The Subscriber configures, creates, manages and destroys DataReaders.




3.58.2.1 ReturnCode_t begin_access () [inline]

This operation indicates that the application is about to access the data samples in any of the DataReader ob-jects contained in the Subscriber s. The application is expected to use this operation only if PRESENTATIONQosPolicy of the Subscriber has the access_scope set to GROUP. [Otherwise this routine has no effect.]

Not Yet Supported


3.58.2.2 ReturnCode_t copy_from_topic_qos (DataReaderQos qos, TopicQos topic_qos)[inline]

This operation copies the QoS settings in a_topic_qos to the corresponding settings in a_datareader_qos.The a_datareader_qos parameter is populated with a copy of the QoS policies from the a_topic_qos struc-ture. QoS entries in the datareader qos structure will be overwritten with the values from the topic.

3.58.2.3 DataReader create_datareader (TopicDescription topic, DataReaderQos dr_qos,DataReaderListener listener, uint mask) [inline]

This operation creates a DataReader. The created DataReader is contained within the Subscriber s. It is asso-ciated with the Topic, ContentFilteredTopic, or MultiTopic indicated by a_topic, and has the DataReaderQosindicated by qos. The qos argument may be passed DDS.DATAREADER_QOS_DEFAULT, which indicatesthat the Subscriber should use its currently configured default data reader QoS values. The DataReaderLis-tener a_listener, is installed at creation time.

The created DataReader (if not NULL) must be destroyed by a call to Subscriber.delete_datareader().

This routine will fail if the provided QoS settings are internally inconsistent. In this case, the routine willreturn NULL.


This operation deletes all the DataReaders created by means of the Subscriber.create_datareader() operationon the Subscriber s. This routine will recursively call the corresponding delete_contained_entities() operationon each of the contained DataReader objects. If successful, this operation will recursively delete all objectscontained with this Subscriber. After successful execution, the application may delete the Subscriber bycalling DomainParticipant.delete_subscriber().




3.58.2.5 ReturnCode_t delete_datareader (DataReader datareader) [inline]

This operation deletes a DataReader. If the provided DataReader a_datareader was not created by Sub-scriber s, the routine will fail and will return ReturnCode_t.RETCODE_PRECONDITION_NOT_MET. Ifthe indicated DataReader has any outstanding ReadCondition or QueryCondition objects the routine will failand will return ReturnCode_t.RETCODE_PRECONDITION_NOT_MET. If the indicated DataReader hasany outstanding ’loans’ (from read() or take() operations), the routine will fail and will return ReturnCode_-.tRETCODE_PRECONDITION_NOT_MET.


Enables the Subscriber. A Subscriber is created either enabled or not based on the DomainParticipantQos set-ting entity_factory. When a Subscriber is not enabled, only the following sub-set of all Subscriber operationsare legal:






Any other Subscriber operation may return the ReturnCode_t.RETCODE_NOT_ENABLED error.Subscriber_enable() may be called on an already enabled Subscriber [it will have no effect].


3.58.2.7 ReturnCode_t end_access () [inline]

This operation closes a corresponding Subscriber.begin_access().

Not Yet Supported


3.58.2.8 ReturnCode_t get_datareaders (List< DataReader > readers, long sample_states, longview_states, long instance_states) [inline]

This operation allows the application to access DataReader objects that contain samples with the specifiedsample_states, view_states, and instance_states.



If the PRESENTATION QosPolicy of the Subscriber to which the DataReader belongs has the access_scopeset to GROUP, this operation should be invoked only inside a begin_access/end_access block. Otherwise itwill return the error PRECONDITION_NOT_MET.

The returned collection of DataReader objects may either be a set (containing each DataReader at most oncein no specified order), or a list (containing each DataReader one or more times in a specific order).

1. If PRESENTATION access_scope is INSTANCE or TOPIC, the returned collection is a set.

2. If PRESENTATION access_scope is GROUP and ordered_access is set to TRUE, then the returnedcollection is a list.

This difference supports alternate access mechanisms.

Not Yet Supported


3.58.2.9 ReturnCode_t get_default_datareader_qos (DataReaderQos qos) [inline]

Provides access to the default DataReaderQos settings held in the Subscriber s. The provided qos argumentis populated with the current default qos settings.




3.58.2.11 SubscriberListener get_listener () [inline]

This operation returns the currently installed SubscriberListener.

3.58.2.12 DomainParticipant get_participant () [inline]

This operation returns the DomainParticipant this Subscriber belongs to.

3.58.2.13 ReturnCode_t get_qos (SubscriberQos qos) [inline]

Returns the current SubscriberQos settings held in the Subscriber s. The qos parameter is populated with acopy of the current Subscriber QoS properties.



3.58.2.14 DataReader lookup_datareader (String topic_name) [inline]

This operation retrieves a previously-created DataReader contained in the Subscriber, attached to a Topicnamed topic_name. If multiple DataReaders are found, one of them will be returned. If no matchingDataReader is found, this routine will return NULL.

This routine is useful to obtain access to a particular built-in DataReader.

3.58.2.15 ReturnCode_t set_default_datareader_qos (DataReaderQos qos) [inline]

Sets the default DataReaderQos held in the Subscriber. This default qos will be used during subsequent callsto Subscriber.create_datareader() if the special DDS.DATAREADER_QOS_DEFAULT value is provided forqos. This routine may fail if the provided qos argument is not internally consistent. In this case, ReturnCode_-t.RETCODE_INCONSISTENT_POLICY will be returned, and no changes will be made to the Subscriber.

3.58.2.16 ReturnCode_t set_listener (SubscriberListener new_listener, uint mask) [inline]

Installs a SubscriberListener on Subscriber s. Only one listener may be attached to a Subscriber at a time. Acall to set_listener() will replace any current listener with a_listener.


3.58.2.17 ReturnCode_t set_qos (SubscriberQos qos) [inline]

Sets the SubscriberQos values. These QoS values affect the behavior of the Subscriber. This routine mayfail if the provided qos argument is not internally consistent. In this case, ReturnCode_t.RETCODE_-INCONSISTENT_POLICY will be returned, and no changes will be made to the Subscriber QoS.



3.59 SubscriberListener Class Reference

The SubscriberListener provides asynchronous notification of Subscriber events.

Public Attributes

• requested_deadline_missed_delegate on_requested_deadline_missed• requested_incompatible_qos_delegate on_requested_incompatible_qos• sample_rejected_delegate on_sample_rejected• liveliness_changed_delegate on_liveliness_changed• data_available_delegate on_data_available• subscription_matched_delegate on_subscription_matched• sample_lost_delegate on_sample_lost• data_on_readers_delegate on_data_on_readers


The SubscriberListener provides asynchronous notification of Subscriber events. This listener can be installedduring Subscriber creation, DomainParticipant.create_subscriber() as well as by calling Subscriber.set_-listener().

Note




3.59.2.2 data_on_readers_delegate on_data_on_readers








3.60 SubscriberQos Class Reference 129

3.60 SubscriberQos Class Reference


Public Attributes

• PresentationQosPolicy presentation

• PartitionQosPolicy partition

• GroupDataQosPolicy group_data




See also

Subscriber::set_qos(SubscriberQos)Subscriber::get_qos(SubscriberQos)DomainParticipant::create_subscriber()DomainParticipant::set_default_subscriber_qos()DomainParticipant::get_default_subscriber_qos()



Controls the behavior of the Subscriber.create_datareader() operation.

3.60.2.2 GroupDataQosPolicy group_data

A sequence of octets associated with the Publisher.

3.60.2.3 PartitionQosPolicy partition

∗ Establishes a logical data partition. DataWriters and DataReaders that are ’in’ the same partition (ie, thepartition of the containing Publisher and Subscriber match) can communicate. If the partitions do not match,then they cannot communicate.



3.60.2.4 PresentationQosPolicy presentation

Controls the presentation of groups of changes.

See also

Publisher::begin_coherent_changes()Publisher::end_coherent_changes()Subscriber::begin_access()Subscriber::end_access()


3.61 SubscriptionMatchedStatus Class Reference 131

3.61 SubscriptionMatchedStatus Class Reference

Status related to the on_subscription_matched listener methods of the DataReader, Subscriber, and Domain-Participant structures.

Public Attributes

• int total_countCummulative count of the number of times this DataReader has discovered a matching DataWriter.


• int current_countThe current number of DataWriters matched to the DataReader.

• int current_count_changeChange in current_count since the last time the listener was called or status was read.


Status related to the on_subscription_matched listener methods of the DataReader, Subscriber, and Domain-Participant structures.



3.62 TcpTransport Class Reference

An instance of a TCP Transport that can be added to a DomainParticipant.

Inheritance diagram for TcpTransport:

TcpTransport

Transport


• static TcpTransport create_transport (TcpTransportConfig transport_config)Constructor.


An instance of a TCP Transport that can be added to a DomainParticipant. The TcpTransport support RTPSover a TCP/IP network. It can be used for both on-platform and off-platform communications.

See also



3.63 TcpTransportConfig Class Reference 133

3.63 TcpTransportConfig Class Reference

Structure that holds TCP Transport configuration items.


• TcpTransportConfig ()

Constructor. Initializes all configuration items with default values.


Public Attributes

• short participant_index• List< IpTransportInterface > interfaces• bool dynamic_interfaces• int tx_max_packet_size


Structure that holds TCP Transport configuration items.

See also




Initialize the TcpTransportConfig object with default values. Currently assigned values may be overwrittenby defaults.


Query for environment variables that impact tcp transport configuration. Load the values (if any) into the Tcp-TransportConfig object. Currently assigned values may be overwritten by values derived from environmentvariables.




3.63.3.1 bool dynamic_interfaces

detect and handle changes to interface addresses

3.63.3.2 List<IpTransportInterface> interfaces

default: empty -> use all available interfaces

3.63.3.3 short participant_index

-1: auto detect; else force (may fail if another participant is using the ports (can’t exceed 120)

3.63.3.4 int tx_max_packet_size

default: 64K (to match UDP limit)


3.64 ThreadModelQosPolicy Struct Reference 135

3.64 ThreadModelQosPolicy Struct Reference


Public Attributes

• byte use_threads• byte create_listener_thread




3.64.2.1 byte create_listener_thread

create a distinct thread for application Listener callbacks

3.64.2.2 byte use_threads

Create and operate internal threads for DDS processing



3.65 Time_t Struct Reference

Time_t is used to specify an point in time.

Public Attributes

• int sec• uint nanosec


Time_t is used to specify an point in time.


3.65.2.1 uint nanosec

3.65.2.2 int sec


3.66 TimeBasedFilterQosPolicy Struct Reference 137

3.66 TimeBasedFilterQosPolicy Struct Reference

Defines a filter based on time between samples. The DataReader indicates that it wants at most one samplefor each instance every minimum_separation interval.

Public Attributes

• Duration_t minimum_separation


Defines a filter based on time between samples. The DataReader indicates that it wants at most one sam-ple for each instance every minimum_separation interval. It is inconsistent for a DataReader to have aminimum_separation larger than its DEADLINE period. By default minimum_separation=0 indicating thatthe DataReader should be sent all values.


3.66.2.1 Duration_t minimum_separation



3.67 Topic Class Reference

Topic is the basic description of data to be published or subscribed. A topic is identified by a name and atype. A Topic is created by calling DomainParticipant.create_topic(). Prior to creating a Topic, the associateddata type must be registered with the DomainParticipant via a call to the TypeSupportXYZ.register_type()function. [The register_type() function is auto-generated ’type-specific’ code.].

Inheritance diagram for Topic:

Topic

DomainEntity TopicDescription

Entity





• override ReturnCode_t enable ()• override InstanceHandle_t get_instance_handle ()• ReturnCode_t set_qos (TopicQos qos)• ReturnCode_t get_qos (TopicQos qos)• ReturnCode_t set_listener (TopicListener new_listener, uint mask)• TopicListener get_listener ()• ReturnCode_t get_inconsistent_topic_status (out InconsistentTopicStatus status)


Topic is the basic description of data to be published or subscribed. A topic is identified by a name and atype. A Topic is created by calling DomainParticipant.create_topic(). Prior to creating a Topic, the associateddata type must be registered with the DomainParticipant via a call to the TypeSupportXYZ.register_type()function. [The register_type() function is auto-generated ’type-specific’ code.].


3.67 Topic Class Reference 139



Enables the Topic. A Topic is created either enabled or not based on the DomainParticipantQos settingentity_factory. When a Topic is not enabled, only the following sub-set of all Topic operations are legal:


• get_name(), get_type_name(), get_participant()



Any other operation may return the ReturnCode_t.RETURNCODE_NOT_ENABLED error. Topic.enable()may be called on an already enabled Topic [it will have no effect].


3.67.2.2 ReturnCode_t get_inconsistent_topic_status (out InconsistentTopicStatus status)[inline]

Provides access to the InconsistentTopicStatus of the Topic. As a side-effect, this routine will reset the total_-count_change status field to zero.




3.67.2.4 TopicListener get_listener () [inline]

This operation returns the currently installed TopicListener.

3.67.2.5 ReturnCode_t get_qos (TopicQos qos) [inline]

Returns the current TopicQos settings held in the Topic t. This routine copies the Topic QoS properites intoqos.



3.67.2.6 ReturnCode_t set_listener (TopicListener new_listener, uint mask) [inline]

Installs a TopicListener on Topic t. Only one listener may be attached to a Topic at a time. A call to set_-listener() will replace any current listener with a_listener.


The infrastructure will make an internal copy of the listener structure so that it need not be persisted by theapplication.

3.67.2.7 ReturnCode_t set_qos (TopicQos qos) [inline]

Sets the TopicQos values. These QoS values affect the behavior of the Topic. This routine may fail if the pro-vided qos argument is not internally consistent. In this case, ReturnCode_t.RETCODE_INCONSISTENT_-POLICY will be returned, and no changes will be made to the Topic QoS.


3.68 TopicDataQosPolicy Struct Reference 141

3.68 TopicDataQosPolicy Struct Reference

Allows the application to attach arbitrary information to a Topic QoS.

Public Attributes

• byte[ ] value


Allows the application to attach arbitrary information to a Topic QoS. The value of the TOPIC_DATA ispropagated and made available to applications through the built-in topics.

The topic data is implemented as a vector of Bytes, and can be used to store any application defined data.

This QoS can be used by an application in combination with the TopicListener to implement conditionalmatching policies.


3.68.2.1 byte [ ] value



3.69 TopicDescription Interface Reference

TopicDescription is an interface that provides the foundation for Topic, ContentFilteredTopic, and Multi-Topic.

Inheritance diagram for TopicDescription:

TopicDescription

ContentFilteredTopic MultiTopic Topic






TopicDescription is an interface that provides the foundation for Topic, ContentFilteredTopic, and Multi-Topic.


3.70 TopicListener Class Reference 143

3.70 TopicListener Class Reference

The TopicListener provides asynchronous notification of Topic events.

Public Attributes

• inconsistent_topic_delegate on_inconsistent_topic


The TopicListener provides asynchronous notification of Topic events. This listener can be installed duringTopic creation (DomainParticipant.create_topic() and related) as well as by calling Topic.set_listener().

Note



3.70.2.1 inconsistent_topic_delegate on_inconsistent_topic



3.71 TopicQos Class Reference


Public Attributes

• TopicDataQosPolicy topic_data

• DurabilityQosPolicy durability

• DurabilityServiceQosPolicy durability_service

• DeadlineQosPolicy deadline

• LatencyBudgetQosPolicy latency_budget

• LivelinessQosPolicy liveliness

• ReliabilityQosPolicy reliability

• DestinationOrderQosPolicy destination_order

• HistoryQosPolicy history

• ResourceLimitsQosPolicy resource_limits

• TransportPriorityQosPolicy transport_priority

• LifespanQosPolicy lifespan

• OwnershipQosPolicy ownership



See also

Topic::set_qos()Topic::get_qos()DomainParticipant::create_topic()DomainParticipant::set_default_topic_qos()


3.71 TopicQos Class Reference 145





3.71.2.4 DurabilityServiceQosPolicy durability_service



3.71.2.7 LifespanQosPolicy lifespan





3.71.2.12 TopicDataQosPolicy topic_data

3.71.2.13 TransportPriorityQosPolicy transport_priority



3.72 Transport Class Reference

An instance of a Transport that can be added to a DomainParticipant.

Inheritance diagram for Transport:

Transport

LmtTransport SslTransport TcpTransport UdpTransport


An instance of a Transport that can be added to a DomainParticipant. The UdpTransport is the defaulttransport used by CoreDX DDS for communications. It support RTPS over a UDP/IP network. It can be usedfor both on-platform and off-platform communications.

See also



3.73 TransportPriorityQosPolicy Struct Reference 147

3.73 TransportPriorityQosPolicy Struct Reference

A hint to the middleware to help configure the transport priority mechanism.

Public Attributes

• int value


A hint to the middleware to help configure the transport priority mechanism.


3.73.2.1 int value



3.74 UdpTransport Class Reference

An instance of a Transport that can be added to a DomainParticipant.

Inheritance diagram for UdpTransport:

UdpTransport

Transport


• static UdpTransport create_transport (UdpTransportConfig transport_config)Constructor.


An instance of a Transport that can be added to a DomainParticipant. The UdpTransport is the defaulttransport used by CoreDX DDS for communications. It support RTPS over a UDP/IP network. It can be usedfor both on-platform and off-platform communications.

See also



3.75 UdpTransportConfig Class Reference 149

3.75 UdpTransportConfig Class Reference

Structure that holds UDP Transport configuration items.


• UdpTransportConfig ()Constructor. Initializes all configuration items with default values.


Public Attributes

• short participant_index• bool use_ipv4• bool use_ipv6• List< IpTransportInterface > interfaces• bool dynamic_interfaces• int rx_init_buffer_size• int rx_max_buffer_size• int tx_max_packet_size• int so_rcvbuf• int so_sndbuf• byte[ ] multicast_address_v4• byte[ ] multicast_address_v6• byte multicast_ttl• bool tx_meta_multicast• bool tx_meta_unicast• bool rx_meta_multicast• bool rx_user_multicast• bool advertise_meta_multicast• bool advertise_user_multicast• byte[ ] broadcast_address• bool do_meta_broadcast• uint debug_flags


Structure that holds UDP Transport configuration items.

See also






Initialize the UdpTransportConfig object with default values. Currently assigned values may be overwrittenby defaults.


Query for environment variables that impact udp transport configuration. Load the values (if any) into theUdpTransportConfig object. Currently assigned values may be overwritten by values derived from environ-ment variables.


3.75.3.1 bool advertise_meta_multicast

advertise we can RX META MULTICAST

3.75.3.2 bool advertise_user_multicast

advertise we can RX USER MULTICAST

3.75.3.3 byte [ ] broadcast_address

4 byte IPv4 address. Default: 255.255.255.255

3.75.3.4 uint debug_flags

adjust the debug output from the transport

3.75.3.5 bool do_meta_broadcast

enable broadcast of META (DPD discovery) data default: 0 (off)

3.75.3.6 bool dynamic_interfaces

detect and handle changes to interface addresses


3.75 UdpTransportConfig Class Reference 151

3.75.3.7 List<IpTransportInterface> interfaces

default: empty -> use all available interfaces

3.75.3.8 byte [ ] multicast_address_v4

4 byte IPv4 address. Default: [ 239 255 0 1 ] per the standard

3.75.3.9 byte [ ] multicast_address_v6

16 byte IPv6 address. Default: [ ff03:0000:0000:0000:0000:efff:0001 ]

3.75.3.10 byte multicast_ttl

default: 1 (0: disable all MCAST TX)

3.75.3.11 short participant_index

-1: auto detect; else force (may fail if another participant is using the ports (can’t exceed 120)

3.75.3.12 int rx_init_buffer_size

initial size of data buffer

3.75.3.13 int rx_max_buffer_size

maximum size of data buffer

3.75.3.14 bool rx_meta_multicast

enable META MULTICAST (discovery) RX

3.75.3.15 bool rx_user_multicast

enable USER MULTICAST (data) RX

3.75.3.16 int so_rcvbuf

socket RCVBUF size (set to -1 to use OS default)



3.75.3.17 int so_sndbuf

socket SNDBUF size (set to -1 to use OS default)

3.75.3.18 int tx_max_packet_size

default: 64K (udp limit)

3.75.3.19 bool tx_meta_multicast

enable META MULTICAST (discovery) TX

3.75.3.20 bool tx_meta_unicast

enable META UNICAST (discovery) TX

3.75.3.21 bool use_ipv4

Support IPv4 communications (default ON (1))

3.75.3.22 bool use_ipv6

Support IPv4 communications (default OFF(0))


3.76 UserDataQosPolicy Struct Reference 153

3.76 UserDataQosPolicy Struct Reference

Allows the application to attach arbitrary information to a DomainParticipant, DataWriter or DataReader.

Public Attributes

• byte[ ] value


Allows the application to attach arbitrary information to a DomainParticipant, DataWriter or DataReader.The value of the USER_DATA is propagated and made available to applications through the built-in topics.

The user data is implemented as a vector of Bytes, and can be used to store any application defined data.

This QoS can be used by an application in combination with the listeners to implement conditional matchingpolicies.


3.76.2.1 byte [ ] value



3.77 WaitSet Class Reference

A DDS_WaitSet maintains a set of Condition objects and allows the application to wait until one or more ofthem have a trigger_value of TRUE.


• WaitSet ()• void destroy ()• ReturnCode_t attach_condition (Condition c)• ReturnCode_t detach_condition (Condition c)• ReturnCode_t wait (List< Condition > active_conditions, Duration_t timeout)• ReturnCode_t get_conditions (List< Condition > attached_conditions)


A DDS_WaitSet maintains a set of Condition objects and allows the application to wait until one or more ofthem have a trigger_value of TRUE. Multiple conditions may be attached to a WaitSet.

See also

Condition

3.77.2 Constructor & Destructor Documentation

3.77.2.1 WaitSet () [inline]

Constructor.


3.77.3.1 ReturnCode_t attach_condition (Condition c) [inline]

Adds the condition c to the WaitSet. If another thread is currently ’waiting’ on the WaitSet, this newly addedcondition will unblock that thread if its trigger_value is TRUE.

3.77.3.2 void destroy () [inline]

Destructor. Releases internal resources associated with the WaitSet. This WaitSet is destroyed, and must notbe used after this call returns.


3.77 WaitSet Class Reference 155

3.77.3.3 ReturnCode_t detach_condition (Condition c) [inline]

Adds the condition c to the WaitSet. If another thread is currently ’waiting’ on the WaitSet, this newly addedcondition will unblock that thread if its trigger_value is TRUE.

3.77.3.4 ReturnCode_t get_conditions (List< Condition > attached_conditions) [inline]

Retrieves the current list of attached conditions. Populates the attached_conditions sequence.

3.77.3.5 ReturnCode_t wait (List< Condition > active_conditions, Duration_t timeout) [inline]

Causes the controlling thread to block until an attached condition is triggered or timeout elapses.

A return value of DDS_RETCODE_OK indicates that one or more of the attached conditions evaluated toTRUE. Those ’active’ conditions are included in the ’out’ parameter active_conditions.

A return value of DDS_RETCODE_TIMEOUT indicates that the timeout period elapsed without any of theconditions evaluating to TRUE.



3.78 WriterDataLifecycleQosPolicy Struct Reference

Specifies the lifecycle behavior of data instances managed by the DataWriter. If autodispose_unregistered_-instances is true, then the DataWriter will automatically dispose any instances that are unregistered. Note:When a DataWriter is deleted, it will automatically unregister all of its instances. With this policy == true,then all instances will also be disposed.

Public Attributes

• bool autodispose_unregistered_instances


Specifies the lifecycle behavior of data instances managed by the DataWriter. If autodispose_unregistered_-instances is true, then the DataWriter will automatically dispose any instances that are unregistered. Note:When a DataWriter is deleted, it will automatically unregister all of its instances. With this policy == true,then all instances will also be disposed.


3.78.2.1 bool autodispose_unregistered_instances


Chapter 4

Data Structure Index

4.1 Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

Condition (A Condition can be added to a WaitSet to provide synchronous event notification ) . . 21ContentFilteredTopic (ContentFilteredTopic provides a topic that may include data filtered from

a related Topic. The ContentFilteredTopic is associated with another un-filtered topicrelated_topic. It applies a filter to the data of the related topic. If a data sample passes thefilter, it will be made available to a DataReader associated with the ContentFilteredTopic ) 23

DataReader (The DataReader entity allows the application to subscribe to and read data ) . . . . . 26DataReaderListener (The DataReaderListener provides asynchronous notification of DataReader

events ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32DataReaderQos (Structure that holds DataReader Quality of Service policies ) . . . . . . . . . . . 33DataWriter (The DataWriter entity provides an interface for the application to publish (write) data.

The DataWriter is an abstract class that is extended to support a particular data type re-quired by the application. A DataReader is associated with, and writes on, a single Topic) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

DataWriterListener (The DataWriterListener provides asynchronous notification of DataWriterevents ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

DataWriterQos (Structure that holds DataWriter Quality of Service policies ) . . . . . . . . . . . 40DDS (The ’DDS’ class includes several convient constants ) . . . . . . . . . . . . . . . . . . . . 43DeadlineQosPolicy (This QoS policy establishes a minimum update period for data instances ) . . 48DestinationOrderQosPolicy (This QoS policy controls how each Subscriber orders received data

samples ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49DomainEntity (Base class for all DDS Domain Entities ) . . . . . . . . . . . . . . . . . . . . . . 50DomainParticipant (The DomainParticipant is used to configure, create and destroy Publisher, Sub-

scriber and Topic objects ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51DomainParticipantFactory (DomainParticipantFactory constructs DomainParticipants ) . . . . . . 62

158 Data Structure Index

DomainParticipantFactoryQos (Structure that holds DomainParticipantFactory Quality of Servicepolicies ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

DomainParticipantListener (The DomainParticipantListener provides asynchronous notification ofDomainParticipant events ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

DomainParticipantQos (Structure that holds DomainParticipant Quality of Service policies ) . . . 69DurabilityQosPolicy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71DurabilityServiceQosPolicy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Duration_t (Duration_t is used to indicate a duration of time ) . . . . . . . . . . . . . . . . . . . . 73Entity (Base class for all DDS Entities ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74EntityFactoryQosPolicy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76GroupDataQosPolicy (Allows the application to attach arbitrary information to a Publisher or Sub-

scriber ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77GuardCondition (A GuardCondition is a Condition where the trigger_value is under application

control ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78HistoryQosPolicy (Controls the ammount of historical data maintained by a DataReader or

DataWriter ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79InconsistentTopicStatus (Status related to the on_inconsistent_topic listener methods of the Topi-

cListener structure ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80IpTransportInterface (Defines an interface for use by the UdpTransport ) . . . . . . . . . . . . . . ??LatencyBudgetQosPolicy (Specifies allowable latency ) . . . . . . . . . . . . . . . . . . . . . . . 81LifespanQosPolicy (Specifies the maximum duration of validity of the data written by the

DataWriter ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82LivelinessChangedStatus (Status related to the on_liveliness_changed listener methods of the

DataReader, Subscriber, and DomainParticipant structures ) . . . . . . . . . . . . . . . 83LivelinessLostStatus (Status related to the on_liveliness_lost listener methods of the DataWriter,

Publisher, and DomainParticipant structures ) . . . . . . . . . . . . . . . . . . . . . . . 84LivelinessQosPolicy (Determines the mechanism and parameters used by the application to deter-

mine whether an Entity is alive ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85LmtTransport (An instance of a LMT Transport that can be added to a DomainParticipant ) . . . . 86LmtTransportConfig (Structure that holds LMT Transport configuration items ) . . . . . . . . . . 87MultiTopic (DDS.MultiTopic provides a topic that may include data from multiple Topics ) . . . . 89OfferedDeadlineMissedStatus (Status related to the on_offered_deadline_missed listener methods

of the DataWriter, Publisher, and DomainParticipant structures ) . . . . . . . . . . . . . 90OfferedIncompatibleQosStatus (Status related to the on_offered_incompatible_qos listener meth-

ods of the DataWriter, Publisher, and DomainParticipant structures ) . . . . . . . . . . . 91OwnershipQosPolicy (Determines instance ownership in the case of multple writers. CoreDX DDS

supports both SHARED_OWNERSHIP_QOS and EXCLUSIVE_OWNERSHIP_QOS ) 92OwnershipStrengthQosPolicy (Defines the strength, or priority, of a Writer. The strength is used to

determine ownership in the case of EXCLUSIVE_OWNERSHIP_QOS. When multiplewriters publish data about the same instance, the stronger writer is considered the owner,and data from other writers is not delivered to the reader ) . . . . . . . . . . . . . . . . . 93

PartitionQosPolicy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94PresentationQosPolicy (Controls the presentation of received data samples to the applica-

tion. CoreDX DDS currently supports only the access_scope = INSTANCE_-PRESENTATION_QOS policy ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95


4.1 Class List 159

PublicationMatchedStatus (Status related to the on_publication_matched listener methods of theDataWriter, Publisher, and DomainParticipant structures ) . . . . . . . . . . . . . . . . 96

Publisher (The Publisher configures, creates, manages and destroys DataWriters ) . . . . . . . . . 97PublisherListener (The PublisherListener provides asynchronous notification of Publisher events ) 102PublisherQos (Structure that holds Publisher Quality of Service policies ) . . . . . . . . . . . . . 103QueryCondition (The trigger_value is driven by the data available, after applying the filter, in the

associated DataReader ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105ReadCondition (A ReadCondition is a specialized Condition associated with a DataReader ) . . . 107ReaderDataLifecycleQosPolicy (Specifies the lifecycle behavior of data instances managed by the

DataReader ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109ReliabilityQosPolicy (Indicates the level of reliability offered/provided by the Entity. If kind is

RELIABLE_RELIABILITY_QOS, then the middleware will attempt to deliver all sam-ples in the history cache. If samples are not received, then they will be retried ) . . . . . 110

RequestedDeadlineMissedStatus (Status related to the on_requested_deadline_missed listenermethods of the DataReader, Subscriber, and DomainParticipant structures ) . . . . . . . 111

RequestedIncompatibleQosStatus (Status related to the on_requested_incompatible_qos listenermethods of the DataReader, Subscriber, and DomainParticipant structures ) . . . . . . . 112

ResourceLimitsQosPolicy (Specifies the resources that the Service can use to maintain data samplesand instances ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

RTPSReaderQosPolicy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114RTPSWriterQosPolicy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115SampleInfo (The SampleInfo structure contains information associated with each Sample. The

DataReader.read() and take() operations return two vectors. One vector contains Sam-ple(s) and the other contains SampleInfo(s). There is a one-to-one correspondence be-tween items in these two vectors. Each Sample is described by the corresponding Sam-pleInfo instance ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

SampleLostStatus (Status related to the on_sample_lost listener methods of the DataReader, Sub-scriber, and DomainParticipant structures ) . . . . . . . . . . . . . . . . . . . . . . . . . 119

SampleRejectedStatus (Status related to the on_sample_rejected listener methods of theDataReader, Subscriber, and DomainParticipant structures ) . . . . . . . . . . . . . . . 120

SslTransport (An instance of a SSL Transport that can be added to a DomainParticipant ) . . . . . ??SslTransportConfig (Structure that holds SSL Transport configuration items ) . . . . . . . . . . . ??StatusCondition (A StatusCondition is a condition associated with an Entity. The trigger_value is

driven by the communication status of the associated Entity ) . . . . . . . . . . . . . . . 121Subscriber (The Subscriber configures, creates, manages and destroys DataReaders ) . . . . . . . 123SubscriberListener (The SubscriberListener provides asynchronous notification of Subscriber

events ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128SubscriberQos (Structure that holds DDS_Subscriber Quality of Service policies ) . . . . . . . . . 129SubscriptionMatchedStatus (Status related to the on_subscription_matched listener methods of the

DataReader, Subscriber, and DomainParticipant structures ) . . . . . . . . . . . . . . . 131TcpTransport (An instance of a TCP Transport that can be added to a DomainParticipant ) . . . . 132TcpTransportConfig (Structure that holds TCP Transport configuration items ) . . . . . . . . . . . 133ThreadModelQosPolicy (Configure the threading features of CoreDX DDS ) . . . . . . . . . . . . 135Time_t (Time_t is used to specify an point in time ) . . . . . . . . . . . . . . . . . . . . . . . . . 136


160 Data Structure Index

TimeBasedFilterQosPolicy (Defines a filter based on time between samples. The DataReader in-dicates that it wants at most one sample for each instance every minimum_separationinterval ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Topic (Topic is the basic description of data to be published or subscribed. A topic is identified by aname and a type. A Topic is created by calling DomainParticipant.create_topic(). Prior tocreating a Topic, the associated data type must be registered with the DomainParticipantvia a call to the TypeSupportXYZ.register_type() function. [The register_type() functionis auto-generated ’type-specific’ code.] ) . . . . . . . . . . . . . . . . . . . . . . . . . . 138

TopicDataQosPolicy (Allows the application to attach arbitrary information to a Topic QoS ) . . . 141TopicDescription (TopicDescription is an interface that provides the foundation for Topic, Content-

FilteredTopic, and MultiTopic ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142TopicListener (The TopicListener provides asynchronous notification of Topic events ) . . . . . . 143TopicQos (Structure that holds DDS_Topic Quality of Service policies ) . . . . . . . . . . . . . . 144Transport (An instance of a Transport that can be added to a DomainParticipant ) . . . . . . . . . 146TransportPriorityQosPolicy (A hint to the middleware to help configure the transport priority mech-

anism ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147UdpTransport (An instance of a Transport that can be added to a DomainParticipant ) . . . . . . . 148UdpTransportConfig (Structure that holds UDP Transport configuration items ) . . . . . . . . . . 149UserDataQosPolicy (Allows the application to attach arbitrary information to a DomainParticipant,

DataWriter or DataReader ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153WaitSet (A DDS_WaitSet maintains a set of Condition objects and allows the application to wait

until one or more of them have a trigger_value of TRUE ) . . . . . . . . . . . . . . . . 154WriterDataLifecycleQosPolicy (Specifies the lifecycle behavior of data instances managed by the

DataWriter. If autodispose_unregistered_instances is true, then the DataWriter will au-tomatically dispose any instances that are unregistered. Note: When a DataWriter isdeleted, it will automatically unregister all of its instances. With this policy == true, thenall instances will also be disposed ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156


Chapter 5

Not Yet Supported

Member begin_access() This is currently unsupported in the C# language binding.

Member begin_coherent_changes() This operation is not yet implemented.

Member create_multitopic(String name, String type_name, String subscription_expression, List< String > expression_params)This is currently unsupported in the C# language binding.

Member create_querycondition(uint sample_states, uint view_states, uint instance_states, String query_expression, List< String > query_parameters)QueryConditions are not yet supported as triggers for a WaitSet.

Member delete_multitopic(MultiTopic a_multitopic) This is currently unsupported in the C# languagebinding.

Member end_access() This is currently unsupported in the C# language binding.

Member end_coherent_changes() This operation is not yet implemented.

Member get_datareaders(List< DataReader > readers, long sample_states, long view_states, long instance_states)This is currently unsupported in the C# language binding.

Member get_discovered_topic_data(TopicBuiltinTopicData topic_data, InstanceHandle_t topic_handle)This is currently unsupported in the C# language binding.

162 Not Yet Supported

Member get_discovered_topics(List< InstanceHandle_t > topic_handles) This is currently unsup-ported in the C# language binding.

Member ignore_publication(InstanceHandle_t handle) This is currently unsupported in the C# languagebinding.

Member ignore_subscription(InstanceHandle_t handle) This is currently unsupported in the C# lan-guage binding.

Member ignore_topic(InstanceHandle_t handle) This is currently unsupported in the C# language bind-ing.

Class MultiTopic CoreDX DDS for C# does not yet implement MultiTopics.

Class QueryCondition CoreDX DDS does not yet support QueryConditions as triggers for a WaitSet.

Member resume_publications() This operation is not yet implemented.

Member suspend_publications() This operation is not yet implemented.


Index

absolute_generation_rankcom::toc::coredx::DDS::SampleInfo, 116

accept_batch_msgcom::toc::coredx::DDS::RTPSReaderQosPolicy,

114access_scope

com::toc::coredx::DDS::PresentationQosPolicy,95

ack_deadlinecom::toc::coredx::DDS::RTPSWriterQosPolicy,

115add_transport

com::toc::coredx::DDS::DomainParticipant, 52advertise_meta_multicast

com::toc::coredx::DDS::UdpTransportConfig,150

advertise_user_multicastcom::toc::coredx::DDS::UdpTransportConfig,

150ALIVE_INSTANCE_STATE

com::toc::coredx::DDS::DDS, 47ALL_STATUS

com::toc::coredx::DDS::DDS, 47ANY_INSTANCE_STATE

com::toc::coredx::DDS::DDS, 47ANY_SAMPLE_STATE

com::toc::coredx::DDS::DDS, 47ANY_VIEW_STATE

com::toc::coredx::DDS::DDS, 47apply_filters

com::toc::coredx::DDS::RTPSWriterQosPolicy,115

assert_livelinesscom::toc::coredx::DDS::DataWriter, 36com::toc::coredx::DDS::DomainParticipant, 53

attach_conditioncom::toc::coredx::DDS::WaitSet, 154

autodispose_unregistered_instancescom::toc::coredx::DDS::WriterDataLifecycleQosPolicy,

156autoenable_created_entities

com::toc::coredx::DDS::EntityFactoryQosPolicy,76

AUTOMATIC_LIVELINESS_QOSqos, 9

autopurge_disposed_samples_delaycom::toc::coredx::DDS::ReaderDataLifecycleQosPolicy,

109autopurge_nowriter_samples_delay

com::toc::coredx::DDS::ReaderDataLifecycleQosPolicy,109

begin_accesscom::toc::coredx::DDS::Subscriber, 124

begin_coherent_changescom::toc::coredx::DDS::Publisher, 98

BEST_EFFORT_RELIABILITY_QOSqos, 10

broadcast_addresscom::toc::coredx::DDS::UdpTransportConfig,

150BY_RECEPTION_TIMESTAMP_-

DESTINATIONORDER_QOSqos, 8

BY_SOURCE_TIMESTAMP_-DESTINATIONORDER_QOS

qos, 8

CENTRAL_DISCOVERY_QOSqos, 8

coherent_accesscom::toc::coredx::DDS::PresentationQosPolicy,

95com::toc::coredx::DDS::Condition, 21

164 INDEX

get_trigger_value, 22com::toc::coredx::DDS::ContentFilteredTopic, 23

get_expression_parameters, 24get_related_topic, 24set_expression_parameters, 24

com::toc::coredx::DDS::DataReader, 26create_querycondition, 27create_readcondition, 27delete_contained_entities, 28delete_readcondition, 28enable, 28get_instance_handle, 28get_listener, 29get_liveliness_changed_status, 29get_matched_publications, 29get_qos, 29get_requested_deadline_missed_status, 29get_requested_incompatible_qos_status, 29get_sample_lost_status, 30get_sample_rejected_status, 30get_subscriber, 30get_subscription_matched_status, 30get_topicdescription, 30set_listener, 30set_qos, 30wait_for_historical_data, 31

com::toc::coredx::DDS::DataReaderListener, 32on_data_available, 32on_liveliness_changed, 32on_requested_deadline_missed, 32on_requested_incompatible_qos, 32on_sample_lost, 32on_sample_rejected, 32on_subscription_matched, 32

com::toc::coredx::DDS::DataReaderQos, 33deadline, 33destination_order, 33durability, 33history, 34latency_budget, 34liveliness, 34ownership, 34reader_data_lifecycle, 34reliability, 34resource_limits, 34time_based_filter, 34

user_data, 34com::toc::coredx::DDS::DataWriter, 35

assert_liveliness, 36enable, 36get_instance_handle, 36get_listener, 36get_liveliness_lost_status, 36get_matched_subscription_data, 36get_matched_subscriptions, 37get_offered_deadline_missed_status, 37get_offered_incompatible_qos_status, 37get_publication_matched_status, 37get_publisher, 37get_qos, 37get_topic, 38set_listener, 38set_qos, 38wait_for_acknowledgments, 38

com::toc::coredx::DDS::DataWriterListener, 39on_liveliness_lost, 39on_offered_deadline_missed, 39on_offered_incompatible_qos, 39on_publication_matched, 39

com::toc::coredx::DDS::DataWriterQos, 40deadline, 40destination_order, 40durability, 40durability_service, 41history, 41latency_budget, 41lifespan, 41liveliness, 41ownership, 41ownership_strength, 41reliability, 41resource_limits, 41transport_priority, 41user_data, 42writer_data_lifecycle, 42

com::toc::coredx::DDS::DDS, 43ALIVE_INSTANCE_STATE, 47ALL_STATUS, 47ANY_INSTANCE_STATE, 47ANY_SAMPLE_STATE, 47ANY_VIEW_STATE, 47DATA_AVAILABLE_STATUS, 47


INDEX 165

DATA_ON_READERS_STATUS, 47DATA_REPRESENTATION_QOS_POLICY_-

ID, 47DATAREADER_QOS_DEFAULT, 47DATAWRITER_QOS_DEFAULT, 47DEADLINE_QOS_POLICY_ID, 47DESTINATIONORDER_QOS_POLICY_ID,

47DURABILITY_QOS_POLICY_ID, 47DURABILITYSERVICE_QOS_POLICY_ID,

47DURATION_INFINITE_NSEC, 47DURATION_INFINITE_SEC, 47DURATION_ZERO_NSEC, 47DURATION_ZERO_SEC, 47ENTITYFACTORY_QOS_POLICY_ID, 47GROUPDATA_QOS_POLICY_ID, 47HANDLE_NIL, 47HISTORY_QOS_POLICY_ID, 47INCONSISTENT_TOPIC_STATUS, 47LATENCYBUDGET_QOS_POLICY_ID, 47LENGTH_UNLIMITED, 47LIFESPAN_QOS_POLICY_ID, 47LIVELINESS_CHANGED_STATUS, 47LIVELINESS_LOST_STATUS, 47LIVELINESS_QOS_POLICY_ID, 47NEW_VIEW_STATE, 47NOT_ALIVE_DISPOSED_INSTANCE_-

STATE, 47NOT_ALIVE_INSTANCE_STATE, 47NOT_ALIVE_NO_WRITERS_INSTANCE_-

STATE, 47NOT_NEW_VIEW_STATE, 47NOT_READ_SAMPLE_STATE, 47OFFERED_DEADLINE_MISSED_STATUS,

47OFFERED_INCOMPATIBLE_QOS_STATUS,

47OWNERSHIP_QOS_POLICY_ID, 47OWNERSHIPSTRENGTH_QOS_POLICY_-

ID, 47PARTICIPANT_QOS_DEFAULT, 47PARTITION_QOS_POLICY_ID, 47PRESENTATION_QOS_POLICY_ID, 47PUBLICATION_MATCHED_STATUS, 47PUBLISHER_QOS_DEFAULT, 47

READ_SAMPLE_STATE, 47READERDATALIFECYCLE_QOS_-

POLICY_ID, 47RELIABILITY_QOS_POLICY_ID, 47REQUESTED_DEADLINE_MISSED_-

STATUS, 47REQUESTED_INCOMPATIBLE_QOS_-

STATUS, 47RESOURCELIMITS_QOS_POLICY_ID, 47RETCODE_ALREADY_DELETED, 47RETCODE_BAD_PARAMETER, 47RETCODE_ERROR, 47RETCODE_IMMUTABLE_POLICY, 47RETCODE_INCONSISTENT_POLICY, 47RETCODE_NO_DATA, 47RETCODE_NOT_ENABLED, 47RETCODE_OK, 47RETCODE_OUT_OF_RESOURCES, 47RETCODE_PRECONDITION_NOT_MET, 47RETCODE_TIMEOUT, 47RETCODE_UNSUPPORTED, 47SAMPLE_LOST_STATUS, 47SAMPLE_REJECTED_STATUS, 47SUBSCRIBER_QOS_DEFAULT, 47SUBSCRIPTION_MATCHED_STATUS, 47TIMEBASEDFILTER_QOS_POLICY_ID, 47TIMESTAMP_INVALID_NSEC, 47TIMESTAMP_INVALID_SEC, 47TOPIC_QOS_DEFAULT, 47TOPICDATA_QOS_POLICY_ID, 47TRANSPORTPRIORITY_QOS_POLICY_ID,

47USERDATA_QOS_POLICY_ID, 47WRITERDATALIFECYCLE_QOS_-

POLICY_ID, 47com::toc::coredx::DDS::DeadlineQosPolicy, 48

period, 48com::toc::coredx::DDS::DestinationOrderQosPolicy,

49kind, 49

com::toc::coredx::DDS::DomainEntity, 50com::toc::coredx::DDS::DomainParticipant, 51

add_transport, 52assert_liveliness, 53contains_entity, 53create_contentfilteredtopic, 53


166 INDEX

create_multitopic, 53create_publisher, 54create_subscriber, 54create_topic, 54delete_contained_entities, 54delete_contentfilteredtopic, 55delete_multitopic, 55delete_publisher, 55delete_subscriber, 55delete_topic, 55do_work, 56enable, 56find_topic, 56get_builtin_subscriber, 57get_current_time, 57get_default_publisher_qos, 57get_default_subscriber_qos, 57get_default_topic_qos, 57get_discovered_participant_data, 57get_discovered_participants, 58get_discovered_topic_data, 58get_discovered_topics, 58get_domain_id, 58get_instance_handle, 58get_listener, 59get_qos, 59ignore_participant, 59ignore_publication, 59ignore_subscription, 59ignore_topic, 60lookup_topicdescription, 60register_type, 60set_default_publisher_qos, 60set_default_subscriber_qos, 60set_default_topic_qos, 61set_listener, 61set_qos, 61

com::toc::coredx::DDS::DomainParticipantFactory,62

create_participant, 63delete_participant, 63get_default_participant_qos, 63get_instance, 63Instance, 65lookup_participant, 63set_default_participant_qos, 64

set_license, 64set_license_debug, 64set_qos, 64

com::toc::coredx::DDS::DomainParticipantFactoryQos,66

entity_factory, 66com::toc::coredx::DDS::DomainParticipantListener,

67on_data_available, 68on_data_on_readers, 68on_inconsistent_topic, 68on_liveliness_changed, 68on_liveliness_lost, 68on_offered_deadline_missed, 68on_offered_incompatible_qos, 68on_publication_matched, 68on_requested_deadline_missed, 68on_requested_incompatible_qos, 68on_sample_lost, 68on_sample_rejected, 68on_subscription_matched, 68

com::toc::coredx::DDS::DomainParticipantQos, 69discovery, 69entity_factory, 69entity_name, 69logging, 69peer_participants, 70thread_model, 70user_data, 70

com::toc::coredx::DDS::DurabilityQosPolicy, 71kind, 71

com::toc::coredx::DDS::DurabilityServiceQosPolicy,72

history_depth, 72history_kind, 72max_instances, 72max_samples, 72max_samples_per_instance, 72service_cleanup_delay, 72

com::toc::coredx::DDS::Duration_t, 73nanosec, 73sec, 73

com::toc::coredx::DDS::Entity, 74enable, 74get_instance_handle, 74get_status_changes, 74


INDEX 167

get_statuscondition, 74com::toc::coredx::DDS::EntityFactoryQosPolicy, 76

autoenable_created_entities, 76com::toc::coredx::DDS::GroupDataQosPolicy, 77

value, 77com::toc::coredx::DDS::GuardCondition, 78

GuardCondition, 78com::toc::coredx::DDS::HistoryQosPolicy, 79

depth, 79kind, 79

com::toc::coredx::DDS::InconsistentTopicStatus, 80com::toc::coredx::DDS::LatencyBudgetQosPolicy,

81duration, 81

com::toc::coredx::DDS::LifespanQosPolicy, 82duration, 82

com::toc::coredx::DDS::LivelinessChangedStatus,83

com::toc::coredx::DDS::LivelinessLostStatus, 84com::toc::coredx::DDS::LivelinessQosPolicy, 85

kind, 85lease_duration, 85

com::toc::coredx::DDS::LmtTransport, 86com::toc::coredx::DDS::LmtTransportConfig, 87

debug_flags, 88get_default_config, 87get_env_config, 87max_rx_buf_size, 88max_tx_size, 88so_rcvbuf, 88so_sndbuf, 88

com::toc::coredx::DDS::MultiTopic, 89com::toc::coredx::DDS::OfferedDeadlineMissedStatus,

90com::toc::coredx::DDS::OfferedIncompatibleQosStatus,

91com::toc::coredx::DDS::OwnershipQosPolicy, 92

kind, 92com::toc::coredx::DDS::OwnershipStrengthQosPolicy,

93value, 93

com::toc::coredx::DDS::PartitionQosPolicy, 94name, 94

com::toc::coredx::DDS::PresentationQosPolicy, 95access_scope, 95coherent_access, 95

ordered_access, 95com::toc::coredx::DDS::PublicationMatchedStatus,

96com::toc::coredx::DDS::Publisher, 97

begin_coherent_changes, 98copy_from_topic_qos, 98create_datawriter, 98delete_contained_entities, 98delete_datawriter, 98enable, 98end_coherent_changes, 99get_default_datawriter_qos, 99get_instance_handle, 99get_listener, 99get_participant, 99get_qos, 99lookup_datawriter, 100resume_publications, 100set_default_datawriter_qos, 100set_listener, 100set_qos, 100suspend_publications, 100wait_for_acknowledgments, 101

com::toc::coredx::DDS::PublisherListener, 102on_liveliness_lost, 102on_offered_deadline_missed, 102on_offered_incompatible_qos, 102on_publication_matched, 102

com::toc::coredx::DDS::PublisherQos, 103entity_factory, 103group_data, 103partition, 103presentation, 103

com::toc::coredx::DDS::QueryCondition, 105get_query_expression, 106get_query_parameters, 106set_query_parameters, 106

com::toc::coredx::DDS::ReadCondition, 107get_datareader, 107get_instance_state_mask, 107get_sample_state_mask, 107get_view_state_mask, 108

com::toc::coredx::DDS::ReaderDataLifecycleQosPolicy,109

autopurge_disposed_samples_delay, 109autopurge_nowriter_samples_delay, 109


168 INDEX

com::toc::coredx::DDS::ReliabilityQosPolicy, 110kind, 110max_blocking_time, 110

com::toc::coredx::DDS::RequestedDeadlineMissedStatus,111

com::toc::coredx::DDS::RequestedIncompatibleQosStatus,112

com::toc::coredx::DDS::ResourceLimitsQosPolicy,113

max_instances, 113max_samples, 113max_samples_per_instance, 113

com::toc::coredx::DDS::RTPSReaderQosPolicy, 114accept_batch_msg, 114heartbeat_response_delay, 114precache_max_samples, 114send_initial_nack, 114send_typecode, 114

com::toc::coredx::DDS::RTPSWriterQosPolicy, 115ack_deadline, 115apply_filters, 115enable_batch_msg, 115heartbeat_period, 115max_buffer_size, 115min_buffer_size, 115nack_response_delay, 115nack_suppress_delay, 115send_typecode, 115

com::toc::coredx::DDS::SampleInfo, 116absolute_generation_rank, 116disposed_generation_count, 116generation_rank, 116instance_handle, 117instance_state, 117no_writers_generation_count, 117publication_handle, 117reception_timestamp, 117sample_rank, 117sample_state, 117source_timestamp, 118valid_data, 118view_state, 118

com::toc::coredx::DDS::SampleLostStatus, 119com::toc::coredx::DDS::SampleRejectedStatus, 120com::toc::coredx::DDS::StatusCondition, 121

get_enabled_statuses, 121

get_entity, 121set_enabled_statuses, 121

com::toc::coredx::DDS::Subscriber, 123begin_access, 124copy_from_topic_qos, 124create_datareader, 124delete_contained_entities, 124delete_datareader, 124enable, 125end_access, 125get_datareaders, 125get_default_datareader_qos, 126get_instance_handle, 126get_listener, 126get_participant, 126get_qos, 126lookup_datareader, 126set_default_datareader_qos, 127set_listener, 127set_qos, 127

com::toc::coredx::DDS::SubscriberListener, 128on_data_available, 128on_data_on_readers, 128on_liveliness_changed, 128on_requested_deadline_missed, 128on_requested_incompatible_qos, 128on_sample_lost, 128on_sample_rejected, 128on_subscription_matched, 128

com::toc::coredx::DDS::SubscriberQos, 129entity_factory, 129group_data, 129partition, 129presentation, 129

com::toc::coredx::DDS::SubscriptionMatchedStatus,131

com::toc::coredx::DDS::TcpTransport, 132com::toc::coredx::DDS::TcpTransportConfig, 133

dynamic_interfaces, 134get_default_config, 133get_env_config, 133interfaces, 134participant_index, 134tx_max_packet_size, 134

com::toc::coredx::DDS::ThreadModelQosPolicy,135


INDEX 169

create_listener_thread, 135use_threads, 135

com::toc::coredx::DDS::Time_t, 136nanosec, 136sec, 136

com::toc::coredx::DDS::TimeBasedFilterQosPolicy,137

minimum_separation, 137com::toc::coredx::DDS::Topic, 138

enable, 139get_inconsistent_topic_status, 139get_instance_handle, 139get_listener, 139get_qos, 139set_listener, 139set_qos, 140

com::toc::coredx::DDS::TopicDataQosPolicy, 141value, 141

com::toc::coredx::DDS::TopicDescription, 142com::toc::coredx::DDS::TopicListener, 143

on_inconsistent_topic, 143com::toc::coredx::DDS::TopicQos, 144

deadline, 145destination_order, 145durability, 145durability_service, 145history, 145latency_budget, 145lifespan, 145liveliness, 145ownership, 145reliability, 145resource_limits, 145topic_data, 145transport_priority, 145

com::toc::coredx::DDS::Transport, 146com::toc::coredx::DDS::TransportPriorityQosPolicy,

147value, 147

com::toc::coredx::DDS::UdpTransport, 148com::toc::coredx::DDS::UdpTransportConfig, 149

advertise_meta_multicast, 150advertise_user_multicast, 150broadcast_address, 150debug_flags, 150do_meta_broadcast, 150

dynamic_interfaces, 150get_default_config, 150get_env_config, 150interfaces, 150multicast_address_v4, 151multicast_address_v6, 151multicast_ttl, 151participant_index, 151rx_init_buffer_size, 151rx_max_buffer_size, 151rx_meta_multicast, 151rx_user_multicast, 151so_rcvbuf, 151so_sndbuf, 151tx_max_packet_size, 152tx_meta_multicast, 152tx_meta_unicast, 152use_ipv4, 152use_ipv6, 152

com::toc::coredx::DDS::UserDataQosPolicy, 153value, 153

com::toc::coredx::DDS::WaitSet, 154attach_condition, 154destroy, 154detach_condition, 154get_conditions, 155wait, 155WaitSet, 154

com::toc::coredx::DDS::WriterDataLifecycleQosPolicy,156

autodispose_unregistered_instances, 156contains_entity

com::toc::coredx::DDS::DomainParticipant, 53copy_from_topic_qos

com::toc::coredx::DDS::Publisher, 98com::toc::coredx::DDS::Subscriber, 124

CoreDX DDS DynamicType, 17CoreDX DDS Tranpsorts, 19create_contentfilteredtopic

com::toc::coredx::DDS::DomainParticipant, 53create_datareader

com::toc::coredx::DDS::Subscriber, 124create_datawriter

com::toc::coredx::DDS::Publisher, 98create_listener_thread


170 INDEX

com::toc::coredx::DDS::ThreadModelQosPolicy,135

create_multitopiccom::toc::coredx::DDS::DomainParticipant, 53

create_participantcom::toc::coredx::DDS::DomainParticipantFactory,

63create_publisher

com::toc::coredx::DDS::DomainParticipant, 54create_querycondition

com::toc::coredx::DDS::DataReader, 27create_readcondition

com::toc::coredx::DDS::DataReader, 27create_subscriber

com::toc::coredx::DDS::DomainParticipant, 54create_topic

com::toc::coredx::DDS::DomainParticipant, 54

DATA_AVAILABLE_STATUScom::toc::coredx::DDS::DDS, 47

DATA_ON_READERS_STATUScom::toc::coredx::DDS::DDS, 47

DATA_REPRESENTATION_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

DATAREADER_QOS_DEFAULTcom::toc::coredx::DDS::DDS, 47

DATAWRITER_QOS_DEFAULTcom::toc::coredx::DDS::DDS, 47

DDS Builtin Entities and Data Types, 18DDS Conditions, 13DDS Conditions, Listeners, and WaitSets, 11DDS Entities, 5DDS Listeners, 12DDS Quality of Service, 7DDS Status Structures, 15DDS WaitSets, 14deadline

com::toc::coredx::DDS::DataReaderQos, 33com::toc::coredx::DDS::DataWriterQos, 40com::toc::coredx::DDS::TopicQos, 145

DEADLINE_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

debug_flagscom::toc::coredx::DDS::LmtTransportConfig,

88


delete_contained_entitiescom::toc::coredx::DDS::DataReader, 28com::toc::coredx::DDS::DomainParticipant, 54com::toc::coredx::DDS::Publisher, 98com::toc::coredx::DDS::Subscriber, 124

delete_contentfilteredtopiccom::toc::coredx::DDS::DomainParticipant, 55

delete_datareadercom::toc::coredx::DDS::Subscriber, 124

delete_datawritercom::toc::coredx::DDS::Publisher, 98

delete_multitopiccom::toc::coredx::DDS::DomainParticipant, 55

delete_participantcom::toc::coredx::DDS::DomainParticipantFactory,

63delete_publisher

com::toc::coredx::DDS::DomainParticipant, 55delete_readcondition

com::toc::coredx::DDS::DataReader, 28delete_subscriber

com::toc::coredx::DDS::DomainParticipant, 55delete_topic

com::toc::coredx::DDS::DomainParticipant, 55depth

com::toc::coredx::DDS::HistoryQosPolicy, 79destination_order


DESTINATIONORDER_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

DestinationOrderQosPolicyKindqos, 8

destroycom::toc::coredx::DDS::WaitSet, 154

detach_conditioncom::toc::coredx::DDS::WaitSet, 154

discoverycom::toc::coredx::DDS::DomainParticipantQos,

69DiscoveryQosPolicyDiscoveryKind

qos, 8disposed_generation_count


INDEX 171

com::toc::coredx::DDS::SampleInfo, 116do_meta_broadcast


do_workcom::toc::coredx::DDS::DomainParticipant, 56

durabilitycom::toc::coredx::DDS::DataReaderQos, 33com::toc::coredx::DDS::DataWriterQos, 40com::toc::coredx::DDS::TopicQos, 145

DURABILITY_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

durability_servicecom::toc::coredx::DDS::DataWriterQos, 41com::toc::coredx::DDS::TopicQos, 145

DurabilityQosPolicyKindqos, 8

DURABILITYSERVICE_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

durationcom::toc::coredx::DDS::LatencyBudgetQosPolicy,

81com::toc::coredx::DDS::LifespanQosPolicy, 82

DURATION_INFINITE_NSECcom::toc::coredx::DDS::DDS, 47

DURATION_INFINITE_SECcom::toc::coredx::DDS::DDS, 47

DURATION_ZERO_NSECcom::toc::coredx::DDS::DDS, 47

DURATION_ZERO_SECcom::toc::coredx::DDS::DDS, 47

dynamic_interfacescom::toc::coredx::DDS::TcpTransportConfig,

134com::toc::coredx::DDS::UdpTransportConfig,

150

enablecom::toc::coredx::DDS::DataReader, 28com::toc::coredx::DDS::DataWriter, 36com::toc::coredx::DDS::DomainParticipant, 56com::toc::coredx::DDS::Entity, 74com::toc::coredx::DDS::Publisher, 98com::toc::coredx::DDS::Subscriber, 125com::toc::coredx::DDS::Topic, 139

enable_batch_msg


end_accesscom::toc::coredx::DDS::Subscriber, 125

end_coherent_changescom::toc::coredx::DDS::Publisher, 99

entity_factorycom::toc::coredx::DDS::DomainParticipantFactoryQos,

66com::toc::coredx::DDS::DomainParticipantQos,

69com::toc::coredx::DDS::PublisherQos, 103com::toc::coredx::DDS::SubscriberQos, 129

entity_namecom::toc::coredx::DDS::DomainParticipantQos,

69ENTITYFACTORY_QOS_POLICY_ID

com::toc::coredx::DDS::DDS, 47EXCLUSIVE_OWNERSHIP_QOS

qos, 9

find_topiccom::toc::coredx::DDS::DomainParticipant, 56

generation_rankcom::toc::coredx::DDS::SampleInfo, 116

get_builtin_subscribercom::toc::coredx::DDS::DomainParticipant, 57

get_conditionscom::toc::coredx::DDS::WaitSet, 155

get_current_timecom::toc::coredx::DDS::DomainParticipant, 57

get_datareadercom::toc::coredx::DDS::ReadCondition, 107

get_datareaderscom::toc::coredx::DDS::Subscriber, 125

get_default_configcom::toc::coredx::DDS::LmtTransportConfig,

87com::toc::coredx::DDS::TcpTransportConfig,


150get_default_datareader_qos

com::toc::coredx::DDS::Subscriber, 126get_default_datawriter_qos


172 INDEX

com::toc::coredx::DDS::Publisher, 99get_default_participant_qos


get_default_publisher_qoscom::toc::coredx::DDS::DomainParticipant, 57

get_default_subscriber_qoscom::toc::coredx::DDS::DomainParticipant, 57

get_default_topic_qoscom::toc::coredx::DDS::DomainParticipant, 57

get_discovered_participant_datacom::toc::coredx::DDS::DomainParticipant, 57

get_discovered_participantscom::toc::coredx::DDS::DomainParticipant, 58

get_discovered_topic_datacom::toc::coredx::DDS::DomainParticipant, 58

get_discovered_topicscom::toc::coredx::DDS::DomainParticipant, 58

get_domain_idcom::toc::coredx::DDS::DomainParticipant, 58

get_enabled_statusescom::toc::coredx::DDS::StatusCondition, 121

get_entitycom::toc::coredx::DDS::StatusCondition, 121

get_env_configcom::toc::coredx::DDS::LmtTransportConfig,

87com::toc::coredx::DDS::TcpTransportConfig,


150get_expression_parameters

com::toc::coredx::DDS::ContentFilteredTopic,24

get_inconsistent_topic_statuscom::toc::coredx::DDS::Topic, 139

get_instancecom::toc::coredx::DDS::DomainParticipantFactory,

63get_instance_handle

com::toc::coredx::DDS::DataReader, 28com::toc::coredx::DDS::DataWriter, 36com::toc::coredx::DDS::DomainParticipant, 58com::toc::coredx::DDS::Entity, 74com::toc::coredx::DDS::Publisher, 99com::toc::coredx::DDS::Subscriber, 126

com::toc::coredx::DDS::Topic, 139get_instance_state_mask

com::toc::coredx::DDS::ReadCondition, 107get_listener

com::toc::coredx::DDS::DataReader, 29com::toc::coredx::DDS::DataWriter, 36com::toc::coredx::DDS::DomainParticipant, 59com::toc::coredx::DDS::Publisher, 99com::toc::coredx::DDS::Subscriber, 126com::toc::coredx::DDS::Topic, 139

get_liveliness_changed_statuscom::toc::coredx::DDS::DataReader, 29

get_liveliness_lost_statuscom::toc::coredx::DDS::DataWriter, 36

get_matched_publicationscom::toc::coredx::DDS::DataReader, 29

get_matched_subscription_datacom::toc::coredx::DDS::DataWriter, 36

get_matched_subscriptionscom::toc::coredx::DDS::DataWriter, 37

get_offered_deadline_missed_statuscom::toc::coredx::DDS::DataWriter, 37

get_offered_incompatible_qos_statuscom::toc::coredx::DDS::DataWriter, 37

get_participantcom::toc::coredx::DDS::Publisher, 99com::toc::coredx::DDS::Subscriber, 126

get_publication_matched_statuscom::toc::coredx::DDS::DataWriter, 37

get_publishercom::toc::coredx::DDS::DataWriter, 37

get_qoscom::toc::coredx::DDS::DataReader, 29com::toc::coredx::DDS::DataWriter, 37com::toc::coredx::DDS::DomainParticipant, 59com::toc::coredx::DDS::Publisher, 99com::toc::coredx::DDS::Subscriber, 126com::toc::coredx::DDS::Topic, 139

get_query_expressioncom::toc::coredx::DDS::QueryCondition, 106

get_query_parameterscom::toc::coredx::DDS::QueryCondition, 106

get_related_topiccom::toc::coredx::DDS::ContentFilteredTopic,

24get_requested_deadline_missed_status


INDEX 173

com::toc::coredx::DDS::DataReader, 29get_requested_incompatible_qos_status

com::toc::coredx::DDS::DataReader, 29get_sample_lost_status

com::toc::coredx::DDS::DataReader, 30get_sample_rejected_status

com::toc::coredx::DDS::DataReader, 30get_sample_state_mask

com::toc::coredx::DDS::ReadCondition, 107get_status_changes

com::toc::coredx::DDS::Entity, 74get_statuscondition

com::toc::coredx::DDS::Entity, 74get_subscriber

com::toc::coredx::DDS::DataReader, 30get_subscription_matched_status

com::toc::coredx::DDS::DataReader, 30get_topic

com::toc::coredx::DDS::DataWriter, 38get_topicdescription

com::toc::coredx::DDS::DataReader, 30get_trigger_value

com::toc::coredx::DDS::Condition, 22get_view_state_mask

com::toc::coredx::DDS::ReadCondition, 108GROUP_PRESENTATION_QOS

qos, 10group_data

com::toc::coredx::DDS::PublisherQos, 103com::toc::coredx::DDS::SubscriberQos, 129

GROUPDATA_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

GuardConditioncom::toc::coredx::DDS::GuardCondition, 78

HANDLE_NILcom::toc::coredx::DDS::DDS, 47

heartbeat_periodcom::toc::coredx::DDS::RTPSWriterQosPolicy,

115heartbeat_response_delay

com::toc::coredx::DDS::RTPSReaderQosPolicy,114

historycom::toc::coredx::DDS::DataReaderQos, 34com::toc::coredx::DDS::DataWriterQos, 41

com::toc::coredx::DDS::TopicQos, 145history_depth


history_kindcom::toc::coredx::DDS::DurabilityServiceQosPolicy,

72HISTORY_QOS_POLICY_ID

com::toc::coredx::DDS::DDS, 47HistoryQosPolicyKind

qos, 9

ignore_participantcom::toc::coredx::DDS::DomainParticipant, 59

ignore_publicationcom::toc::coredx::DDS::DomainParticipant, 59

ignore_subscriptioncom::toc::coredx::DDS::DomainParticipant, 59

ignore_topiccom::toc::coredx::DDS::DomainParticipant, 60

INCONSISTENT_TOPIC_STATUScom::toc::coredx::DDS::DDS, 47

Instancecom::toc::coredx::DDS::DomainParticipantFactory,

65INSTANCE_PRESENTATION_QOS

qos, 10instance_handle

com::toc::coredx::DDS::SampleInfo, 117instance_state

com::toc::coredx::DDS::SampleInfo, 117interfaces

com::toc::coredx::DDS::TcpTransportConfig,134


KEEP_ALL_HISTORY_QOSqos, 9

KEEP_LAST_HISTORY_QOSqos, 9

kindcom::toc::coredx::DDS::DestinationOrderQosPolicy,

49com::toc::coredx::DDS::DurabilityQosPolicy,

71


174 INDEX

com::toc::coredx::DDS::HistoryQosPolicy, 79com::toc::coredx::DDS::LivelinessQosPolicy,

85com::toc::coredx::DDS::OwnershipQosPolicy,

92com::toc::coredx::DDS::ReliabilityQosPolicy,

110

latency_budgetcom::toc::coredx::DDS::DataReaderQos, 34com::toc::coredx::DDS::DataWriterQos, 41com::toc::coredx::DDS::TopicQos, 145

LATENCYBUDGET_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

lease_durationcom::toc::coredx::DDS::LivelinessQosPolicy,

85LENGTH_UNLIMITED

com::toc::coredx::DDS::DDS, 47lifespan

com::toc::coredx::DDS::DataWriterQos, 41com::toc::coredx::DDS::TopicQos, 145

LIFESPAN_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

livelinesscom::toc::coredx::DDS::DataReaderQos, 34com::toc::coredx::DDS::DataWriterQos, 41com::toc::coredx::DDS::TopicQos, 145

LIVELINESS_CHANGED_STATUScom::toc::coredx::DDS::DDS, 47

LIVELINESS_LOST_STATUScom::toc::coredx::DDS::DDS, 47

LIVELINESS_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

LivelinessQosPolicyKindqos, 9

loggingcom::toc::coredx::DDS::DomainParticipantQos,

69lookup_datareader

com::toc::coredx::DDS::Subscriber, 126lookup_datawriter

com::toc::coredx::DDS::Publisher, 100lookup_participant


lookup_topicdescriptioncom::toc::coredx::DDS::DomainParticipant, 60

MANUAL_BY_PARTICIPANT_LIVELINESS_-QOS

qos, 9MANUAL_BY_TOPIC_LIVELINESS_QOS

qos, 9max_blocking_time

com::toc::coredx::DDS::ReliabilityQosPolicy,110

max_buffer_sizecom::toc::coredx::DDS::RTPSWriterQosPolicy,

115max_instances



max_rx_buf_sizecom::toc::coredx::DDS::LmtTransportConfig,

88max_samples



max_samples_per_instancecom::toc::coredx::DDS::DurabilityServiceQosPolicy,

72com::toc::coredx::DDS::ResourceLimitsQosPolicy,

113max_tx_size

com::toc::coredx::DDS::LmtTransportConfig,88

min_buffer_sizecom::toc::coredx::DDS::RTPSWriterQosPolicy,

115minimum_separation

com::toc::coredx::DDS::TimeBasedFilterQosPolicy,137

multicast_address_v4com::toc::coredx::DDS::UdpTransportConfig,

151multicast_address_v6


INDEX 175


multicast_ttlcom::toc::coredx::DDS::UdpTransportConfig,

151

nack_response_delaycom::toc::coredx::DDS::RTPSWriterQosPolicy,

115nack_suppress_delay


namecom::toc::coredx::DDS::PartitionQosPolicy, 94

nanoseccom::toc::coredx::DDS::Duration_t, 73com::toc::coredx::DDS::Time_t, 136

NEW_VIEW_STATEcom::toc::coredx::DDS::DDS, 47

no_writers_generation_countcom::toc::coredx::DDS::SampleInfo, 117

NOT_REJECTEDstatus, 16

NOT_ALIVE_DISPOSED_INSTANCE_STATEcom::toc::coredx::DDS::DDS, 47

NOT_ALIVE_INSTANCE_STATEcom::toc::coredx::DDS::DDS, 47

NOT_ALIVE_NO_WRITERS_INSTANCE_STATEcom::toc::coredx::DDS::DDS, 47

NOT_NEW_VIEW_STATEcom::toc::coredx::DDS::DDS, 47

NOT_READ_SAMPLE_STATEcom::toc::coredx::DDS::DDS, 47

OFFERED_DEADLINE_MISSED_STATUScom::toc::coredx::DDS::DDS, 47

OFFERED_INCOMPATIBLE_QOS_STATUScom::toc::coredx::DDS::DDS, 47

on_data_availablecom::toc::coredx::DDS::DataReaderListener,

32com::toc::coredx::DDS::DomainParticipantListener,

68com::toc::coredx::DDS::SubscriberListener,

128on_data_on_readers

com::toc::coredx::DDS::DomainParticipantListener,68

com::toc::coredx::DDS::SubscriberListener,128

on_inconsistent_topiccom::toc::coredx::DDS::DomainParticipantListener,

68com::toc::coredx::DDS::TopicListener, 143

on_liveliness_changedcom::toc::coredx::DDS::DataReaderListener,



128on_liveliness_lost

com::toc::coredx::DDS::DataWriterListener, 39com::toc::coredx::DDS::DomainParticipantListener,

68com::toc::coredx::DDS::PublisherListener, 102

on_offered_deadline_missedcom::toc::coredx::DDS::DataWriterListener, 39com::toc::coredx::DDS::DomainParticipantListener,


on_offered_incompatible_qoscom::toc::coredx::DDS::DataWriterListener, 39com::toc::coredx::DDS::DomainParticipantListener,


on_publication_matchedcom::toc::coredx::DDS::DataWriterListener, 39com::toc::coredx::DDS::DomainParticipantListener,


on_requested_deadline_missedcom::toc::coredx::DDS::DataReaderListener,



128on_requested_incompatible_qos

com::toc::coredx::DDS::DataReaderListener,32


176 INDEX



on_sample_lostcom::toc::coredx::DDS::DataReaderListener,



128on_sample_rejected

com::toc::coredx::DDS::DataReaderListener,32



on_subscription_matchedcom::toc::coredx::DDS::DataReaderListener,



128ordered_access

com::toc::coredx::DDS::PresentationQosPolicy,95

ownershipcom::toc::coredx::DDS::DataReaderQos, 34com::toc::coredx::DDS::DataWriterQos, 41com::toc::coredx::DDS::TopicQos, 145

OWNERSHIP_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

ownership_strengthcom::toc::coredx::DDS::DataWriterQos, 41

OwnershipQosPolicyKindqos, 9

OWNERSHIPSTRENGTH_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

participant_indexcom::toc::coredx::DDS::TcpTransportConfig,


151

PARTICIPANT_QOS_DEFAULTcom::toc::coredx::DDS::DDS, 47

partitioncom::toc::coredx::DDS::PublisherQos, 103com::toc::coredx::DDS::SubscriberQos, 129

PARTITION_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

PEER_DISCOVERY_QOSqos, 8

peer_participantscom::toc::coredx::DDS::DomainParticipantQos,

70period

com::toc::coredx::DDS::DeadlineQosPolicy, 48PERSISTENT_DURABILITY_QOS

qos, 9precache_max_samples


presentationcom::toc::coredx::DDS::PublisherQos, 103com::toc::coredx::DDS::SubscriberQos, 129

PRESENTATION_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

PresentationQosPolicyAccessScopeKindqos, 9

publication_handlecom::toc::coredx::DDS::SampleInfo, 117

PUBLICATION_MATCHED_STATUScom::toc::coredx::DDS::DDS, 47

PUBLISHER_QOS_DEFAULTcom::toc::coredx::DDS::DDS, 47

qosAUTOMATIC_LIVELINESS_QOS, 9BEST_EFFORT_RELIABILITY_QOS, 10BY_RECEPTION_TIMESTAMP_-

DESTINATIONORDER_QOS, 8BY_SOURCE_TIMESTAMP_-

DESTINATIONORDER_QOS, 8CENTRAL_DISCOVERY_QOS, 8DestinationOrderQosPolicyKind, 8DiscoveryQosPolicyDiscoveryKind, 8DurabilityQosPolicyKind, 8EXCLUSIVE_OWNERSHIP_QOS, 9GROUP_PRESENTATION_QOS, 10


INDEX 177

HistoryQosPolicyKind, 9INSTANCE_PRESENTATION_QOS, 10KEEP_ALL_HISTORY_QOS, 9KEEP_LAST_HISTORY_QOS, 9LivelinessQosPolicyKind, 9MANUAL_BY_PARTICIPANT_-

LIVELINESS_QOS, 9MANUAL_BY_TOPIC_LIVELINESS_QOS,

9OwnershipQosPolicyKind, 9PEER_DISCOVERY_QOS, 8PERSISTENT_DURABILITY_QOS, 9PresentationQosPolicyAccessScopeKind, 9ReliabilityQosPolicyKind, 10RELIABLE_RELIABILITY_QOS, 10SHARED_OWNERSHIP_QOS, 9TOPIC_PRESENTATION_QOS, 10TRANSIENT_DURABILITY_QOS, 9TRANSIENT_LOCAL_DURABILITY_QOS,

9VOLATILE_DURABILITY_QOS, 9

READ_SAMPLE_STATEcom::toc::coredx::DDS::DDS, 47

reader_data_lifecyclecom::toc::coredx::DDS::DataReaderQos, 34

READERDATALIFECYCLE_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

reception_timestampcom::toc::coredx::DDS::SampleInfo, 117

register_typecom::toc::coredx::DDS::DomainParticipant, 60

REJECTED_BY_INSTANCE_LIMITstatus, 16

REJECTED_BY_SAMPLES_LIMITstatus, 16

REJECTED_BY_SAMPLES_PER_INSTANCE_-LIMIT

status, 16reliability


RELIABILITY_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

ReliabilityQosPolicyKind

qos, 10RELIABLE_RELIABILITY_QOS

qos, 10REQUESTED_DEADLINE_MISSED_STATUS

com::toc::coredx::DDS::DDS, 47REQUESTED_INCOMPATIBLE_QOS_STATUS

com::toc::coredx::DDS::DDS, 47resource_limits


RESOURCELIMITS_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

resume_publicationscom::toc::coredx::DDS::Publisher, 100

RETCODE_ALREADY_DELETEDcom::toc::coredx::DDS::DDS, 47

RETCODE_BAD_PARAMETERcom::toc::coredx::DDS::DDS, 47

RETCODE_ERRORcom::toc::coredx::DDS::DDS, 47

RETCODE_IMMUTABLE_POLICYcom::toc::coredx::DDS::DDS, 47

RETCODE_INCONSISTENT_POLICYcom::toc::coredx::DDS::DDS, 47

RETCODE_NO_DATAcom::toc::coredx::DDS::DDS, 47

RETCODE_NOT_ENABLEDcom::toc::coredx::DDS::DDS, 47

RETCODE_OKcom::toc::coredx::DDS::DDS, 47

RETCODE_OUT_OF_RESOURCEScom::toc::coredx::DDS::DDS, 47

RETCODE_PRECONDITION_NOT_METcom::toc::coredx::DDS::DDS, 47

RETCODE_TIMEOUTcom::toc::coredx::DDS::DDS, 47

RETCODE_UNSUPPORTEDcom::toc::coredx::DDS::DDS, 47

rx_init_buffer_sizecom::toc::coredx::DDS::UdpTransportConfig,

151rx_max_buffer_size


rx_meta_multicast


178 INDEX


rx_user_multicastcom::toc::coredx::DDS::UdpTransportConfig,

151

SAMPLE_LOST_STATUScom::toc::coredx::DDS::DDS, 47

sample_rankcom::toc::coredx::DDS::SampleInfo, 117

SAMPLE_REJECTED_STATUScom::toc::coredx::DDS::DDS, 47

sample_statecom::toc::coredx::DDS::SampleInfo, 117

SampleRejectedStatusKindstatus, 16

seccom::toc::coredx::DDS::Duration_t, 73com::toc::coredx::DDS::Time_t, 136

send_initial_nackcom::toc::coredx::DDS::RTPSReaderQosPolicy,

114send_typecode



service_cleanup_delaycom::toc::coredx::DDS::DurabilityServiceQosPolicy,

72set_default_datareader_qos

com::toc::coredx::DDS::Subscriber, 127set_default_datawriter_qos

com::toc::coredx::DDS::Publisher, 100set_default_participant_qos


set_default_publisher_qoscom::toc::coredx::DDS::DomainParticipant, 60

set_default_subscriber_qoscom::toc::coredx::DDS::DomainParticipant, 60

set_default_topic_qoscom::toc::coredx::DDS::DomainParticipant, 61

set_enabled_statusescom::toc::coredx::DDS::StatusCondition, 121

set_expression_parameters

com::toc::coredx::DDS::ContentFilteredTopic,24

set_licensecom::toc::coredx::DDS::DomainParticipantFactory,

64set_license_debug


set_listenercom::toc::coredx::DDS::DataReader, 30com::toc::coredx::DDS::DataWriter, 38com::toc::coredx::DDS::DomainParticipant, 61com::toc::coredx::DDS::Publisher, 100com::toc::coredx::DDS::Subscriber, 127com::toc::coredx::DDS::Topic, 139

set_qoscom::toc::coredx::DDS::DataReader, 30com::toc::coredx::DDS::DataWriter, 38com::toc::coredx::DDS::DomainParticipant, 61com::toc::coredx::DDS::DomainParticipantFactory,

64com::toc::coredx::DDS::Publisher, 100com::toc::coredx::DDS::Subscriber, 127com::toc::coredx::DDS::Topic, 140

set_query_parameterscom::toc::coredx::DDS::QueryCondition, 106

SHARED_OWNERSHIP_QOSqos, 9

so_rcvbufcom::toc::coredx::DDS::LmtTransportConfig,


151so_sndbuf

com::toc::coredx::DDS::LmtTransportConfig,88


source_timestampcom::toc::coredx::DDS::SampleInfo, 118

statusNOT_REJECTED, 16REJECTED_BY_INSTANCE_LIMIT, 16REJECTED_BY_SAMPLES_LIMIT, 16REJECTED_BY_SAMPLES_PER_-

INSTANCE_LIMIT, 16


INDEX 179

SampleRejectedStatusKind, 16SUBSCRIBER_QOS_DEFAULT

com::toc::coredx::DDS::DDS, 47SUBSCRIPTION_MATCHED_STATUS

com::toc::coredx::DDS::DDS, 47suspend_publications

com::toc::coredx::DDS::Publisher, 100

thread_modelcom::toc::coredx::DDS::DomainParticipantQos,

70time_based_filter

com::toc::coredx::DDS::DataReaderQos, 34TIMEBASEDFILTER_QOS_POLICY_ID

com::toc::coredx::DDS::DDS, 47TIMESTAMP_INVALID_NSEC

com::toc::coredx::DDS::DDS, 47TIMESTAMP_INVALID_SEC

com::toc::coredx::DDS::DDS, 47TOPIC_PRESENTATION_QOS

qos, 10topic_data

com::toc::coredx::DDS::TopicQos, 145TOPIC_QOS_DEFAULT

com::toc::coredx::DDS::DDS, 47TOPICDATA_QOS_POLICY_ID

com::toc::coredx::DDS::DDS, 47TRANSIENT_DURABILITY_QOS

qos, 9TRANSIENT_LOCAL_DURABILITY_QOS

qos, 9transport_priority

com::toc::coredx::DDS::DataWriterQos, 41com::toc::coredx::DDS::TopicQos, 145

TRANSPORTPRIORITY_QOS_POLICY_IDcom::toc::coredx::DDS::DDS, 47

tx_max_packet_sizecom::toc::coredx::DDS::TcpTransportConfig,


152tx_meta_multicast


tx_meta_unicast


use_ipv4com::toc::coredx::DDS::UdpTransportConfig,

152use_ipv6


use_threadscom::toc::coredx::DDS::ThreadModelQosPolicy,

135user_data

com::toc::coredx::DDS::DataReaderQos, 34com::toc::coredx::DDS::DataWriterQos, 42com::toc::coredx::DDS::DomainParticipantQos,

70USERDATA_QOS_POLICY_ID

com::toc::coredx::DDS::DDS, 47

valid_datacom::toc::coredx::DDS::SampleInfo, 118

valuecom::toc::coredx::DDS::GroupDataQosPolicy,

77com::toc::coredx::DDS::OwnershipStrengthQosPolicy,

93com::toc::coredx::DDS::TopicDataQosPolicy,

141com::toc::coredx::DDS::TransportPriorityQosPolicy,

147com::toc::coredx::DDS::UserDataQosPolicy,

153view_state

com::toc::coredx::DDS::SampleInfo, 118VOLATILE_DURABILITY_QOS

qos, 9

waitcom::toc::coredx::DDS::WaitSet, 155

wait_for_acknowledgmentscom::toc::coredx::DDS::DataWriter, 38com::toc::coredx::DDS::Publisher, 101

wait_for_historical_datacom::toc::coredx::DDS::DataReader, 31

WaitSet


180 INDEX

com::toc::coredx::DDS::WaitSet, 154writer_data_lifecycle

com::toc::coredx::DDS::DataWriterQos, 42WRITERDATALIFECYCLE_QOS_POLICY_ID

com::toc::coredx::DDS::DDS, 47


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