DomainParticipant.hpp

// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef FASTDDS_DDS_DOMAIN__DOMAINPARTICIPANT_HPP
#define FASTDDS_DDS_DOMAIN__DOMAINPARTICIPANT_HPP
 
#include <functional>
#include <string>
#include <utility>
#include <vector>
 
#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
#include <fastdds/dds/builtin/topic/TopicBuiltinTopicData.hpp>
#include <fastdds/dds/core/Entity.hpp>
#include <fastdds/dds/core/ReturnCode.hpp>
#include <fastdds/dds/core/status/StatusMask.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/qos/ReplierQos.hpp>
#include <fastdds/dds/domain/qos/RequesterQos.hpp>
#include <fastdds/dds/rpc/ServiceTypeSupport.hpp>
#include <fastdds/dds/topic/ContentFilteredTopic.hpp>
#include <fastdds/dds/topic/IContentFilterFactory.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/topic/TopicListener.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/rtps/common/Guid.hpp>
#include <fastdds/rtps/common/SampleIdentity.hpp>
#include <fastdds/rtps/common/Time_t.hpp>
 
namespace dds {
namespace domain {
class DomainParticipant;
} // namespace domain
} // namespace dds
 
namespace eprosima {
namespace fastdds {
namespace rtps {
class ResourceEvent;
} // namespace rtps
 
namespace dds {
namespace rpc {
class Replier;
class Requester;
class Service;
} // namespace rpc
 
class DomainParticipantImpl;
class DomainParticipantListener;
class Publisher;
class PublisherQos;
class PublisherListener;
class ReplierQos;
class RequesterQos;
class Subscriber;
class SubscriberQos;
class SubscriberListener;
class TopicQos;
 
// Not implemented classes
class MultiTopic;
 
class DomainParticipant : public Entity
{
public:
 
    virtual ~DomainParticipant();
 
    // Superclass methods
 
    FASTDDS_EXPORTED_API ReturnCode_t get_qos(
            DomainParticipantQos& qos) const;
 
    FASTDDS_EXPORTED_API const DomainParticipantQos& get_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_qos(
            const DomainParticipantQos& qos) const;
 
    FASTDDS_EXPORTED_API const DomainParticipantListener* get_listener() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            DomainParticipantListener* listener);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            DomainParticipantListener* listener,
            const std::chrono::seconds timeout);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            DomainParticipantListener* listener,
            const StatusMask& mask);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            DomainParticipantListener* listener,
            const StatusMask& mask,
            const std::chrono::seconds timeout);
 
    FASTDDS_EXPORTED_API ReturnCode_t enable() override;
 
    // DomainParticipant specific methods from DDS API
 
    FASTDDS_EXPORTED_API Publisher* create_publisher(
            const PublisherQos& qos,
            PublisherListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all());
 
    FASTDDS_EXPORTED_API Publisher* create_publisher_with_profile(
            const std::string& profile_name,
            PublisherListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all());
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_publisher(
            const Publisher* publisher);
 
    FASTDDS_EXPORTED_API Subscriber* create_subscriber(
            const SubscriberQos& qos,
            SubscriberListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all());
 
    FASTDDS_EXPORTED_API Subscriber* create_subscriber_with_profile(
            const std::string& profile_name,
            SubscriberListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all());
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_subscriber(
            const Subscriber* subscriber);
 
    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());
 
    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());
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_topic(
            const Topic* topic);
 
    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);
 
    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);
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_contentfilteredtopic(
            const ContentFilteredTopic* a_contentfilteredtopic);
 
    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);
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_multitopic(
            const MultiTopic* a_multitopic);
 
    FASTDDS_EXPORTED_API Topic* find_topic(
            const std::string& topic_name,
            const fastdds::dds::Duration_t& timeout);
 
    FASTDDS_EXPORTED_API rpc::Service* create_service(
            const std::string& service_name,
            const std::string& service_type_name);
 
    FASTDDS_EXPORTED_API rpc::Service* find_service(
            const std::string& service_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_service(
            const rpc::Service* service);
 
    FASTDDS_EXPORTED_API rpc::Requester* create_service_requester(
            rpc::Service* service,
            const RequesterQos& requester_qos);
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_service_requester(
            const std::string& service_name,
            rpc::Requester* requester);
 
    FASTDDS_EXPORTED_API rpc::Replier* create_service_replier(
            rpc::Service* service,
            const ReplierQos& replier_qos);
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_service_replier(
            const std::string& service_name,
            rpc::Replier* replier);
 
    FASTDDS_EXPORTED_API TopicDescription* lookup_topicdescription(
            const std::string& topic_name) const;
 
    FASTDDS_EXPORTED_API const Subscriber* get_builtin_subscriber() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t ignore_participant(
            const InstanceHandle_t& handle);
 
    FASTDDS_EXPORTED_API ReturnCode_t ignore_topic(
            const InstanceHandle_t& handle);
 
    FASTDDS_EXPORTED_API ReturnCode_t ignore_publication(
            const InstanceHandle_t& handle);
 
    FASTDDS_EXPORTED_API ReturnCode_t ignore_subscription(
            const InstanceHandle_t& handle);
 
    FASTDDS_EXPORTED_API DomainId_t get_domain_id() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_contained_entities();
 
    FASTDDS_EXPORTED_API ReturnCode_t assert_liveliness();
 
    FASTDDS_EXPORTED_API ReturnCode_t set_default_publisher_qos(
            const PublisherQos& qos);
 
    FASTDDS_EXPORTED_API const PublisherQos& get_default_publisher_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_publisher_qos(
            PublisherQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_publisher_qos_from_profile(
            const std::string& profile_name,
            PublisherQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_publisher_qos_from_xml(
            const std::string& xml,
            PublisherQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_publisher_qos_from_xml(
            const std::string& xml,
            PublisherQos& qos,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_publisher_qos_from_xml(
            const std::string& xml,
            PublisherQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_default_subscriber_qos(
            const SubscriberQos& qos);
 
    FASTDDS_EXPORTED_API const SubscriberQos& get_default_subscriber_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_subscriber_qos(
            SubscriberQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_subscriber_qos_from_profile(
            const std::string& profile_name,
            SubscriberQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_subscriber_qos_from_xml(
            const std::string& xml,
            SubscriberQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_subscriber_qos_from_xml(
            const std::string& xml,
            SubscriberQos& qos,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_subscriber_qos_from_xml(
            const std::string& xml,
            SubscriberQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_default_topic_qos(
            const TopicQos& qos);
 
    FASTDDS_EXPORTED_API const TopicQos& get_default_topic_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_topic_qos(
            TopicQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_profile(
            const std::string& profile_name,
            TopicQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_profile(
            const std::string& profile_name,
            TopicQos& qos,
            std::string& topic_name,
            std::string& topic_data_type) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_xml(
            const std::string& xml,
            TopicQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_xml(
            const std::string& xml,
            TopicQos& qos,
            std::string& topic_name,
            std::string& topic_data_type) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_xml(
            const std::string& xml,
            TopicQos& qos,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_topic_qos_from_xml(
            const std::string& xml,
            TopicQos& qos,
            std::string& topic_name,
            std::string& topic_data_type,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_topic_qos_from_xml(
            const std::string& xml,
            TopicQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_topic_qos_from_xml(
            const std::string& xml,
            TopicQos& qos,
            std::string& topic_name,
            std::string& topic_data_type) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_replier_qos_from_profile(
            const std::string& profile_name,
            ReplierQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_replier_qos_from_xml(
            const std::string& xml,
            ReplierQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_replier_qos_from_xml(
            const std::string& xml,
            ReplierQos& qos,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_replier_qos_from_xml(
            const std::string& xml,
            ReplierQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_requester_qos_from_profile(
            const std::string& profile_name,
            RequesterQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_requester_qos_from_xml(
            const std::string& xml,
            RequesterQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_requester_qos_from_xml(
            const std::string& xml,
            RequesterQos& qos,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_requester_qos_from_xml(
            const std::string& xml,
            RequesterQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_discovered_participants(
            std::vector<InstanceHandle_t>& participant_handles) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_discovered_participant_data(
            ParticipantBuiltinTopicData& participant_data,
            const InstanceHandle_t& participant_handle) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_discovered_topics(
            std::vector<InstanceHandle_t>& topic_handles) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_discovered_topic_data(
            builtin::TopicBuiltinTopicData& topic_data,
            const InstanceHandle_t& topic_handle) const;
 
    FASTDDS_EXPORTED_API bool contains_entity(
            const InstanceHandle_t& a_handle,
            bool recursive = true) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_current_time(
            fastdds::dds::Time_t& current_time) const;
 
    // DomainParticipant methods specific from Fast DDS
 
    FASTDDS_EXPORTED_API ReturnCode_t register_type(
            TypeSupport type,
            const std::string& type_name);
 
    FASTDDS_EXPORTED_API ReturnCode_t register_type(
            TypeSupport type);
 
    FASTDDS_EXPORTED_API ReturnCode_t unregister_type(
            const std::string& typeName);
 
    FASTDDS_EXPORTED_API TypeSupport find_type(
            const std::string& type_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t register_service_type(
            rpc::ServiceTypeSupport service_type,
            const std::string& service_type_name);
 
    FASTDDS_EXPORTED_API ReturnCode_t unregister_service_type(
            const std::string& service_type_name);
 
    FASTDDS_EXPORTED_API rpc::ServiceTypeSupport find_service_type(
            const std::string& service_type_name) const;
 
    FASTDDS_EXPORTED_API const InstanceHandle_t& get_instance_handle() const;
 
    // From here legacy RTPS methods.
 
    FASTDDS_EXPORTED_API const fastdds::rtps::GUID_t& guid() const;
 
    FASTDDS_EXPORTED_API std::vector<std::string> get_participant_names() const;
 
    FASTDDS_EXPORTED_API bool new_remote_endpoint_discovered(
            const fastdds::rtps::GUID_t& partguid,
            uint16_t userId,
            fastdds::rtps::EndpointKind_t kind);
 
    FASTDDS_EXPORTED_API ReturnCode_t register_content_filter_factory(
            const char* filter_class_name,
            IContentFilterFactory* const filter_factory);
 
    FASTDDS_EXPORTED_API IContentFilterFactory* lookup_content_filter_factory(
            const char* filter_class_name);
 
    FASTDDS_EXPORTED_API ReturnCode_t unregister_content_filter_factory(
            const char* filter_class_name);
 
    FASTDDS_EXPORTED_API bool has_active_entities();
 
protected:
 
    DomainParticipant(
            const StatusMask& mask = StatusMask::all());
 
    DomainParticipantImpl* impl_;
 
    friend class DomainParticipantFactory;
 
    friend class DomainParticipantImpl;
 
    friend class ::dds::domain::DomainParticipant;
};
 
} // namespace dds
} // namespace fastdds
} // namespace eprosima
 
#endif // FASTDDS_DDS_DOMAIN__DOMAINPARTICIPANT_HPP