builtin¶

class cyclonedds.builtin.BuiltinDataReader(subscriber_or_participant, builtin_topic, qos=None, listener=None)[source]¶

Bases: cyclonedds.sub.DataReader

Builtin topics have sligtly different behaviour than normal topics, so you should use this BuiltinDataReader instead of the normal DataReader. They are identical in the rest of their functionality.

Parameters

subscriber_or_participant (Union[cyclonedds.sub.Subscriber, cyclonedds.domain.DomainParticipant]) –
builtin_topic (cyclonedds.builtin.BuiltinTopic) –
qos (Optional[cyclonedds.core.Qos]) –
listener (Optional[cyclonedds.core.Listener]) –

Return type

None

__init__(subscriber_or_participant, builtin_topic, qos=None, listener=None)[source]¶

Initialize the BuiltinDataReader

Parameters

subscriber_or_participant (cyclonedds.sub.Subscriber, cyclonedds.domain.DomainParticipant) – The subscriber to which this reader will be added. If you supply a DomainParticipant a subscriber will be created for you.
builtin_topic (cyclonedds.builtin.BuiltinTopic) – Which Builtin Topic to subscribe to. This can be one of BuiltinTopicDcpsParticipant, BuiltinTopicDcpsTopic, BuiltinTopicDcpsPublication or BuiltinTopicDcpsSubscription. Please note that BuiltinTopicDcpsTopic will fail if you built CycloneDDS without Topic Discovery.
qos (cyclonedds.core.Qos, optional = None) – Optionally supply a Qos.
listener (cyclonedds.core.Listener = None) – Optionally supply a Listener.

Return type

None

read(N=1, condition=None)[source]¶

Read a maximum of N samples, non-blocking. Optionally use a read/query-condition to select which samples you are interested in.

Parameters

N (int) – The maximum number of samples to read.
condition (cyclonedds.core.ReadCondition, cyclonedds.core.QueryCondition, optional) – Only read samples that satisfy the supplied condition.

Raises

DDSException – If any error code is returned by the DDS API it is converted into an exception.

take(N=1, condition=None)[source]¶

Take a maximum of N samples, non-blocking. Optionally use a read/query-condition to select which samples you are interested in.

Parameters

N (int) – The maximum number of samples to read.
condition (cyclonedds.core.ReadCondition, cyclonedds.core.QueryCondition, optional) – Only take samples that satisfy the supplied condition.

Raises

DDSException – If any error code is returned by the DDS API it is converted into an exception.

class cyclonedds.builtin.DcpsParticipant(key, qos)[source]¶

Data sample as returned when you subscribe to the BuiltinTopicDcpsParticipant topic.

Parameters

key (uuid.UUID) –
qos (cyclonedds.qos.Qos) –

Return type

None

key¶

Unique participant identifier

Type: uuid.UUID

qos¶

Qos policies associated with the participant.

Type: Qos

class cyclonedds.builtin.DcpsEndpoint(key, participant_key, participant_instance_handle, topic_name, type_name, qos, type_id)[source]¶

Data sample as returned when you subscribe to the BuiltinTopicDcpsTopic, BuiltinTopicDcpsPublication or BuiltinTopicDcpsSubscription topic.

Parameters

key (uuid.UUID) –
participant_key (uuid.UUID) –
participant_instance_handle (int) –
topic_name (str) –
type_name (str) –
qos (cyclonedds.qos.Qos) –
type_id (Optional[cyclonedds.idl._typesupport.DDS.XTypes._ddsi_xt_type_object.TypeIdentifier]) –

Return type

None

key¶

Unique identifier for the topic, publication or subscription endpoint.

Type: uuid.UUID

participant_key¶

Unique identifier of the participant the endpoint belongs to.

Type: uuid.UUID

participant_instance_handle¶

Instance handle

Type: int

topic_name¶

Name of the associated topic.

Type: str

type_name¶

Name of the type.

Type: str

qos¶

Qos policies associated with the endpoint.

Type: Qos

typeid¶

Complete XTypes TypeIdentifier of the type, can be None.

Type: TypeIdentifier, optional

class cyclonedds.builtin.BuiltinTopic(_ref, data_type)[source]¶

Bases: cyclonedds.topic.Topic

Represent a built-in CycloneDDS Topic by magic reference number.

cyclonedds.builtin.BuiltinTopicDcpsParticipant¶: Built-in topic, is published to when a new participants appear on the network.

cyclonedds.builtin.BuiltinTopicDcpsTopic¶: Built-in topic, is published to when a new topic appear on the network.

cyclonedds.builtin.BuiltinTopicDcpsPublication¶: Built-in topic, is published to when a publication happens.

cyclonedds.builtin.BuiltinTopicDcpsSubscription¶: Built-in topic, is published to when a subscription happens.