net.sf.jrtps.rtps

Class RTPSParticipant

java.lang.Object

net.sf.jrtps.rtps.RTPSParticipant

public class RTPSParticipant
extends Object

RTPSParticipant is the main entry point to RTPS (DDS) domain. Participant is responsible for creating readers and writers and setting up network receivers.

Author:

mcr70

Constructor Summary

Constructors

Constructor and Description
RTPSParticipant(Guid guid, int domainId, int participantId, ScheduledThreadPoolExecutor tpe, Map<GuidPrefix,ParticipantData> discoveredParticipants, AuthenticationPlugin aPlugin) Creates a new participant with given domainId and participantId.

Method Summary

Modifier and Type	Method and Description
void	close() Close this RTPSParticipant.
<T> RTPSReader<T>	createReader(EntityId eId, String topicName, ReaderCache<T> rCache, QualityOfService qos) Creates a new RTPSReader.
<T> RTPSWriter<T>	createWriter(EntityId eId, String topicName, WriterCache<T> wCache, QualityOfService qos) Creates a new RTPSWriter.
List<Locator>	getDiscoveryLocators() Gets the Locators that can be used for discovery
Guid	getGuid() Gets the guid of this participant.
List<Locator>	getUserdataLocators() Gets the Locators that can be used for user data
void	ignoreParticipant(GuidPrefix prefix) Ignores messages originating from given Participant
void	start() Starts this Participant.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RTPSParticipant

public RTPSParticipant(Guid guid,
                       int domainId,
                       int participantId,
                       ScheduledThreadPoolExecutor tpe,
                       Map<GuidPrefix,ParticipantData> discoveredParticipants,
                       AuthenticationPlugin aPlugin)

Creates a new participant with given domainId and participantId. Domain ID and participant ID is used to construct unicast locators to this RTPSParticipant. In general, participants in the same domain get to know each other through SPDP. Each participant has a unique unicast locator to access its endpoints.

Parameters:

guid - Guid, that is assigned to this participant. Every entity created by this RTPSParticipant will share the GuidPrefix of this Guid.

domainId - Domain ID of the participant

participantId - Participant ID of this participant. If set to -1, and port number is not given during starting of receivers, participantId will be determined based on the first suitable network socket.

tpe - threadPoolExecutor

discoveredParticipants - a Map that holds discovered participants

aPlugin - AuthenticationPlugin

Method Detail

start

public void start()

Starts this Participant. All the configured endpoints are initialized.

createReader

public <T> RTPSReader<T> createReader(EntityId eId,
                                      String topicName,
                                      ReaderCache<T> rCache,
                                      QualityOfService qos)

Creates a new RTPSReader.

Type Parameters:

T - Type of RTPSReader

Parameters:

eId - EntityId of the reader

topicName - Name of the topic

rCache - ReaderCache

qos - QualityOfService

Returns:

RTPSReader

createWriter

public <T> RTPSWriter<T> createWriter(EntityId eId,
                                      String topicName,
                                      WriterCache<T> wCache,
                                      QualityOfService qos)

Creates a new RTPSWriter.

Type Parameters:

T - Type of RTPSWriter

Parameters:

eId - EntityId of the reader

topicName - Name of the topic

wCache - WriterCache

qos - QualityOfService

Returns:

RTPSWriter

close

public void close()

Close this RTPSParticipant. All the network listeners will be stopped and all the history caches of all entities will be cleared.

getGuid

public Guid getGuid()

Gets the guid of this participant.

Returns:

guid

getDiscoveryLocators

public List<Locator> getDiscoveryLocators()

Gets the Locators that can be used for discovery

Returns:

a List of Locators

getUserdataLocators

public List<Locator> getUserdataLocators()

Gets the Locators that can be used for user data

Returns:

a List of Locators

ignoreParticipant

public void ignoreParticipant(GuidPrefix prefix)

Ignores messages originating from given Participant

Parameters:

prefix - GuidPrefix of the participant to ignore