20#ifndef FASTDDS_DDS_DOMAIN__DOMAINPARTICIPANT_HPP
21#define FASTDDS_DDS_DOMAIN__DOMAINPARTICIPANT_HPP
28#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
29#include <fastdds/dds/builtin/topic/TopicBuiltinTopicData.hpp>
30#include <fastdds/dds/core/Entity.hpp>
31#include <fastdds/dds/core/ReturnCode.hpp>
32#include <fastdds/dds/core/status/StatusMask.hpp>
33#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
34#include <fastdds/dds/domain/qos/ReplierQos.hpp>
35#include <fastdds/dds/domain/qos/RequesterQos.hpp>
36#include <fastdds/dds/topic/ContentFilteredTopic.hpp>
37#include <fastdds/dds/topic/IContentFilterFactory.hpp>
38#include <fastdds/dds/topic/Topic.hpp>
39#include <fastdds/dds/topic/TopicListener.hpp>
40#include <fastdds/dds/topic/TypeSupport.hpp>
41#include <fastdds/rtps/common/Guid.hpp>
42#include <fastdds/rtps/common/SampleIdentity.hpp>
43#include <fastdds/rtps/common/Time_t.hpp>
47class DomainParticipant;
59class DomainParticipantImpl;
60class DomainParticipantListener;
63class PublisherListener;
66class SubscriberListener;
141 const std::chrono::seconds timeout);
167 const std::chrono::seconds timeout);
200 const std::string& profile_name,
236 const std::string& profile_name,
261 const std::string& topic_name,
262 const std::string& type_name,
278 const std::string& topic_name,
279 const std::string& type_name,
280 const std::string& profile_name,
308 const std::string& name,
309 Topic* related_topic,
310 const std::string& filter_expression,
311 const std::vector<std::string>& expression_parameters);
330 const std::string& name,
331 Topic* related_topic,
332 const std::string& filter_expression,
333 const std::vector<std::string>& expression_parameters,
334 const char* filter_class_name);
356 const std::string& name,
357 const std::string& type_name,
358 const std::string& subscription_expression,
359 const std::vector<std::string>& expression_parameters);
372 const MultiTopic* a_multitopic);
388 const std::string& topic_name,
401 const std::string& topic_name)
const;
547 const std::string& profile_name,
601 const std::string& profile_name,
655 const std::string& profile_name,
666 const std::string& profile_name,
677 const std::string& profile_name,
689 std::vector<InstanceHandle_t>& participant_handles)
const;
713 std::vector<InstanceHandle_t>& topic_handles)
const;
740 bool recursive =
true)
const;
764 const std::string& type_name);
784 const std::string& typeName);
793 const std::string& type_name)
const;
865 const char* filter_class_name,
877 const char* filter_class_name);
899 const char* filter_class_name);
919 friend class ::dds::domain::DomainParticipant;
Specialization of TopicDescription that allows for content-based subscriptions.
Definition ContentFilteredTopic.hpp:45
Class DomainParticipantFactory.
Definition DomainParticipantFactory.hpp:65
Class DomainParticipant used to group Publishers and Subscribers into a single working unit.
Definition DomainParticipant.hpp:78
FASTDDS_EXPORTED_API bool contains_entity(const InstanceHandle_t &a_handle, bool recursive=true) const
This operation checks whether or not the given handle represents an Entity that was created from the ...
FASTDDS_EXPORTED_API ContentFilteredTopic * create_contentfilteredtopic(const std::string &name, Topic *related_topic, const std::string &filter_expression, const std::vector< std::string > &expression_parameters)
Create a ContentFilteredTopic in this Participant.
FASTDDS_EXPORTED_API Topic * find_topic(const std::string &topic_name, const fastdds::dds::Duration_t &timeout)
Gives access to an existing (or ready to exist) enabled Topic.
FASTDDS_EXPORTED_API Subscriber * create_subscriber_with_profile(const std::string &profile_name, SubscriberListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
Create a Subscriber in this Participant.
FASTDDS_EXPORTED_API const SubscriberQos & get_default_subscriber_qos() const
This operation retrieves the default value of the Subscriber QoS, that is, the QoS policies which wil...
FASTDDS_EXPORTED_API Subscriber * create_subscriber(const SubscriberQos &qos, SubscriberListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
Create a Subscriber in this Participant.
FASTDDS_EXPORTED_API ReturnCode_t register_content_filter_factory(const char *filter_class_name, IContentFilterFactory *const filter_factory)
Register a custom content filter factory, which can be used to create a ContentFilteredTopic.
FASTDDS_EXPORTED_API Publisher * create_publisher(const PublisherQos &qos, PublisherListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
Create a Publisher in this Participant.
FASTDDS_EXPORTED_API ReturnCode_t ignore_publication(const InstanceHandle_t &handle)
Locally ignore a remote datawriter.
FASTDDS_EXPORTED_API const InstanceHandle_t & get_instance_handle() const
Returns the DomainParticipant's handle.
FASTDDS_EXPORTED_API ReturnCode_t set_listener(DomainParticipantListener *listener)
Modifies the DomainParticipantListener, sets the mask to StatusMask::all()
FASTDDS_EXPORTED_API ReturnCode_t get_default_subscriber_qos(SubscriberQos &qos) const
This operation retrieves the default value of the Subscriber QoS, that is, the QoS policies which wil...
FASTDDS_EXPORTED_API ReturnCode_t assert_liveliness()
This operation manually asserts the liveliness of the DomainParticipant.
FASTDDS_EXPORTED_API ReturnCode_t ignore_participant(const InstanceHandle_t &handle)
Locally ignore a remote domain participant.
FASTDDS_EXPORTED_API ReturnCode_t unregister_content_filter_factory(const char *filter_class_name)
Unregister a custom content filter factory previously registered with register_content_filter_factory...
FASTDDS_EXPORTED_API const DomainParticipantListener * get_listener() const
Allows accessing the DomainParticipantListener.
DomainParticipantImpl * impl_
Definition DomainParticipant.hpp:913
FASTDDS_EXPORTED_API bool new_remote_endpoint_discovered(const fastdds::rtps::GUID_t &partguid, uint16_t userId, fastdds::rtps::EndpointKind_t kind)
This method can be used when using a StaticEndpointDiscovery mechanism different that the one include...
FASTDDS_EXPORTED_API ReturnCode_t set_default_subscriber_qos(const SubscriberQos &qos)
This operation sets a default value of the Subscriber QoS policies that will be used for newly create...
FASTDDS_EXPORTED_API ReturnCode_t delete_publisher(const Publisher *publisher)
Deletes an existing Publisher.
FASTDDS_EXPORTED_API ReturnCode_t get_discovered_participant_data(ParticipantBuiltinTopicData &participant_data, const InstanceHandle_t &participant_handle) const
Retrieves the DomainParticipant data of a discovered not ignored participant.
FASTDDS_EXPORTED_API ReturnCode_t ignore_topic(const InstanceHandle_t &handle)
Locally ignore a topic.
FASTDDS_EXPORTED_API TypeSupport find_type(const std::string &type_name) const
This method gives access to a registered type based on its name.
FASTDDS_EXPORTED_API TopicDescription * lookup_topicdescription(const std::string &topic_name) const
Looks up an existing, locally created TopicDescription, based on its name.
FASTDDS_EXPORTED_API Topic * create_topic(const std::string &topic_name, const std::string &type_name, const TopicQos &qos, TopicListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
Create a Topic in this Participant.
FASTDDS_EXPORTED_API std::vector< std::string > get_participant_names() const
Getter for the participant names.
FASTDDS_EXPORTED_API ReturnCode_t set_listener(DomainParticipantListener *listener, const StatusMask &mask)
Modifies the DomainParticipantListener.
FASTDDS_EXPORTED_API Publisher * create_publisher_with_profile(const std::string &profile_name, PublisherListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
Create a Publisher in this Participant.
FASTDDS_EXPORTED_API ContentFilteredTopic * create_contentfilteredtopic(const std::string &name, Topic *related_topic, const std::string &filter_expression, const std::vector< std::string > &expression_parameters, const char *filter_class_name)
Create a ContentFilteredTopic in this Participant using a custom filter.
FASTDDS_EXPORTED_API ReturnCode_t get_current_time(fastdds::dds::Time_t ¤t_time) const
This operation returns the current value of the time that the service uses to time-stamp data-writes ...
FASTDDS_EXPORTED_API ReturnCode_t set_qos(const DomainParticipantQos &qos) const
This operation sets the value of the DomainParticipant QoS policies.
FASTDDS_EXPORTED_API ReturnCode_t set_default_topic_qos(const TopicQos &qos)
This operation sets a default value of the Topic QoS policies which will be used for newly created To...
FASTDDS_EXPORTED_API const fastdds::rtps::GUID_t & guid() const
Getter for the Participant GUID.
FASTDDS_EXPORTED_API ReturnCode_t unregister_type(const std::string &typeName)
Unregister a type in this participant.
FASTDDS_EXPORTED_API ReturnCode_t register_type(TypeSupport type, const std::string &type_name)
Register a type in this participant.
FASTDDS_EXPORTED_API ReturnCode_t delete_contentfilteredtopic(const ContentFilteredTopic *a_contentfilteredtopic)
Deletes an existing ContentFilteredTopic.
FASTDDS_EXPORTED_API ReturnCode_t get_discovered_topic_data(builtin::TopicBuiltinTopicData &topic_data, const InstanceHandle_t &topic_handle) const
Retrieves the Topic data of a discovered not ignored topic.
FASTDDS_EXPORTED_API ReturnCode_t get_discovered_topics(std::vector< InstanceHandle_t > &topic_handles) const
Retrieves the list of topics that have been discovered in the domain and are not "ignored".
FASTDDS_EXPORTED_API ReturnCode_t get_publisher_qos_from_profile(const std::string &profile_name, PublisherQos &qos) const
Fills the PublisherQos with the values of the XML profile.
virtual ~DomainParticipant()
Destructor.
FASTDDS_EXPORTED_API ReturnCode_t get_default_publisher_qos(PublisherQos &qos) const
This operation retrieves the default value of the Publisher QoS, that is, the QoS policies which will...
FASTDDS_EXPORTED_API ReturnCode_t delete_multitopic(const MultiTopic *a_multitopic)
Deletes an existing MultiTopic.
FASTDDS_EXPORTED_API ReturnCode_t set_listener(DomainParticipantListener *listener, const StatusMask &mask, const std::chrono::seconds timeout)
Modifies the DomainParticipantListener.
FASTDDS_EXPORTED_API const DomainParticipantQos & get_qos() const
This operation returns the value of the DomainParticipant QoS policies.
FASTDDS_EXPORTED_API ReturnCode_t register_type(TypeSupport type)
Register a type in this participant.
FASTDDS_EXPORTED_API const TopicQos & get_default_topic_qos() const
This operation retrieves the default value of the Topic QoS, that is, the QoS policies that will be u...
FASTDDS_EXPORTED_API IContentFilterFactory * lookup_content_filter_factory(const char *filter_class_name)
Lookup a custom content filter factory previously registered with register_content_filter_factory.
FASTDDS_EXPORTED_API ReturnCode_t set_listener(DomainParticipantListener *listener, const std::chrono::seconds timeout)
Modifies the DomainParticipantListener, sets the mask to StatusMask::all()
FASTDDS_EXPORTED_API ReturnCode_t get_subscriber_qos_from_profile(const std::string &profile_name, SubscriberQos &qos) const
Fills the SubscriberQos with the values of the XML profile.
FASTDDS_EXPORTED_API ReturnCode_t delete_contained_entities()
Deletes all the entities that were created by means of the “create” methods.
FASTDDS_EXPORTED_API ReturnCode_t set_default_publisher_qos(const PublisherQos &qos)
This operation sets a default value of the Publisher QoS policies which will be used for newly create...
FASTDDS_EXPORTED_API ReturnCode_t enable() override
This operation enables the DomainParticipant.
FASTDDS_EXPORTED_API ReturnCode_t ignore_subscription(const InstanceHandle_t &handle)
Locally ignore a remote datareader.
FASTDDS_EXPORTED_API const PublisherQos & get_default_publisher_qos() const
This operation retrieves the default value of the Publisher QoS, that is, the QoS policies which will...
FASTDDS_EXPORTED_API Topic * create_topic_with_profile(const std::string &topic_name, const std::string &type_name, const std::string &profile_name, TopicListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
Create a Topic in this Participant.
DomainParticipant(const StatusMask &mask=StatusMask::all())
FASTDDS_EXPORTED_API ReturnCode_t get_replier_qos_from_profile(const std::string &profile_name, ReplierQos &qos) const
Fills the ReplierQos with the values of the XML profile.
FASTDDS_EXPORTED_API ReturnCode_t get_qos(DomainParticipantQos &qos) const
This operation returns the value of the DomainParticipant QoS policies.
FASTDDS_EXPORTED_API DomainId_t get_domain_id() const
This operation retrieves the domain_id used to create the DomainParticipant.
FASTDDS_EXPORTED_API ReturnCode_t get_requester_qos_from_profile(const std::string &profile_name, RequesterQos &qos) const
Fills the RequesterQos with the values of the XML profile.
FASTDDS_EXPORTED_API MultiTopic * create_multitopic(const std::string &name, const std::string &type_name, const std::string &subscription_expression, const std::vector< std::string > &expression_parameters)
Create a MultiTopic in this Participant.
FASTDDS_EXPORTED_API ReturnCode_t delete_subscriber(const Subscriber *subscriber)
Deletes an existing Subscriber.
friend class DomainParticipantImpl
Definition DomainParticipant.hpp:917
FASTDDS_EXPORTED_API ReturnCode_t get_discovered_participants(std::vector< InstanceHandle_t > &participant_handles) const
Retrieves the list of DomainParticipants that have been discovered in the domain and are not "ignored...
bool has_active_entities()
Check if the Participant has any Publisher, Subscriber or Topic.
FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_profile(const std::string &profile_name, TopicQos &qos) const
Fills the TopicQos with the values of the XML profile.
FASTDDS_EXPORTED_API ReturnCode_t get_default_topic_qos(TopicQos &qos) const
This operation retrieves the default value of the Topic QoS, that is, the QoS policies that will be u...
FASTDDS_EXPORTED_API const Subscriber * get_builtin_subscriber() const
Allows access to the builtin Subscriber.
FASTDDS_EXPORTED_API ReturnCode_t delete_topic(const Topic *topic)
Deletes an existing Topic.
Class DomainParticipantListener, overrides behaviour towards certain events.
Definition DomainParticipantListener.hpp:49
Class DomainParticipantQos, contains all the possible Qos that can be set for a determined participan...
Definition DomainParticipantQos.hpp:42
The Entity class is the abstract base class for all the objects that support QoS policies,...
Definition Entity.hpp:38
Class Publisher, used to send data to associated subscribers.
Definition Publisher.hpp:61
Class PublisherListener, allows the end user to implement callbacks triggered by certain events.
Definition PublisherListener.hpp:39
Class PublisherQos, containing all the possible Qos that can be set for a determined Publisher.
Definition PublisherQos.hpp:39
Definition ReplierQos.hpp:33
Definition RequesterQos.hpp:33
StatusMask is a bitmap or bitset field.
Definition StatusMask.hpp:48
static StatusMask all()
Get all StatusMasks.
Definition StatusMask.hpp:104
Class Subscriber, contains the public API that allows the user to control the reception of messages.
Definition Subscriber.hpp:66
Class SubscriberListener, it should be used by the end user to implement specific callbacks to certai...
Definition SubscriberListener.hpp:41
Class SubscriberQos, contains all the possible Qos that can be set for a determined Subscriber.
Definition SubscriberQos.hpp:38
Class TopicDescription, represents the fact that both publications and subscriptions are tied to a si...
Definition TopicDescription.hpp:38
Class Topic, represents the fact that both publications and subscriptions are tied to a single data-t...
Definition Topic.hpp:53
Class TopicListener, it should be used by the end user to implement specific callbacks to certain act...
Definition TopicListener.hpp:37
Class TopicQos, containing all the possible Qos that can be set for a determined Topic.
Definition TopicQos.hpp:40
Class TypeSupport used to provide the DomainRTPSParticipant with the methods to serialize,...
Definition TypeSupport.hpp:47
Definition DomainParticipant.hpp:45
uint32_t DomainId_t
Definition Types.hpp:24
int32_t ReturnCode_t
Definition DDSReturnCode.hpp:59
EndpointKind_t
Endpoint kind.
Definition Types.hpp:65
The interface that a factory of IContentFilter objects should implement.
Definition IContentFilterFactory.hpp:37
Structure Time_t, used to describe times at a DDS level.
Definition Time_t.hpp:36
Definition TopicBuiltinTopicData.hpp:32
Structure GUID_t, entity identifier, unique in DDS-RTPS Domain.
Definition Guid.hpp:40
Struct InstanceHandle_t, used to contain the key for WITH_KEY topics.
Definition InstanceHandle.hpp:154
Definition ParticipantBuiltinTopicData.hpp:33