RTI Connext C API · 5.15 DDS DatabaseQosPolicy Struct Reference . . . . . . . . . . . . . 1107 ......

RTI Connext C API

Version 4.5f

Generated by Doxygen 1.5.5

Sat Mar 17 21:14:45 2012

Contents

1 RTI Connext 1

1.1 Feedback and Support for this Release. . . . . . . . . . . . . . . . 1

1.2 Available Documentation. . . . . . . . . . . . . . . . . . . . . . . 2

2 Module Index 5

2.1 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3 Data Structure Index 9

3.1 Data Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4 Module Documentation 21

4.1 Participant Built-in Topics . . . . . . . . . . . . . . . . . . . . . 21

4.2 Topic Built-in Topics . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.3 Publication Built-in Topics . . . . . . . . . . . . . . . . . . . . . 25

4.4 Subscription Built-in Topics . . . . . . . . . . . . . . . . . . . . . 27

4.5 String Built-in Type . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.6 KeyedString Built-in Type . . . . . . . . . . . . . . . . . . . . . . 39

4.7 Octets Built-in Type . . . . . . . . . . . . . . . . . . . . . . . . . 66

4.8 KeyedOctets Built-in Type . . . . . . . . . . . . . . . . . . . . . 82

4.9 DDS-Specific Primitive Types . . . . . . . . . . . . . . . . . . . . 112

4.10 Time Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

4.11 GUID Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

4.12 Sequence Number Support . . . . . . . . . . . . . . . . . . . . . . 125

4.13 Exception Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

ii CONTENTS

4.14 Return Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

4.15 Status Kinds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

4.16 Thread Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

4.17 QoS Policies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

4.18 USER DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

4.19 TOPIC DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

4.20 GROUP DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

4.21 DURABILITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

4.22 PRESENTATION . . . . . . . . . . . . . . . . . . . . . . . . . . 166

4.23 DEADLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

4.24 LATENCY BUDGET . . . . . . . . . . . . . . . . . . . . . . . . 169

4.25 OWNERSHIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4.26 OWNERSHIP STRENGTH . . . . . . . . . . . . . . . . . . . . . 172

4.27 LIVELINESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

4.28 TIME BASED FILTER . . . . . . . . . . . . . . . . . . . . . . . 175

4.29 PARTITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

4.30 RELIABILITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

4.31 DESTINATION ORDER . . . . . . . . . . . . . . . . . . . . . . 179

4.32 HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

4.33 DURABILITY SERVICE . . . . . . . . . . . . . . . . . . . . . . 184

4.34 RESOURCE LIMITS . . . . . . . . . . . . . . . . . . . . . . . . 185

4.35 TRANSPORT PRIORITY . . . . . . . . . . . . . . . . . . . . . 187

4.36 LIFESPAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

4.37 WRITER DATA LIFECYCLE . . . . . . . . . . . . . . . . . . . 189

4.38 READER DATA LIFECYCLE . . . . . . . . . . . . . . . . . . . 190

4.39 ENTITY FACTORY . . . . . . . . . . . . . . . . . . . . . . . . . 191

4.40 Extended Qos Support . . . . . . . . . . . . . . . . . . . . . . . . 192

4.41 Unicast Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

4.42 Multicast Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 194

4.43 Multicast Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . 195

4.44 TRANSPORT SELECTION . . . . . . . . . . . . . . . . . . . . 196

Generated on Sat Mar 17 21:14:45 2012 for RTI Connext C API by Doxygen

CONTENTS iii

4.45 TRANSPORT UNICAST . . . . . . . . . . . . . . . . . . . . . . 197

4.46 TRANSPORT MULTICAST . . . . . . . . . . . . . . . . . . . . 198

4.47 TRANSPORT MULTICAST MAPPING . . . . . . . . . . . . . 200

4.48 DISCOVERY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

4.49 NDDS DISCOVERY PEERS . . . . . . . . . . . . . . . . . . . . 202

4.50 TRANSPORT BUILTIN . . . . . . . . . . . . . . . . . . . . . . . 210

4.51 WIRE PROTOCOL . . . . . . . . . . . . . . . . . . . . . . . . . 214

4.52 DATA READER RESOURCE LIMITS . . . . . . . . . . . . . . 221

4.53 DATA WRITER RESOURCE LIMITS . . . . . . . . . . . . . . 223

4.54 DATA READER PROTOCOL . . . . . . . . . . . . . . . . . . . 227

4.55 DATA WRITER PROTOCOL . . . . . . . . . . . . . . . . . . . 228

4.56 SYSTEM RESOURCE LIMITS . . . . . . . . . . . . . . . . . . . 229

4.57 DOMAIN PARTICIPANT RESOURCE LIMITS . . . . . . . . . 230

4.58 EVENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

4.59 DATABASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

4.60 RECEIVER POOL . . . . . . . . . . . . . . . . . . . . . . . . . . 233

4.61 PUBLISH MODE . . . . . . . . . . . . . . . . . . . . . . . . . . 234

4.62 DISCOVERY CONFIG . . . . . . . . . . . . . . . . . . . . . . . 237

4.63 TYPESUPPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

4.64 ASYNCHRONOUS PUBLISHER . . . . . . . . . . . . . . . . . . 243

4.65 EXCLUSIVE AREA . . . . . . . . . . . . . . . . . . . . . . . . . 244

4.66 BATCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

4.67 LOCATORFILTER . . . . . . . . . . . . . . . . . . . . . . . . . 246

4.68 MULTICHANNEL . . . . . . . . . . . . . . . . . . . . . . . . . . 247

4.69 PROPERTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

4.70 AVAILABILITY . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

4.71 Entity Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

4.72 Conditions and WaitSets . . . . . . . . . . . . . . . . . . . . . . . 263

4.73 ENTITY NAME . . . . . . . . . . . . . . . . . . . . . . . . . . . 278

4.74 PROFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

4.75 WriteParams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280


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4.76 LOGGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

4.77 Octet Buffer Support . . . . . . . . . . . . . . . . . . . . . . . . . 284

4.78 Sequence Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

4.79 String Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

4.80 Clock Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

4.81 Domain Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

4.82 DomainParticipantFactory . . . . . . . . . . . . . . . . . . . . . . 314

4.83 DomainParticipants . . . . . . . . . . . . . . . . . . . . . . . . . 349

4.84 Built-in Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

4.85 Topic Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

4.86 Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

4.87 User Data Type Support . . . . . . . . . . . . . . . . . . . . . . . 477

4.88 Type Code Support . . . . . . . . . . . . . . . . . . . . . . . . . 490

4.89 Built-in Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

4.90 Dynamic Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

4.91 Publication Module . . . . . . . . . . . . . . . . . . . . . . . . . . 655

4.92 Publishers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656

4.93 Data Writers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688

4.94 Flow Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . 756

4.95 Subscription Module . . . . . . . . . . . . . . . . . . . . . . . . . 767

4.96 Subscribers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770

4.97 DataReaders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 801

4.98 Read Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . 880

4.99 Query Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . 883

4.100Data Samples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 886

4.101Sample States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887

4.102View States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889

4.103Instance States . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891

4.104Infrastructure Module . . . . . . . . . . . . . . . . . . . . . . . . 894

4.105Built-in Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . 896

4.106Multi-channel DataWriters . . . . . . . . . . . . . . . . . . . . . 898


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4.107Pluggable Transports . . . . . . . . . . . . . . . . . . . . . . . . . 900

4.108Using Transport Plugins . . . . . . . . . . . . . . . . . . . . . . . 906

4.109Built-in Transport Plugins . . . . . . . . . . . . . . . . . . . . . . 918

4.110Configuration Utilities . . . . . . . . . . . . . . . . . . . . . . . . 920

4.111Unsupported Utilities . . . . . . . . . . . . . . . . . . . . . . . . 928

4.112Durability and Persistence . . . . . . . . . . . . . . . . . . . . . . 930

4.113Configuring QoS Profiles with XML . . . . . . . . . . . . . . . . 936

4.114Publication Example . . . . . . . . . . . . . . . . . . . . . . . . . 939

4.115Subscription Example . . . . . . . . . . . . . . . . . . . . . . . . 940

4.116Participant Use Cases . . . . . . . . . . . . . . . . . . . . . . . . 941

4.117Topic Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . 944

4.118FlowController Use Cases . . . . . . . . . . . . . . . . . . . . . . 946

4.119Publisher Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 950

4.120DataWriter Use Cases . . . . . . . . . . . . . . . . . . . . . . . . 952

4.121Subscriber Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 955

4.122DataReader Use Cases . . . . . . . . . . . . . . . . . . . . . . . . 959

4.123Entity Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . 964

4.124Waitset Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . 968

4.125Transport Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 971

4.126Filter Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . 976

4.127Creating Custom Content Filters . . . . . . . . . . . . . . . . . . 982

4.128Large Data Use Cases . . . . . . . . . . . . . . . . . . . . . . . . 986

4.129Documentation Roadmap . . . . . . . . . . . . . . . . . . . . . . 988

4.130Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 989

4.131DDS API Reference . . . . . . . . . . . . . . . . . . . . . . . . . 992

4.132Queries and Filters Syntax . . . . . . . . . . . . . . . . . . . . . . 997

4.133RTI Connext API Reference . . . . . . . . . . . . . . . . . . . . . 1005

4.134Programming How-Tos . . . . . . . . . . . . . . . . . . . . . . . 1006

4.135Programming Tools . . . . . . . . . . . . . . . . . . . . . . . . . . 1008

4.136rtiddsgen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1009

4.137rtiddsping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022


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4.138rtiddsspy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1029

4.139Class Id . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1036

4.140Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1039

4.141Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044

4.142Shared Memory Transport . . . . . . . . . . . . . . . . . . . . . . 1046

4.143UDPv4 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . 1054

4.144UDPv6 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . 1064

5 Data Structure Documentation 1075

5.1 DDS AllocationSettings t Struct Reference . . . . . . . . . . . . 1075

5.2 DDS AsynchronousPublisherQosPolicy Struct Reference . . . . . 1077

5.3 DDS AvailabilityQosPolicy Struct Reference . . . . . . . . . . . . 1082

5.4 DDS BatchQosPolicy Struct Reference . . . . . . . . . . . . . . . 1086

5.5 DDS BooleanSeq Struct Reference . . . . . . . . . . . . . . . . . 1090

5.6 DDS BuiltinTopicKey t Struct Reference . . . . . . . . . . . . . 1091

5.7 DDS BuiltinTopicReaderResourceLimits t Struct Reference . . . 1092

5.8 DDS ChannelSettings t Struct Reference . . . . . . . . . . . . . . 1095

5.9 DDS ChannelSettingsSeq Struct Reference . . . . . . . . . . . . . 1098

5.10 DDS CharSeq Struct Reference . . . . . . . . . . . . . . . . . . . 1099

5.11 DDS ConditionSeq Struct Reference . . . . . . . . . . . . . . . . 1100

5.12 DDS ContentFilter Struct Reference . . . . . . . . . . . . . . . . 1101

5.13 DDS ContentFilterProperty t Struct Reference . . . . . . . . . . 1104

5.14 DDS Cookie t Struct Reference . . . . . . . . . . . . . . . . . . . 1106

5.15 DDS DatabaseQosPolicy Struct Reference . . . . . . . . . . . . . 1107

5.16 DDS DataReaderCacheStatus Struct Reference . . . . . . . . . . 1112

5.17 DDS DataReaderListener Struct Reference . . . . . . . . . . . . 1113

5.18 DDS DataReaderProtocolQosPolicy Struct Reference . . . . . . . 1117

5.19 DDS DataReaderProtocolStatus Struct Reference . . . . . . . . . 1121

5.20 DDS DataReaderQos Struct Reference . . . . . . . . . . . . . . . 1131

5.21 DDS DataReaderResourceLimitsQosPolicy Struct Reference . . . 1137

5.22 DDS DataReaderSeq Struct Reference . . . . . . . . . . . . . . . 1149


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5.23 DDS DataWriterCacheStatus Struct Reference . . . . . . . . . . 1150

5.24 DDS DataWriterListener Struct Reference . . . . . . . . . . . . . 1151

5.25 DDS DataWriterProtocolQosPolicy Struct Reference . . . . . . . 1155

5.26 DDS DataWriterProtocolStatus Struct Reference . . . . . . . . . 1160

5.27 DDS DataWriterQos Struct Reference . . . . . . . . . . . . . . . 1173

5.28 DDS DataWriterResourceLimitsQosPolicy Struct Reference . . . 1180

5.29 DDS DeadlineQosPolicy Struct Reference . . . . . . . . . . . . . 1186

5.30 DDS DestinationOrderQosPolicy Struct Reference . . . . . . . . 1189

5.31 DDS DiscoveryConfigQosPolicy Struct Reference . . . . . . . . . 1192

5.32 DDS DiscoveryQosPolicy Struct Reference . . . . . . . . . . . . . 1201

5.33 DDS DomainParticipantFactoryQos Struct Reference . . . . . . . 1205

5.34 DDS DomainParticipantListener Struct Reference . . . . . . . . 1207

5.35 DDS DomainParticipantQos Struct Reference . . . . . . . . . . . 1209

5.36 DDS DomainParticipantResourceLimitsQosPolicy Struct Refer-ence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1214

5.37 DDS DoubleSeq Struct Reference . . . . . . . . . . . . . . . . . . 1233

5.38 DDS DurabilityQosPolicy Struct Reference . . . . . . . . . . . . 1234

5.39 DDS DurabilityServiceQosPolicy Struct Reference . . . . . . . . 1238

5.40 DDS Duration t Struct Reference . . . . . . . . . . . . . . . . . . 1241

5.41 DDS DynamicData Struct Reference . . . . . . . . . . . . . . . . 1242

5.42 DDS DynamicDataInfo Struct Reference . . . . . . . . . . . . . . 1251

5.43 DDS DynamicDataMemberInfo Struct Reference . . . . . . . . . 1252

5.44 DDS DynamicDataProperty t Struct Reference . . . . . . . . . . 1255

5.45 DDS DynamicDataSeq Struct Reference . . . . . . . . . . . . . . 1257

5.46 DDS DynamicDataTypeProperty t Struct Reference . . . . . . . 1258

5.47 DDS DynamicDataTypeSerializationProperty t Struct Reference 1259

5.48 DDS EndpointGroup t Struct Reference . . . . . . . . . . . . . . 1261

5.49 DDS EndpointGroupSeq Struct Reference . . . . . . . . . . . . . 1262

5.50 DDS EntityFactoryQosPolicy Struct Reference . . . . . . . . . . 1263

5.51 DDS EntityNameQosPolicy Struct Reference . . . . . . . . . . . 1265

5.52 DDS EnumMember Struct Reference . . . . . . . . . . . . . . . . 1267


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5.53 DDS EnumMemberSeq Struct Reference . . . . . . . . . . . . . . 1268

5.54 DDS EventQosPolicy Struct Reference . . . . . . . . . . . . . . . 1269

5.55 DDS ExclusiveAreaQosPolicy Struct Reference . . . . . . . . . . 1272

5.56 DDS FactoryPluginSupport Struct Reference . . . . . . . . . . . 1275

5.57 DDS FloatSeq Struct Reference . . . . . . . . . . . . . . . . . . . 1276

5.58 DDS FlowControllerProperty t Struct Reference . . . . . . . . . 1277

5.59 DDS FlowControllerTokenBucketProperty t Struct Reference . . 1279

5.60 DDS GroupDataQosPolicy Struct Reference . . . . . . . . . . . . 1283

5.61 DDS GUID t Struct Reference . . . . . . . . . . . . . . . . . . . 1285

5.62 DDS HistoryQosPolicy Struct Reference . . . . . . . . . . . . . . 1286

5.63 DDS InconsistentTopicStatus Struct Reference . . . . . . . . . . 1290

5.64 DDS InstanceHandleSeq Struct Reference . . . . . . . . . . . . . 1292

5.65 DDS KeyedOctets Struct Reference . . . . . . . . . . . . . . . . . 1293

5.66 DDS KeyedOctetsSeq Struct Reference . . . . . . . . . . . . . . . 1294

5.67 DDS KeyedOctetsTypeSupport Struct Reference . . . . . . . . . 1295

5.68 DDS KeyedString Struct Reference . . . . . . . . . . . . . . . . . 1296

5.69 DDS KeyedStringSeq Struct Reference . . . . . . . . . . . . . . . 1297

5.70 DDS KeyedStringTypeSupport Struct Reference . . . . . . . . . 1298

5.71 DDS LatencyBudgetQosPolicy Struct Reference . . . . . . . . . . 1299

5.72 DDS LifespanQosPolicy Struct Reference . . . . . . . . . . . . . 1301

5.73 DDS Listener Struct Reference . . . . . . . . . . . . . . . . . . . 1303

5.74 DDS LivelinessChangedStatus Struct Reference . . . . . . . . . . 1307

5.75 DDS LivelinessLostStatus Struct Reference . . . . . . . . . . . . 1310

5.76 DDS LivelinessQosPolicy Struct Reference . . . . . . . . . . . . . 1312

5.77 DDS Locator t Struct Reference . . . . . . . . . . . . . . . . . . 1316

5.78 DDS LocatorFilter t Struct Reference . . . . . . . . . . . . . . . 1318

5.79 DDS LocatorFilterQosPolicy Struct Reference . . . . . . . . . . . 1320

5.80 DDS LocatorFilterSeq Struct Reference . . . . . . . . . . . . . . 1322

5.81 DDS LocatorSeq Struct Reference . . . . . . . . . . . . . . . . . 1323

5.82 DDS LoggingQosPolicy Struct Reference . . . . . . . . . . . . . . 1324

5.83 DDS LongDoubleSeq Struct Reference . . . . . . . . . . . . . . . 1326


CONTENTS ix

5.84 DDS LongLongSeq Struct Reference . . . . . . . . . . . . . . . . 1327

5.85 DDS LongSeq Struct Reference . . . . . . . . . . . . . . . . . . . 1328

5.86 DDS MultiChannelQosPolicy Struct Reference . . . . . . . . . . 1329

5.87 DDS Octets Struct Reference . . . . . . . . . . . . . . . . . . . . 1332

5.88 DDS OctetSeq Struct Reference . . . . . . . . . . . . . . . . . . . 1333

5.89 DDS OctetsSeq Struct Reference . . . . . . . . . . . . . . . . . . 1334

5.90 DDS OctetsTypeSupport Struct Reference . . . . . . . . . . . . . 1335

5.91 DDS OfferedDeadlineMissedStatus Struct Reference . . . . . . . 1336

5.92 DDS OfferedIncompatibleQosStatus Struct Reference . . . . . . . 1338

5.93 DDS OwnershipQosPolicy Struct Reference . . . . . . . . . . . . 1340

5.94 DDS OwnershipStrengthQosPolicy Struct Reference . . . . . . . 1347

5.95 DDS ParticipantBuiltinTopicData Struct Reference . . . . . . . . 1349

5.96 DDS ParticipantBuiltinTopicDataSeq Struct Reference . . . . . . 1352

5.97 DDS ParticipantBuiltinTopicDataTypeSupport Struct Reference 1353

5.98 DDS PartitionQosPolicy Struct Reference . . . . . . . . . . . . . 1354

5.99 DDS PresentationQosPolicy Struct Reference . . . . . . . . . . . 1357

5.100DDS ProductVersion t Struct Reference . . . . . . . . . . . . . . 1362

5.101DDS ProfileQosPolicy Struct Reference . . . . . . . . . . . . . . 1364

5.102DDS Property t Struct Reference . . . . . . . . . . . . . . . . . . 1367

5.103DDS PropertyQosPolicy Struct Reference . . . . . . . . . . . . . 1368

5.104DDS PropertySeq Struct Reference . . . . . . . . . . . . . . . . . 1371

5.105DDS ProtocolVersion t Struct Reference . . . . . . . . . . . . . . 1372

5.106DDS PublicationBuiltinTopicData Struct Reference . . . . . . . 1373

5.107DDS PublicationBuiltinTopicDataSeq Struct Reference . . . . . . 1381

5.108DDS PublicationBuiltinTopicDataTypeSupport Struct Reference 1382

5.109DDS PublicationMatchedStatus Struct Reference . . . . . . . . . 1383

5.110DDS PublisherListener Struct Reference . . . . . . . . . . . . . . 1386

5.111DDS PublisherQos Struct Reference . . . . . . . . . . . . . . . . 1388

5.112DDS PublisherSeq Struct Reference . . . . . . . . . . . . . . . . 1390

5.113DDS PublishModeQosPolicy Struct Reference . . . . . . . . . . . 1391

5.114DDS QosPolicyCount Struct Reference . . . . . . . . . . . . . . . 1395


x CONTENTS

5.115DDS QosPolicyCountSeq Struct Reference . . . . . . . . . . . . . 1396

5.116DDS ReaderDataLifecycleQosPolicy Struct Reference . . . . . . . 1397

5.117DDS ReceiverPoolQosPolicy Struct Reference . . . . . . . . . . . 1400

5.118DDS ReliabilityQosPolicy Struct Reference . . . . . . . . . . . . 1403

5.119DDS ReliableReaderActivityChangedStatus Struct Reference . . 1407

5.120DDS ReliableWriterCacheChangedStatus Struct Reference . . . . 1409

5.121DDS ReliableWriterCacheEventCount Struct Reference . . . . . 1412

5.122DDS RequestedDeadlineMissedStatus Struct Reference . . . . . . 1413

5.123DDS RequestedIncompatibleQosStatus Struct Reference . . . . . 1415

5.124DDS ResourceLimitsQosPolicy Struct Reference . . . . . . . . . 1417

5.125DDS RtpsReliableReaderProtocol t Struct Reference . . . . . . . 1422

5.126DDS RtpsReliableWriterProtocol t Struct Reference . . . . . . . 1425

5.127DDS RtpsWellKnownPorts t Struct Reference . . . . . . . . . . . 1441

5.128DDS SampleIdentity t Struct Reference . . . . . . . . . . . . . . 1447

5.129DDS SampleInfo Struct Reference . . . . . . . . . . . . . . . . . 1448

5.130DDS SampleInfoSeq Struct Reference . . . . . . . . . . . . . . . 1457

5.131DDS SampleLostStatus Struct Reference . . . . . . . . . . . . . . 1458

5.132DDS SampleRejectedStatus Struct Reference . . . . . . . . . . . 1459

5.133DDS SequenceNumber t Struct Reference . . . . . . . . . . . . . 1461

5.134DDS ShortSeq Struct Reference . . . . . . . . . . . . . . . . . . . 1462

5.135DDS StringSeq Struct Reference . . . . . . . . . . . . . . . . . . 1463

5.136DDS StringTypeSupport Struct Reference . . . . . . . . . . . . . 1465

5.137DDS StructMember Struct Reference . . . . . . . . . . . . . . . . 1466

5.138DDS StructMemberSeq Struct Reference . . . . . . . . . . . . . . 1468

5.139DDS SubscriberListener Struct Reference . . . . . . . . . . . . . 1469

5.140DDS SubscriberQos Struct Reference . . . . . . . . . . . . . . . . 1471

5.141DDS SubscriberSeq Struct Reference . . . . . . . . . . . . . . . . 1473

5.142DDS SubscriptionBuiltinTopicData Struct Reference . . . . . . . 1474

5.143DDS SubscriptionBuiltinTopicDataSeq Struct Reference . . . . . 1482

5.144DDS SubscriptionBuiltinTopicDataTypeSupport Struct Reference 1483

5.145DDS SubscriptionMatchedStatus Struct Reference . . . . . . . . 1484


CONTENTS xi

5.146DDS SystemResourceLimitsQosPolicy Struct Reference . . . . . 1487

5.147DDS ThreadSettings t Struct Reference . . . . . . . . . . . . . . 1489

5.148DDS Time t Struct Reference . . . . . . . . . . . . . . . . . . . . 1492

5.149DDS TimeBasedFilterQosPolicy Struct Reference . . . . . . . . . 1493

5.150DDS TopicBuiltinTopicData Struct Reference . . . . . . . . . . . 1497

5.151DDS TopicBuiltinTopicDataSeq Struct Reference . . . . . . . . . 1501

5.152DDS TopicBuiltinTopicDataTypeSupport Struct Reference . . . 1502

5.153DDS TopicDataQosPolicy Struct Reference . . . . . . . . . . . . 1503

5.154DDS TopicListener Struct Reference . . . . . . . . . . . . . . . . 1505

5.155DDS TopicQos Struct Reference . . . . . . . . . . . . . . . . . . 1507

5.156DDS TransportBuiltinQosPolicy Struct Reference . . . . . . . . . 1511

5.157DDS TransportMulticastMapping t Struct Reference . . . . . . . 1513

5.158DDS TransportMulticastMappingFunction t Struct Reference . . 1515

5.159DDS TransportMulticastMappingQosPolicy Struct Reference . . 1517

5.160DDS TransportMulticastMappingSeq Struct Reference . . . . . . 1519

5.161DDS TransportMulticastQosPolicy Struct Reference . . . . . . . 1520

5.162DDS TransportMulticastSettings t Struct Reference . . . . . . . 1522

5.163DDS TransportMulticastSettingsSeq Struct Reference . . . . . . 1524

5.164DDS TransportPriorityQosPolicy Struct Reference . . . . . . . . 1525

5.165DDS TransportSelectionQosPolicy Struct Reference . . . . . . . . 1527

5.166DDS TransportUnicastQosPolicy Struct Reference . . . . . . . . 1529

5.167DDS TransportUnicastSettings t Struct Reference . . . . . . . . 1531

5.168DDS TransportUnicastSettingsSeq Struct Reference . . . . . . . 1533

5.169DDS TypeCode Struct Reference . . . . . . . . . . . . . . . . . . 1534

5.170DDS TypeCodeFactory Struct Reference . . . . . . . . . . . . . . 1535

5.171DDS TypeSupportQosPolicy Struct Reference . . . . . . . . . . . 1537

5.172DDS UnionMember Struct Reference . . . . . . . . . . . . . . . . 1539

5.173DDS UnionMemberSeq Struct Reference . . . . . . . . . . . . . . 1541

5.174DDS UnsignedLongLongSeq Struct Reference . . . . . . . . . . . 1542

5.175DDS UnsignedLongSeq Struct Reference . . . . . . . . . . . . . . 1543

5.176DDS UnsignedShortSeq Struct Reference . . . . . . . . . . . . . 1544


xii CONTENTS

5.177DDS UserDataQosPolicy Struct Reference . . . . . . . . . . . . . 1545

5.178DDS ValueMember Struct Reference . . . . . . . . . . . . . . . . 1547

5.179DDS ValueMemberSeq Struct Reference . . . . . . . . . . . . . . 1549

5.180DDS VendorId t Struct Reference . . . . . . . . . . . . . . . . . . 1550

5.181DDS WaitSetProperty t Struct Reference . . . . . . . . . . . . . 1551

5.182DDS WcharSeq Struct Reference . . . . . . . . . . . . . . . . . . 1553

5.183DDS WireProtocolQosPolicy Struct Reference . . . . . . . . . . . 1554

5.184DDS WriteParams t Struct Reference . . . . . . . . . . . . . . . 1562

5.185DDS WriterDataLifecycleQosPolicy Struct Reference . . . . . . . 1565

5.186DDS WstringSeq Struct Reference . . . . . . . . . . . . . . . . . 1568

5.187Foo Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . 1569

5.188FooDataReader Struct Reference . . . . . . . . . . . . . . . . . . 1570

5.189FooDataWriter Struct Reference . . . . . . . . . . . . . . . . . . 1571

5.190FooSeq Struct Reference . . . . . . . . . . . . . . . . . . . . . . . 1572

5.191FooTypeSupport Struct Reference . . . . . . . . . . . . . . . . . 1574

5.192NDDS Config LibraryVersion t Struct Reference . . . . . . . . . 1575

5.193NDDS Config Logger Struct Reference . . . . . . . . . . . . . . . 1577

5.194NDDS Config Version t Struct Reference . . . . . . . . . . . . . . 1578

5.195NDDS Transport Address t Struct Reference . . . . . . . . . . . 1579

5.196NDDS Transport Property t Struct Reference . . . . . . . . . . . 1580

5.197NDDS Transport Shmem Property t Struct Reference . . . . . . 1588

5.198NDDS Transport Support Struct Reference . . . . . . . . . . . . 1591

5.199NDDS Transport UDPv4 Property t Struct Reference . . . . . . 1592

5.200NDDS Transport UDPv6 Property t Struct Reference . . . . . . 1601

5.201NDDS Utility Struct Reference . . . . . . . . . . . . . . . . . . . 1609

5.202TransportAllocationSettings t Struct Reference . . . . . . . . . . 1610

6 Example Documentation 1611

6.1 HelloWorld.c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1611

6.2 HelloWorld.idl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1617

6.3 HelloWorld publisher.c . . . . . . . . . . . . . . . . . . . . . . . . 1618


CONTENTS xiii

6.4 HelloWorld subscriber.c . . . . . . . . . . . . . . . . . . . . . . . 1623

6.5 HelloWorldPlugin.c . . . . . . . . . . . . . . . . . . . . . . . . . . 1629

6.6 HelloWorldSupport.c . . . . . . . . . . . . . . . . . . . . . . . . . 1649


Chapter 1

RTI Connext

Core Libraries and Utilities

Real-Time Innovations, Inc.

RTI Connext is network middleware for real-time distributed applications. Itprovides the communications services that programmers need to distribute time-critical data between embedded and/or enterprise devices or nodes. RTI Con-next uses the publish-subscribe communications model to make data distribu-tion efficient and robust.

The RTI Connext Application Programming Interface (API) is based on theOMGs Data Distribution Service (DDS) specification. The most recent publica-tion of this specification can be found in the Catalog of OMG Specificationsunder Middleware Specifications.

1.1 Feedback and Support for this Release.

For more information, visit our knowledge base (accessible fromhttps://support.rti.com/) to see sample code, general information onRTI Connext, performance information, troubleshooting tips, and technicaldetails.

By its very nature, the knowledge base is continuously evolving and improv-ing. We hope that you will find it helpful. If there are questions thatyou would like to see addressed or comments you would like to share, pleasesend e-mail to [email protected]. We can only guarantee a response for cus-tomers with a current maintenance contract or subscription. To purchase amaintenance contract or subscription, contact your local RTI representative

2 RTI Connext

(see http://www.rti.com/company/contact.html), send an email request [email protected], or call +1 (408) 990-7400.

Please do not hesitate to contact RTI with questions or comments about thisrelease. We welcome any input on how to improve RTI Connext to suit yourneeds.

1.2 Available Documentation.

The documentation for this release is provided in two forms: the HTML APIreference documentation and PDF documents. If you are new to RTI Connext,the Documentation Roadmap (p. 988) will provide direction on how to learnabout this product.

1.2.1 The PDF documents are:

Whats New. An overview of the new features in this release.

Release Notes. System requirements, compatibility, whats fixed in thisrelease, and known issues.

Getting Started Guide. Download and installation instructions. It alsolays out the core value and concepts behind the product and takes youstep-by-step through the creation of a simple example application. Devel-opers should read this document first.

Getting Started Guide, Database Addendum. Additional installationand setup information for database usage.

Getting Started Guide, Embedded Systems Addendum. Additional in-stallation and setup information for embedded systems.

Users Manual. Introduction to RTI Connext, product tour and concep-tual presentation of the functionality of RTI Connext.

Platform Notes. Specific details, such as compilation setting and li-braries, related to building and using RTI Connext on the various sup-ported platforms.

QoS Reference Guide. A compact summary of supported Quality of Ser-vice (QoS) policies.


1.2 Available Documentation. 3

XML-Based Application Creation Getting Started Guide. Detailson how to use XML-Based Application Creation, an experimental featurein this release.

C API Reference Manual. A consolidated PDF version of the HTML CAPI reference documentation.

C++ API Reference Manual. A consolidated PDF version of the HTMLC++ API reference documentation.

Java API Reference Manual. A consolidate PDF version of the HTMLJava API reference documentation.

.NET API Reference Manual. A consolidated PDF version of the HTML.Net API reference documentation.

1.2.2 The HTML API Reference documentation contains:

DDS API Reference (p. 992) - The DDS API reference.

RTI Connext API Reference (p. 1005) - RTI Connext APIs indepen-dent of the DDS standard.

Programming How-Tos (p. 1006) - Describes and shows the commontasks done using the API.

Programming Tools (p. 1008) - RTI Connext helper tools.

The HTML API Reference documentation can be accessed through the tree viewin the left frame of the web browser window. The bulk of the documentation isfound under the entry labeled Modules.


4 RTI Connext


Chapter 2

Module Index

2.1 Modules

Here is a list of all modules:

Documentation Roadmap . . . . . . . . . . . . . . . . . . . . . . . . . 988Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 989DDS API Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 992

Domain Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312DomainParticipantFactory . . . . . . . . . . . . . . . . . . . . . 314DomainParticipants . . . . . . . . . . . . . . . . . . . . . . . . 349Built-in Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

Participant Built-in Topics . . . . . . . . . . . . . . . . . . . 21Topic Built-in Topics . . . . . . . . . . . . . . . . . . . . . . . 23Publication Built-in Topics . . . . . . . . . . . . . . . . . . . 25Subscription Built-in Topics . . . . . . . . . . . . . . . . . . . 27

Topic Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446DDS-Specific Primitive Types . . . . . . . . . . . . . . . . . . . 112Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447User Data Type Support . . . . . . . . . . . . . . . . . . . . . 477Type Code Support . . . . . . . . . . . . . . . . . . . . . . . . 490Built-in Types . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

String Built-in Type . . . . . . . . . . . . . . . . . . . . . . . 29KeyedString Built-in Type . . . . . . . . . . . . . . . . . . . 39Octets Built-in Type . . . . . . . . . . . . . . . . . . . . . . . 66KeyedOctets Built-in Type . . . . . . . . . . . . . . . . . . . 82

Dynamic Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 548Publication Module . . . . . . . . . . . . . . . . . . . . . . . . . . 655

Publishers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656Data Writers . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688

6 Module Index

Flow Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . 756Subscription Module . . . . . . . . . . . . . . . . . . . . . . . . . . 767

Subscribers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770DataReaders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 801

Read Conditions . . . . . . . . . . . . . . . . . . . . . . . . . 880Query Conditions . . . . . . . . . . . . . . . . . . . . . . . . . 883

Data Samples . . . . . . . . . . . . . . . . . . . . . . . . . . . . 886Sample States . . . . . . . . . . . . . . . . . . . . . . . . . . . 887View States . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889Instance States . . . . . . . . . . . . . . . . . . . . . . . . . . 891

Infrastructure Module . . . . . . . . . . . . . . . . . . . . . . . . . 894Time Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117GUID Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 122Sequence Number Support . . . . . . . . . . . . . . . . . . . . 125Exception Codes . . . . . . . . . . . . . . . . . . . . . . . . . . 129Return Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131Status Kinds . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134QoS Policies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

USER DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . 161TOPIC DATA . . . . . . . . . . . . . . . . . . . . . . . . . . 162GROUP DATA . . . . . . . . . . . . . . . . . . . . . . . . . . 163DURABILITY . . . . . . . . . . . . . . . . . . . . . . . . . . 164PRESENTATION . . . . . . . . . . . . . . . . . . . . . . . . 166DEADLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168LATENCY BUDGET . . . . . . . . . . . . . . . . . . . . . . 169OWNERSHIP . . . . . . . . . . . . . . . . . . . . . . . . . . 170OWNERSHIP STRENGTH . . . . . . . . . . . . . . . . . . . 172LIVELINESS . . . . . . . . . . . . . . . . . . . . . . . . . . . 173TIME BASED FILTER . . . . . . . . . . . . . . . . . . . . . 175PARTITION . . . . . . . . . . . . . . . . . . . . . . . . . . . 176RELIABILITY . . . . . . . . . . . . . . . . . . . . . . . . . . 177DESTINATION ORDER . . . . . . . . . . . . . . . . . . . . 179HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181DURABILITY SERVICE . . . . . . . . . . . . . . . . . . . . 184RESOURCE LIMITS . . . . . . . . . . . . . . . . . . . . . . 185TRANSPORT PRIORITY . . . . . . . . . . . . . . . . . . . 187LIFESPAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188WRITER DATA LIFECYCLE . . . . . . . . . . . . . . . . . 189READER DATA LIFECYCLE . . . . . . . . . . . . . . . . . 190ENTITY FACTORY . . . . . . . . . . . . . . . . . . . . . . . 191Extended Qos Support . . . . . . . . . . . . . . . . . . . . . . 192

Thread Settings . . . . . . . . . . . . . . . . . . . . . . . 145TRANSPORT SELECTION . . . . . . . . . . . . . . . . . . 196TRANSPORT UNICAST . . . . . . . . . . . . . . . . . . . . 197

Unicast Settings . . . . . . . . . . . . . . . . . . . . . . . 193


2.1 Modules 7

TRANSPORT MULTICAST . . . . . . . . . . . . . . . . . . 198Multicast Settings . . . . . . . . . . . . . . . . . . . . . . 194Multicast Mapping . . . . . . . . . . . . . . . . . . . . . . 195

TRANSPORT MULTICAST MAPPING . . . . . . . . . . . 200DISCOVERY . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

NDDS DISCOVERY PEERS . . . . . . . . . . . . . . . . 202TRANSPORT BUILTIN . . . . . . . . . . . . . . . . . . . . 210WIRE PROTOCOL . . . . . . . . . . . . . . . . . . . . . . . 214DATA READER RESOURCE LIMITS . . . . . . . . . . . . 221DATA WRITER RESOURCE LIMITS . . . . . . . . . . . . 223DATA READER PROTOCOL . . . . . . . . . . . . . . . . . 227DATA WRITER PROTOCOL . . . . . . . . . . . . . . . . . 228SYSTEM RESOURCE LIMITS . . . . . . . . . . . . . . . . 229DOMAIN PARTICIPANT RESOURCE LIMITS . . . . . . . 230EVENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231DATABASE . . . . . . . . . . . . . . . . . . . . . . . . . . . 232RECEIVER POOL . . . . . . . . . . . . . . . . . . . . . . . 233PUBLISH MODE . . . . . . . . . . . . . . . . . . . . . . . . 234DISCOVERY CONFIG . . . . . . . . . . . . . . . . . . . . . 237TYPESUPPORT . . . . . . . . . . . . . . . . . . . . . . . . . 242ASYNCHRONOUS PUBLISHER . . . . . . . . . . . . . . . 243EXCLUSIVE AREA . . . . . . . . . . . . . . . . . . . . . . . 244BATCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245LOCATORFILTER . . . . . . . . . . . . . . . . . . . . . . . 246MULTICHANNEL . . . . . . . . . . . . . . . . . . . . . . . . 247PROPERTY . . . . . . . . . . . . . . . . . . . . . . . . . . . 248AVAILABILITY . . . . . . . . . . . . . . . . . . . . . . . . . 254ENTITY NAME . . . . . . . . . . . . . . . . . . . . . . . . . 278PROFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279LOGGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Entity Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 255Conditions and WaitSets . . . . . . . . . . . . . . . . . . . . . 263WriteParams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280Octet Buffer Support . . . . . . . . . . . . . . . . . . . . . . . . 284Sequence Support . . . . . . . . . . . . . . . . . . . . . . . . . 288

Built-in Sequences . . . . . . . . . . . . . . . . . . . . . . . . 896String Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

Queries and Filters Syntax . . . . . . . . . . . . . . . . . . . . . . 997RTI Connext API Reference . . . . . . . . . . . . . . . . . . . . . . . . 1005

Clock Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310Multi-channel DataWriters . . . . . . . . . . . . . . . . . . . . . . 898Pluggable Transports . . . . . . . . . . . . . . . . . . . . . . . . . 900

Using Transport Plugins . . . . . . . . . . . . . . . . . . . . . . 906Built-in Transport Plugins . . . . . . . . . . . . . . . . . . . . . 918

Shared Memory Transport . . . . . . . . . . . . . . . . . . . . 1046


8 Module Index

UDPv4 Transport . . . . . . . . . . . . . . . . . . . . . . . . 1054UDPv6 Transport . . . . . . . . . . . . . . . . . . . . . . . . 1064

Configuration Utilities . . . . . . . . . . . . . . . . . . . . . . . . . 920Unsupported Utilities . . . . . . . . . . . . . . . . . . . . . . . . . 928Durability and Persistence . . . . . . . . . . . . . . . . . . . . . . . 930Configuring QoS Profiles with XML . . . . . . . . . . . . . . . . . 936

Programming How-Tos . . . . . . . . . . . . . . . . . . . . . . . . . . 1006Publication Example . . . . . . . . . . . . . . . . . . . . . . . . . . 939Subscription Example . . . . . . . . . . . . . . . . . . . . . . . . . 940Participant Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 941Topic Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . 944FlowController Use Cases . . . . . . . . . . . . . . . . . . . . . . . 946Publisher Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . 950DataWriter Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 952Subscriber Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . 955DataReader Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 959Entity Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . 964Waitset Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . 968Transport Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . 971Filter Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976Creating Custom Content Filters . . . . . . . . . . . . . . . . . . . 982Large Data Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . 986

Programming Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1008rtiddsgen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1009rtiddsping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022rtiddsspy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1029

Class Id . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1036Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1039Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044


Chapter 3

Data Structure Index

3.1 Data Structures

Here are the data structures with brief descriptions:

DDS AllocationSettings t (Resource allocation settings ) . . . . . 1075DDS AsynchronousPublisherQosPolicy (Configures the mecha-

nism that sends user data in an external middleware thread) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1077

DDS AvailabilityQosPolicy (Configures the availability of data ) . 1082DDS BatchQosPolicy (Used to configure batching of multiple sam-

ples into a single network packet in order to increase through-put for small samples ) . . . . . . . . . . . . . . . . . . . . . . 1086

DDS BooleanSeq (Instantiates FooSeq (p. 1572) < DDS Boolean(p. 116) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1090

DDS BuiltinTopicKey t (The key type of the built-in topic types ) 1091DDS BuiltinTopicReaderResourceLimits t (Built-in topic

readers resource limits ) . . . . . . . . . . . . . . . . . . . . . 1092DDS ChannelSettings t (Type used to configure the properties of

a channel ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1095DDS ChannelSettingsSeq (Declares IDL sequence< DDS -

ChannelSettings t (p. 1095) > ) . . . . . . . . . . . . . . . 1098DDS CharSeq (Instantiates FooSeq (p. 1572) < DDS Char

(p. 114) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1099DDS ConditionSeq (Instantiates FooSeq (p. 1572) < DDS -

Condition (p. 266) > ) . . . . . . . . . . . . . . . . . . . . . 1100DDS ContentFilter ( (p. 990) Interface to be used

by a custom filter of a DDS ContentFilteredTopic (p. 455) )1101

10 Data Structure Index

DDS ContentFilterProperty t ( (p. 990) Typeused to provide all the required information to enable contentfiltering ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1104

DDS Cookie t ( (p. 990) Sequence of bytes iden-tifying a written data sample, used when writing with param-eters ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1106

DDS DatabaseQosPolicy (Various threads and resource limits set-tings used by RTI Connext to control its internal database) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1107

DDS DataReaderCacheStatus ( (p. 990) Thestatus of the readers cache ) . . . . . . . . . . . . . . . . . . 1112

DDS DataReaderListener ( (p. 990) DDS -Listener (p. 1303) for reader status ) . . . . . . . . . . . . . 1113

DDS DataReaderProtocolQosPolicy (Along with DDS -WireProtocolQosPolicy (p. 1554) and DDS -DataWriterProtocolQosPolicy (p. 1155), this QoSpolicy configures the DDS on-the-network protocol (RTPS) ) 1117

DDS DataReaderProtocolStatus ( (p. 990)The status of a readers internal protocol related metrics, likethe number of samples received, filtered, rejected; and statusof wire protocol traffic ) . . . . . . . . . . . . . . . . . . . . . 1121

DDS DataReaderQos (QoS policies supported by a DDS -DataReader (p. 818) entity ) . . . . . . . . . . . . . . . . . . 1131

DDS DataReaderResourceLimitsQosPolicy (Various settingsthat configure how a DDS DataReader (p. 818) allocatesand uses physical memory for internal resources ) . . . . . . . 1137

DDS DataReaderSeq (Declares IDL sequence < DDS -DataReader (p. 818) > ) . . . . . . . . . . . . . . . . . . . . 1149

DDS DataWriterCacheStatus ( (p. 990) Thestatus of the writers cache ) . . . . . . . . . . . . . . . . . . . 1150

DDS DataWriterListener ( (p. 990) DDS -Listener (p. 1303) for writer status ) . . . . . . . . . . . . . . 1151

DDS DataWriterProtocolQosPolicy (Protocol that applies onlyto DDS DataWriter (p. 704) instances ) . . . . . . . . . . . 1155

DDS DataWriterProtocolStatus ( (p. 990)The status of a writers internal protocol related metrics, likethe number of samples pushed, pulled, filtered; and status ofwire protocol traffic ) . . . . . . . . . . . . . . . . . . . . . . . 1160

DDS DataWriterQos (QoS policies supported by a DDS -DataWriter (p. 704) entity ) . . . . . . . . . . . . . . . . . . 1173

DDS DataWriterResourceLimitsQosPolicy (Various settingsthat configure how a DDS DataWriter (p. 704) allocatesand uses physical memory for internal resources ) . . . . . . . 1180

DDS DeadlineQosPolicy (Expresses the maximum duration (dead-line) within which an instance is expected to be updated ) . . 1186


3.1 Data Structures 11

DDS DestinationOrderQosPolicy (Controls how the middlewarewill deal with data sent by multiple DDS DataWriter(p. 704) entities for the same instance of data (i.e., sameDDS Topic (p. 454) and key) ) . . . . . . . . . . . . . . . . . 1189

DDS DiscoveryConfigQosPolicy (Settings for discovery configura-tion ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1192

DDS DiscoveryQosPolicy (Configures the mechanism used by themiddleware to automatically discover and connect with newremote applications ) . . . . . . . . . . . . . . . . . . . . . . . 1201

DDS DomainParticipantFactoryQos (QoS policies supported bya DDS DomainParticipantFactory (p. 320) ) . . . . . . . 1205

DDS DomainParticipantListener ( (p. 990) Lis-tener for participant status ) . . . . . . . . . . . . . . . . . . 1207

DDS DomainParticipantQos (QoS policies supported by a DDS -DomainParticipant (p. 362) entity ) . . . . . . . . . . . . . 1209

DDS DomainParticipantResourceLimitsQosPolicy (Varioussettings that configure how a DDS DomainParticipant(p. 362) allocates and uses physical memory for internalresources, including the maximum sizes of various properties ) 1214

DDS DoubleSeq (Instantiates FooSeq (p. 1572) < DDS Double(p. 115) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1233

DDS DurabilityQosPolicy (This QoS policy specifies whether ornot RTI Connext will store and deliver previously publisheddata samples to new DDS DataReader (p. 818) entities thatjoin the network later ) . . . . . . . . . . . . . . . . . . . . . 1234

DDS DurabilityServiceQosPolicy (Various settings to configurethe external RTI Persistence Service used by RTI Connext forDataWriters with a DDS DurabilityQosPolicy (p. 1234)setting of DDS PERSISTENT DURABILITY QOS(p. 165) or DDS TRANSIENT DURABILITY QOS(p. 165) ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1238

DDS Duration t (Type for duration representation ) . . . . . . . . . 1241DDS DynamicData (A sample of any complex data type, which can

be inspected and manipulated reflectively ) . . . . . . . . . . 1242DDS DynamicDataInfo (A descriptor for a DDS DynamicData

(p. 1242) object ) . . . . . . . . . . . . . . . . . . . . . . . . . 1251DDS DynamicDataMemberInfo (A descriptor for a single member

(i.e. field) of dynamically defined data type ) . . . . . . . . . 1252DDS DynamicDataProperty t (A collection of attributes used to

configure DDS DynamicData (p. 1242) objects ) . . . . . . 1255DDS DynamicDataSeq (An ordered collection of DDS -

DynamicData (p. 1242) elements ) . . . . . . . . . . . . . . 1257DDS DynamicDataTypeProperty t (A collection of attributes

used to configure DDS DynamicDataTypeSupport(p. 568) objects ) . . . . . . . . . . . . . . . . . . . . . . . . . 1258



DDS DynamicDataTypeSerializationProperty t (Propertiesthat govern how data of a certain type will be serialized onthe network ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1259

DDS EndpointGroup t (Specifies a group of endpoints that can becollectively identified by a name and satisfied by a quorum ) . 1261

DDS EndpointGroupSeq (A sequence of DDS -EndpointGroup t (p. 1261) ) . . . . . . . . . . . . . . . . . 1262

DDS EntityFactoryQosPolicy (A QoS policy for all DDS Entity(p. 256) types that can act as factories for one or more otherDDS Entity (p. 256) types ) . . . . . . . . . . . . . . . . . . 1263

DDS EntityNameQosPolicy (Assigns a name and a role name toa DDS DomainParticipant (p. 362), DDS DataWriter(p. 704) or DDS DataReader (p. 818). These names willbe visible during the discovery process and in RTI tools tohelp you visualize and debug your system ) . . . . . . . . . . 1265

DDS EnumMember (A description of a member of an enumeration )1267DDS EnumMemberSeq (Defines a sequence of enumerator mem-

bers ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1268DDS EventQosPolicy (Settings for event ) . . . . . . . . . . . . . . 1269DDS ExclusiveAreaQosPolicy (Configures multi-thread concur-

rency and deadlock prevention capabilities ) . . . . . . . . . . 1272DDS FactoryPluginSupport (Interface for creating and manipulat-

ing DDS entities ) . . . . . . . . . . . . . . . . . . . . . . . . 1275DDS FloatSeq (Instantiates FooSeq (p. 1572) < DDS Float

(p. 115) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1276DDS FlowControllerProperty t (Determines the flow control

characteristics of the DDS FlowController (p. 758) ) . . . . 1277DDS FlowControllerTokenBucketProperty t (DDS -

FlowController (p. 758) uses the popular token bucketapproach for open loop network flow control. The flowcontrol characteristics are determined by the token bucketproperties ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1279

DDS GroupDataQosPolicy (Attaches a buffer of opaque data thatis distributed by means of Built-in Topics (p. 439) duringdiscovery ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1283

DDS GUID t (Type for GUID (Global Unique Identifier) represen-tation ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1285

DDS HistoryQosPolicy (Specifies the behavior of RTI Connext inthe case where the value of a sample changes (one or moretimes) before it can be successfully communicated to one ormore existing subscribers ) . . . . . . . . . . . . . . . . . . . . 1286

DDS InconsistentTopicStatus (DDS INCONSISTENT -TOPIC STATUS (p. 139) ) . . . . . . . . . . . . . . . . . . 1290

DDS InstanceHandleSeq (Instantiates FooSeq (p. 1572) ) . . . . . . . . . . . . . 1292



DDS KeyedOctets (Built-in type consisting of a variable-length ar-ray of opaque bytes and a string that is the key ) . . . . . . . 1293

DDS KeyedOctetsSeq (Instantiates FooSeq (p. 1572) < DDS -KeyedOctets (p. 1293) > ) . . . . . . . . . . . . . . . . . . . 1294

DDS KeyedOctetsTypeSupport ( (p. 990)DDS KeyedOctets (p. 1293) type support ) . . . . . . . . . 1295

DDS KeyedString (Keyed string built-in type ) . . . . . . . . . . . 1296DDS KeyedStringSeq (Instantiates FooSeq (p. 1572) < DDS -

KeyedString (p. 1296) > ) . . . . . . . . . . . . . . . . . . . 1297DDS KeyedStringTypeSupport ( (p. 990)

Keyed string type support ) . . . . . . . . . . . . . . . . . . . 1298DDS LatencyBudgetQosPolicy (Provides a hint as to the maxi-

mum acceptable delay from the time the data is written tothe time it is received by the subscribing applications ) . . . . 1299

DDS LifespanQosPolicy (Specifies how long the data written by theDDS DataWriter (p. 704) is considered valid ) . . . . . . . 1301

DDS Listener ( (p. 990) Abstract base class for allListener interfaces ) . . . . . . . . . . . . . . . . . . . . . . . 1303

DDS LivelinessChangedStatus (DDS LIVELINESS -CHANGED STATUS (p. 142) ) . . . . . . . . . . . . . . . 1307

DDS LivelinessLostStatus (DDS LIVELINESS LOST -STATUS (p. 142) ) . . . . . . . . . . . . . . . . . . . . . . . 1310

DDS LivelinessQosPolicy (Specifies and configures the mechanismthat allows DDS DataReader (p. 818) entities to detectwhen DDS DataWriter (p. 704) entities become discon-nected or dead. ) . . . . . . . . . . . . . . . . . . . . . . . . 1312

DDS Locator t ( (p. 990) Type used to representthe addressing information needed to send a message to anRTPS Endpoint using one of the supported transports ) . . . 1316

DDS LocatorFilter t (Specifies the configuration of an individualchannel within a MultiChannel DataWriter ) . . . . . . . . . 1318

DDS LocatorFilterQosPolicy (The QoS policy used to report theconfiguration of a MultiChannel DataWriter as part of DDS -PublicationBuiltinTopicData (p. 1373) ) . . . . . . . . . . 1320

DDS LocatorFilterSeq (Declares IDL sequence< DDS -LocatorFilter t (p. 1318) > ) . . . . . . . . . . . . . . . . . 1322

DDS LocatorSeq (Declares IDL sequence < DDS Locator t(p. 1316) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1323

DDS LoggingQosPolicy (Configures the RTI Connext logging facil-ity ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1324

DDS LongDoubleSeq (Instantiates FooSeq (p. 1572) < DDS -LongDouble (p. 115) > ) . . . . . . . . . . . . . . . . . . . . 1326

DDS LongLongSeq (Instantiates FooSeq (p. 1572) < DDS -LongLong (p. 115) > ) . . . . . . . . . . . . . . . . . . . . . 1327

DDS LongSeq (Instantiates FooSeq (p. 1572) < DDS Long(p. 115) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1328



DDS MultiChannelQosPolicy (Configures the ability of aDataWriter to send data on different multicast groups (ad-dresses) based on the value of the data ) . . . . . . . . . . . . 1329

DDS Octets (Built-in type consisting of a variable-length array ofopaque bytes ) . . . . . . . . . . . . . . . . . . . . . . . . . . 1332

DDS OctetSeq (Instantiates FooSeq (p. 1572) < DDS Octet(p. 114) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1333

DDS OctetsSeq (Instantiates FooSeq (p. 1572) < DDS Octets(p. 1332) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1334

DDS OctetsTypeSupport ( (p. 990) DDS -Octets (p. 1332) type support ) . . . . . . . . . . . . . . . . . 1335

DDS OfferedDeadlineMissedStatus (DDS OFFERED -DEADLINE MISSED STATUS (p. 140) ) . . . . . . . . . 1336

DDS OfferedIncompatibleQosStatus (DDS OFFERED -INCOMPATIBLE QOS STATUS (p. 140) ) . . . . . . . . 1338

DDS OwnershipQosPolicy (Specifies whether it is allowed for mul-tiple DDS DataWriter (p. 704) (s) to write the same in-stance of the data and if so, how these modifications shouldbe arbitrated ) . . . . . . . . . . . . . . . . . . . . . . . . . . 1340

DDS OwnershipStrengthQosPolicy (Specifies the value of thestrength used to arbitrate among multiple DDS DataWriter(p. 704) objects that attempt to modify the same instance ofa data type (identified by DDS Topic (p. 454) + key) ) . . . 1347

DDS ParticipantBuiltinTopicData (Entry created when a Do-mainParticipant object is discovered ) . . . . . . . . . . . . . 1349

DDS ParticipantBuiltinTopicDataSeq (Instantiates FooSeq(p. 1572) < DDS ParticipantBuiltinTopicData (p. 1349)> ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1352

DDS ParticipantBuiltinTopicDataTypeSupport (InstantiatesTypeSupport < DDS ParticipantBuiltinTopicData(p. 1349) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1353

DDS PartitionQosPolicy (Set of strings that introduces a logi-cal partition among the topics visible by a DDS Publisher(p. 662) and a DDS Subscriber (p. 775) ) . . . . . . . . . . 1354

DDS PresentationQosPolicy (Specifies how the samples represent-ing changes to data instances are presented to a subscribingapplication ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1357

DDS ProductVersion t ( (p. 990) Type used torepresent the current version of RTI Connext ) . . . . . . . . 1362

DDS ProfileQosPolicy (Configures the way that XML documentscontaining QoS profiles are loaded by RTI Connext ) . . . . . 1364

DDS Property t (Properties are name/value pairs objects ) . . . . . 1367



DDS PropertyQosPolicy (Stores name/value(string) pairs that canbe used to configure certain parameters of RTI Connext thatare not exposed through formal QoS policies. Can also beused to store and propagate application-specific name/valuepairs that can be retrieved by user code during discovery ) . . 1368

DDS PropertySeq (Declares IDL sequence < DDS Property t(p. 1367) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1371

DDS ProtocolVersion t ( (p. 990) Type used torepresent the version of the RTPS protocol ) . . . . . . . . . 1372

DDS PublicationBuiltinTopicData (Entry created when a DDS -DataWriter (p. 704) is discovered in association with its Pub-lisher ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1373

DDS PublicationBuiltinTopicDataSeq (Instantiates FooSeq(p. 1572) < DDS PublicationBuiltinTopicData (p. 1373)> ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1381

DDS PublicationBuiltinTopicDataTypeSupport (InstantiatesTypeSupport < DDS PublicationBuiltinTopicData(p. 1373) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1382

DDS PublicationMatchedStatus (DDS PUBLICATION -MATCHED STATUS (p. 142) ) . . . . . . . . . . . . . . . 1383

DDS PublisherListener ( (p. 990) DDS -Listener (p. 1303) for DDS Publisher (p. 662) status) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1386

DDS PublisherQos (QoS policies supported by a DDS Publisher(p. 662) entity ) . . . . . . . . . . . . . . . . . . . . . . . . . . 1388

DDS PublisherSeq (Declares IDL sequence < DDS Publisher(p. 662) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1390

DDS PublishModeQosPolicy (Specifies how RTI Connext sendsapplication data on the network. This QoS policy can beused to tell RTI Connext to use its own thread to send data,instead of the user thread ) . . . . . . . . . . . . . . . . . . . 1391

DDS QosPolicyCount (Type to hold a counter for a DDS -QosPolicyId t (p. 157) ) . . . . . . . . . . . . . . . . . . . . 1395

DDS QosPolicyCountSeq (Declares IDL sequence < DDS -QosPolicyCount (p. 1395) > ) . . . . . . . . . . . . . . . . . 1396

DDS ReaderDataLifecycleQosPolicy (Controls how aDataReader manages the lifecycle of the data that ithas received ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397

DDS ReceiverPoolQosPolicy (Configures threads used by RTIConnext to receive and process data from transports (for ex-ample, UDP sockets) ) . . . . . . . . . . . . . . . . . . . . . . 1400

DDS ReliabilityQosPolicy (Indicates the level of reliability of-fered/requested by RTI Connext ) . . . . . . . . . . . . . . . 1403



DDS ReliableReaderActivityChangedStatus( (p. 990) Describes the activity (i.e.are acknowledgements forthcoming) of reliable readersmatched to a reliable writer ) . . . . . . . . . . . . . . . . . . 1407

DDS ReliableWriterCacheChangedStatus ((p. 990) A summary of the state of a data writers cache ofunacknowledged samples written ) . . . . . . . . . . . . . . . 1409

DDS ReliableWriterCacheEventCount ((p. 990) The number of times the number of unacknowl-edged samples in the cache of a reliable writer hit a certainwell-defined threshold ) . . . . . . . . . . . . . . . . . . . . . 1412

DDS RequestedDeadlineMissedStatus (DDS -REQUESTED DEADLINE MISSED STATUS(p. 140) ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1413

DDS RequestedIncompatibleQosStatus (DDS -REQUESTED INCOMPATIBLE QOS STATUS(p. 140) ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1415

DDS ResourceLimitsQosPolicy (Controls the amount of physicalmemory allocated for DDS entities, if dynamic allocations areallowed, and how they occur. Also controls memory usageamong different instance values for keyed topics ) . . . . . . . 1417

DDS RtpsReliableReaderProtocol t (Qos related to reliablereader protocol defined in RTPS ) . . . . . . . . . . . . . . . 1422

DDS RtpsReliableWriterProtocol t (QoS related to the reliablewriter protocol defined in RTPS ) . . . . . . . . . . . . . . . . 1425

DDS RtpsWellKnownPorts t (RTPS well-known port mappingconfiguration ) . . . . . . . . . . . . . . . . . . . . . . . . . . 1441

DDS SampleIdentity t (Type definition for an Sample Identity ) . 1447DDS SampleInfo (Information that accompanies each sample that

is read or taken ) . . . . . . . . . . . . . . . . . . . . . . . . 1448DDS SampleInfoSeq (Declares IDL sequence < DDS -

SampleInfo (p. 1448) > ) . . . . . . . . . . . . . . . . . . . . 1457DDS SampleLostStatus (DDS SAMPLE LOST STATUS

(p. 141) ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1458DDS SampleRejectedStatus (DDS SAMPLE REJECTED -

STATUS (p. 141) ) . . . . . . . . . . . . . . . . . . . . . . . 1459DDS SequenceNumber t (Type for sequence number representa-

tion ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1461DDS ShortSeq (Instantiates FooSeq (p. 1572) < DDS Short

(p. 114) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1462DDS StringSeq (Instantiates FooSeq (p. 1572) < char > with

value type semantics ) . . . . . . . . . . . . . . . . . . . . . . 1463DDS StringTypeSupport ( (p. 990) String type

support ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1465DDS StructMember (A description of a member of a struct ) . . . 1466DDS StructMemberSeq (Defines a sequence of struct members ) . 1468



DDS SubscriberListener ( (p. 990) DDS -Listener (p. 1303) for status about a subscriber ) . . . . . . . 1469

DDS SubscriberQos (QoS policies supported by a DDS -Subscriber (p. 775) entity ) . . . . . . . . . . . . . . . . . . 1471

DDS SubscriberSeq (Declares IDL sequence < DDS Subscriber(p. 775) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1473

DDS SubscriptionBuiltinTopicData (Entry created when aDDS DataReader (p. 818) is discovered in association withits Subscriber ) . . . . . . . . . . . . . . . . . . . . . . . . . . 1474

DDS SubscriptionBuiltinTopicDataSeq (Instantiates FooSeq(p. 1572) < DDS SubscriptionBuiltinTopicData(p. 1474) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1482

DDS SubscriptionBuiltinTopicDataTypeSupport (InstantiatesTypeSupport < DDS SubscriptionBuiltinTopicData(p. 1474) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1483

DDS SubscriptionMatchedStatus (DDS SUBSCRIPTION -MATCHED STATUS (p. 143) ) . . . . . . . . . . . . . . . 1484

DDS SystemResourceLimitsQosPolicy (Configures DDS -DomainParticipant (p. 362)-independent resources used byRTI Connext. Mainly used to change the maximum numberof DDS DomainParticipant (p. 362) entities that can becreated within a single process (address space) ) . . . . . . . 1487

DDS ThreadSettings t (The properties of a thread of execution ) . 1489DDS Time t (Type for time representation ) . . . . . . . . . . . . . 1492DDS TimeBasedFilterQosPolicy (Filter that allows a DDS -

DataReader (p. 818) to specify that it is interested only in(potentially) a subset of the values of the data ) . . . . . . . . 1493

DDS TopicBuiltinTopicData (Entry created when a Topic objectdiscovered ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1497

DDS TopicBuiltinTopicDataSeq (Instantiates FooSeq (p. 1572)< DDS TopicBuiltinTopicData (p. 1497) > ) . . . . . . . 1501

DDS TopicBuiltinTopicDataTypeSupport (InstantiatesTypeSupport < DDS TopicBuiltinTopicData (p. 1497) > ) 1502

DDS TopicDataQosPolicy (Attaches a buffer of opaque data thatis distributed by means of Built-in Topics (p. 439) duringdiscovery ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1503

DDS TopicListener ( (p. 990) DDS Listener(p. 1303) for DDS Topic (p. 454) entities ) . . . . . . . . . . 1505

DDS TopicQos (QoS policies supported by a DDS Topic (p. 454)entity ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1507

DDS TransportBuiltinQosPolicy (Specifies which built-in trans-ports are used ) . . . . . . . . . . . . . . . . . . . . . . . . . . 1511

DDS TransportMulticastMapping t (Type representing a list ofmulticast mapping elements ) . . . . . . . . . . . . . . . . . . 1513

DDS TransportMulticastMappingFunction t (Type represent-ing an external mapping function ) . . . . . . . . . . . . . . . 1515



DDS TransportMulticastMappingQosPolicy (Specifies a list oftopic expressions and multicast addresses that can be used byan Entity with a specific topic name to receive data ) . . . . . 1517

DDS TransportMulticastMappingSeq (Declares IDL sequence ) . . . . 1519

DDS TransportMulticastQosPolicy (Specifies the multicast ad-dress on which a DDS DataReader (p. 818) wants to receiveits data. It can also specify a port number as well as a subsetof the available (at the DDS DomainParticipant (p. 362)level) transports with which to receive the multicast data ) . 1520

DDS TransportMulticastSettings t (Type representing a list ofmulticast locators ) . . . . . . . . . . . . . . . . . . . . . . . . 1522

DDS TransportMulticastSettingsSeq (Declares IDL sequence ) . . . . 1524

DDS TransportPriorityQosPolicy (This QoS policy allows the ap-plication to take advantage of transports that are capable ofsending messages with different priorities ) . . . . . . . . . . . 1525

DDS TransportSelectionQosPolicy (Specifies the physical trans-ports a DDS DataWriter (p. 704) or DDS DataReader(p. 818) may use to send or receive data ) . . . . . . . . . . . 1527

DDS TransportUnicastQosPolicy (Specifies a subset of transportsand a port number that can be used by an Entity to receivedata ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1529

DDS TransportUnicastSettings t (Type representing a list of uni-cast locators ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1531

DDS TransportUnicastSettingsSeq (Declares IDL sequence ) . . . . . . 1533

DDS TypeCode (The definition of a particular data type, which youcan use to inspect the name, members, and other properties oftypes generated with rtiddsgen (p. 1009) or to modify typesyou define yourself at runtime ) . . . . . . . . . . . . . . . . . 1534

DDS TypeCodeFactory (A singleton factory for creating, copying,and deleting data type definitions dynamically ) . . . . . . . 1535

DDS TypeSupportQosPolicy (Allows you to attach application-specific values to a DataWriter or DataReader that are passedto the serialization or deserialization routine of the associateddata type ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1537

DDS UnionMember (A description of a member of a union ) . . . . 1539DDS UnionMemberSeq (Defines a sequence of union members ) . 1541DDS UnsignedLongLongSeq (Instantiates FooSeq (p. 1572) ) . . . . . . . . . . . . 1542DDS UnsignedLongSeq (Instantiates FooSeq (p. 1572) < DDS -

UnsignedLong (p. 115) > ) . . . . . . . . . . . . . . . . . . 1543DDS UnsignedShortSeq (Instantiates FooSeq (p. 1572) < DDS -

UnsignedShort (p. 114) > ) . . . . . . . . . . . . . . . . . . 1544



DDS UserDataQosPolicy (Attaches a buffer of opaque data thatis distributed by means of Built-in Topics (p. 439) duringdiscovery ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1545

DDS ValueMember (A description of a member of a value type ) . 1547DDS ValueMemberSeq (Defines a sequence of value members ) . . 1549DDS VendorId t ( (p. 990) Type used to repre-

sent the vendor of the service implementing the RTPS protocol )1550DDS WaitSetProperty t ( (p. 990) Specifies the

DDS WaitSet (p. 267) behavior for multiple trigger events ) 1551DDS WcharSeq (Instantiates FooSeq (p. 1572) < DDS Wchar

(p. 114) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1553DDS WireProtocolQosPolicy (Specifies the wire-protocol-related

attributes for the DDS DomainParticipant (p. 362) ) . . . 1554DDS WriteParams t ( (p. 990) Input param-

eters for writing with FooDataWriter write w params(p. 719), FooDataWriter dispose w params (p. 723),FooDataWriter register instance w params (p. 711),FooDataWriter unregister instance w params (p. 715) ) 1562

DDS WriterDataLifecycleQosPolicy (Controls how a DDS -DataWriter (p. 704) handles the lifecycle of the instances(keys) that it is registered to manage ) . . . . . . . . . . . . . 1565

DDS WstringSeq (Instantiates FooSeq (p. 1572) < DDS Wchar(p. 114) > ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1568

Foo (A representative user-defined data type ) . . . . . . . . . . . . . 1569FooDataReader ( (p. 990)

(p. 990) User data type-specific data reader ) . . . . . . . . . 1570FooDataWriter ( (p. 990) (p. 990)

User data type specific data writer ) . . . . . . . . . . . . . . 1571FooSeq ( (p. 990) (p. 990) A type-

safe, ordered collection of elements. The type of these ele-ments is referred to in this documentation as Foo (p. 1569)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1572

FooTypeSupport ( (p. 990) (p. 990) User data type specific interface ) . . . . . . . . . . . 1574

NDDS Config LibraryVersion t (The version of a single libraryshipped as part of an RTI Connext distribution ) . . . . . . . 1575

NDDS Config Logger ( (p. 990) The singletontype used to configure RTI Connext logging ) . . . . . . . . . 1577

NDDS Config Version t ( (p. 990) The version ofan RTI Connext distribution ) . . . . . . . . . . . . . . . . . 1578

NDDS Transport Address t (Addresses are stored individually asnetwork-ordered bytes ) . . . . . . . . . . . . . . . . . . . . . 1579

NDDS Transport Property t (Base structure that must be inher-ited by derived Transport Plugin classes ) . . . . . . . . . . . 1580



NDDS Transport Shmem Property t (Subclass of NDDS -Transport Property t (p. 1580) allowing specification ofparameters that are specific to the shared-memory transport ) 1588

NDDS Transport Support ( (p. 990) The utilityclass used to configure RTI Connext pluggable transports ) . 1591

NDDS Transport UDPv4 Property t (Configurable IPv4/UDPTransport-Plugin properties ) . . . . . . . . . . . . . . . . . . 1592

NDDS Transport UDPv6 Property t (Configurable IPv6/UDPTransport-Plugin properties ) . . . . . . . . . . . . . . . . . . 1601

NDDS Utility (Unsupported utility APIs ) . . . . . . . . . . . . . . 1609TransportAllocationSettings t (Allocation settings used by various

internal buffers ) . . . . . . . . . . . . . . . . . . . . . . . . . 1610


Chapter 4

Module Documentation

4.1 Participant Built-in Topics

Builtin topic for accessing information about the DomainParticipants discoveredby RTI Connext.

Data Structures

struct DDS ParticipantBuiltinTopicData

Entry created when a DomainParticipant object is discovered.

struct DDS ParticipantBuiltinTopicDataSeq

Instantiates FooSeq (p. 1572) < DDS ParticipantBuiltinTopicData(p. 1349) > .

struct DDS ParticipantBuiltinTopicDataTypeSupport

Instantiates TypeSupport < DDS ParticipantBuiltinTopicData(p. 1349) > .

Typedefs

typedef struct DDS ParticipantBuiltinTopicDataDataReaderDDS ParticipantBuiltinTopicDataDataReader

Instantiates DataReader < DDS ParticipantBuiltinTopicData (p. 1349)> .

22 Module Documentation

Variables

const char DDS PARTICIPANT TOPIC NAMEParticipant topic name.

4.1.1 Detailed Description

Builtin topic for accessing information about the DomainParticipants discoveredby RTI Connext.

4.1.2 Typedef Documentation

4.1.2.1 typedef struct DDS -ParticipantBuiltinTopicDataDataReaderDDS ParticipantBuiltinTopicDataDataReader

Instantiates DataReader < DDS ParticipantBuiltinTopicData (p. 1349) >.

DDS DataReader (p. 818) of topic DDS PARTICIPANT TOPIC -NAME (p. 22) used for accessing DDS ParticipantBuiltinTopicData(p. 1349) of the remote DDS DomainParticipant (p. 362).

Instantiates:

(p. 990) FooDataReader (p. 1570)

See also:

DDS ParticipantBuiltinTopicData (p. 1349)DDS PARTICIPANT TOPIC NAME (p. 22)

4.1.3 Variable Documentation

4.1.3.1 const char DDS PARTICIPANT TOPIC NAME

Participant topic name.

Topic name of DDS ParticipantBuiltinTopicDataDataReader (p. 22)

See also:

DDS ParticipantBuiltinTopicData (p. 1349)DDS ParticipantBuiltinTopicDataDataReader (p. 22)


4.2 Topic Built-in Topics 23

4.2 Topic Built-in Topics

Builtin topic for accessing information about the Topics discovered by RTI Con-next.

Data Structures

struct DDS TopicBuiltinTopicDataEntry created when a Topic object discovered.

struct DDS TopicBuiltinTopicDataSeqInstantiates FooSeq (p. 1572) < DDS TopicBuiltinTopicData (p. 1497)> .

struct DDS TopicBuiltinTopicDataTypeSupportInstantiates TypeSupport < DDS TopicBuiltinTopicData (p. 1497) > .

Typedefs

typedef struct DDS TopicBuiltinTopicDataDataReader DDS -TopicBuiltinTopicDataDataReader

Instantiates DataReader < DDS TopicBuiltinTopicData (p. 1497) > .

Variables

const char DDS TOPIC TOPIC NAMETopic topic name.


Builtin topic for accessing information about the Topics discovered by RTI Con-next.


4.2.2.1 typedef struct DDS TopicBuiltinTopicDataDataReaderDDS TopicBuiltinTopicDataDataReader

Instantiates DataReader < DDS TopicBuiltinTopicData (p. 1497) > .



DDS DataReader (p. 818) of topic DDS TOPIC TOPIC NAME (p. 24)used for accessing DDS TopicBuiltinTopicData (p. 1497) of the remoteDDS Topic (p. 454).

Note: The DDS TopicBuiltinTopicData (p. 1497) built-in topic ismeant to convey information about discovered Topics. This Topicssamples are not propagated in a separate packet on the wire. In-stead, the data is sent as part of the information carried by otherbuilt-in topics (DDS PublicationBuiltinTopicData (p. 1373) and DDS -SubscriptionBuiltinTopicData (p. 1474)). Therefore TopicBuiltinTopic-Data DataReaders will not receive any data.

Instantiates:


See also:

DDS TopicBuiltinTopicData (p. 1497)DDS TOPIC TOPIC NAME (p. 24)


4.2.3.1 const char DDS TOPIC TOPIC NAME

Topic topic name.

Topic name of DDS TopicBuiltinTopicDataDataReader (p. 23)

See also:

DDS TopicBuiltinTopicData (p. 1497)DDS TopicBuiltinTopicDataDataReader (p. 23)


4.3 Publication Built-in Topics 25

4.3 Publication Built-in Topics

Builtin topic for accessing information about the Publications discovered by RTIConnext.

Data Structures

struct DDS PublicationBuiltinTopicData

Entry created when a DDS DataWriter (p. 704) is discovered in associa-tion with its Publisher.

struct DDS PublicationBuiltinTopicDataSeq

Instantiates FooSeq (p. 1572) < DDS PublicationBuiltinTopicData(p. 1373) > .

struct DDS PublicationBuiltinTopicDataTypeSupport

Instantiates TypeSupport < DDS PublicationBuiltinTopicData(p. 1373) > .

Typedefs

typedef struct DDS PublicationBuiltinTopicDataDataReaderDDS PublicationBuiltinTopicDataDataReader

Instantiates DataReader < DDS PublicationBuiltinTopicData (p. 1373)> .

Variables

const char DDS PUBLICATION TOPIC NAME

Publication topic name.


Builtin topic for accessing information about the Publications discovered by RTIConnext.




4.3.2.1 typedef struct DDS -PublicationBuiltinTopicDataDataReaderDDS PublicationBuiltinTopicDataDataReader

Instantiates DataReader < DDS PublicationBuiltinTopicData (p. 1373) >.

DDS DataReader (p. 818) of topic DDS PUBLICATION TOPIC -NAME (p. 26) used for accessing DDS PublicationBuiltinTopicData(p. 1373) of the remote DDS DataWriter (p. 704) and the associated DDS -Publisher (p. 662).

Instantiates:


See also:

DDS PublicationBuiltinTopicData (p. 1373)DDS PUBLICATION TOPIC NAME (p. 26)


4.3.3.1 const char DDS PUBLICATION TOPIC NAME

Publication topic name.

Topic name of DDS PublicationBuiltinTopicDataDataReader (p. 26)

See also:

DDS PublicationBuiltinTopicData (p. 1373)DDS PublicationBuiltinTopicDataDataReader (p. 26)


4.4 Subscription Built-in Topics 27

4.4 Subscription Built-in Topics

Builtin topic for accessing information about the Subscriptions discovered byRTI Connext.

Data Structures

struct DDS SubscriptionBuiltinTopicData

Entry created when a DDS DataReader (p. 818) is discovered in associa-tion with its Subscriber.

struct DDS SubscriptionBuiltinTopicDataSeq

Instantiates FooSeq (p. 1572) < DDS SubscriptionBuiltinTopicData(p. 1474) > .

struct DDS SubscriptionBuiltinTopicDataTypeSupport

Instantiates TypeSupport < DDS SubscriptionBuiltinTopicData(p. 1474) > .

Typedefs

typedef struct DDS SubscriptionBuiltinTopicDataDataReaderDDS SubscriptionBuiltinTopicDataDataReader

Instantiates DataReader < DDS SubscriptionBuiltinTopicData(p. 1474) > .

Variables

const char DDS SUBSCRIPTION TOPIC NAME

Subscription topic name.


Builtin topic for accessing information about the Subscriptions discovered byRTI Connext.




4.4.2.1 typedef struct DDS -SubscriptionBuiltinTopicDataDataReaderDDS SubscriptionBuiltinTopicDataDataReader

Instantiates DataReader < DDS SubscriptionBuiltinTopicData (p. 1474)> .

DDS DataReader (p. 818) of topic DDS SUBSCRIPTION TOPIC -NAME (p. 28) used for accessing DDS SubscriptionBuiltinTopicData(p. 1474) of the remote DDS DataReader (p. 818) and the associated DDS -Subscriber (p. 775).

Instantiates:


See also:

DDS SubscriptionBuiltinTopicData (p. 1474)DDS SUBSCRIPTION TOPIC NAME (p. 28)


4.4.3.1 const char DDS SUBSCRIPTION TOPIC NAME

Subscription topic name.

Topic name of DDS SubscriptionBuiltinTopicDataDataReader (p. 28)

See also:

DDS SubscriptionBuiltinTopicData (p. 1474)DDS SubscriptionBuiltinTopicDataDataReader (p. 28)


4.5 String Built-in Type 29

4.5 String Built-in Type

Built-in type consisting of a single character string.

Data Structures

struct DDS StringTypeSupport (p. 990) String type support.

Typedefs

typedef struct DDS StringDataWriter DDS StringDataWriter (p. 990) Instantiates DataWriter < char >.

typedef struct DDS StringDataReader DDS StringDataReader (p. 990) Instantiates DataReader < char >.

Functions

DDS ReturnCode t DDS StringTypeSupport register type(DDS DomainParticipant participant, const char type name)

Allows an application to communicate to RTI Connext the existence of thechar data type.

DDS ReturnCode t DDS StringTypeSupport unregister type(DDS DomainParticipant participant, const char type name)

Allows an application to unregister the char data type from RTI Connext.After calling unregister type, no further communication using this type ispossible.

const char DDS StringTypeSupport get type name ()Get the default name for the char type.

void DDS StringTypeSupport print data (const char a data) (p. 990) Print value of data type to standard out.

DDS StringDataWriter DDS StringDataWriter narrow(DDS DataWriter writer)

Narrow the given DDS DataWriter (p. 704) pointer to a DDS -StringDataWriter (p. 32) pointer.



DDS DataWriter DDS StringDataWriter as datawriter(DDS StringDataWriter writer)

Widen the given DDS StringDataWriter (p. 32) pointer to a DDS -DataWriter (p. 704) pointer.

DDS ReturnCode t DDS StringDataWriter write (DDS -StringDataWriter self, const char instance data, const DDS -InstanceHandle t handle)

Modifies the value of a string data instance.

DDS ReturnCode t DDS StringDataWriter write w timestamp(DDS StringDataWriter self, const char instance data, constDDS InstanceHandle t handle, const struct DDS Time t source -timestamp)

Performs the same function as DDS StringDataWriter write (p. 35) ex-cept that it also provides the value for the source timestamp.

DDS ReturnCode t DDS StringDataWriter write w params(DDS StringDataWriter self, const char instance data, const structDDS WriteParams t params)

Performs the same function as DDS StringDataWriter write (p. 35) ex-cept that it also allows specification of the instance handle, source timestamp,publication priority, and cookie.

DDS StringDataReader DDS StringDataReader narrow(DDS DataReader reader)

Narrow the given DDS DataReader (p. 818) pointer to a DDS -StringDataReader (p. 32) pointer.

DDS DataReader DDS StringDataReader as datareader(DDS StringDataReader reader)

Widen the given DDS StringDataReader (p. 32) pointer to a DDS -DataReader (p. 818) pointer.

DDS ReturnCode t DDS StringDataReader read (DDS -StringDataReader self, struct DDS StringSeq received data,struct DDS SampleInfoSeq info seq, DDS Long max samples,DDS SampleStateMask sample states, DDS ViewStateMaskview states, DDS InstanceStateMask instance states)

Access a collection of data samples from the DDS DataReader (p. 818).

DDS ReturnCode t DDS StringDataReader take (DDS -StringDataReader self, struct DDS StringSeq received data,struct DDS SampleInfoSeq info seq, DDS Long max samples,


RTI Connext C API · 5.15 DDS DatabaseQosPolicy Struct Reference . . . . . . . . . . . . . 1107 ......

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