dds module¶
DDS Python DCPS API class
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class
dds.
DDSDestinationOrderKind
¶ Bases:
enum.Enum
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BY_RECEPTION_TIMESTAMP
= 0¶
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BY_SOURCE_TIMESTAMP
= 1¶
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class
dds.
DDSDurabilityKind
¶ Bases:
enum.Enum
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PERSISTENT
= 3¶
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TRANSIENT
= 2¶
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TRANSIENT_LOCAL
= 1¶
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VOLATILE
= 0¶
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class
dds.
DDSDuration
¶ Bases:
dds.DDSTime
DDS Duration
Parameters: - sec (long) – seconds (default: 0)
- nanosec (long) – nanoseconds (default: 0)
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infinity
¶ Return DDSDuration for infinity
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class
dds.
DDSLivelinessKind
¶ Bases:
enum.Enum
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AUTOMATIC
= 0¶
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MANUAL_BY_PARTICIPANT
= 1¶
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MANUAL_BY_TOPIC
= 2¶
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class
dds.
DDSMaskUtil
¶ Bases:
object
Mask utility. Some commonly used mask combination See
DDSStateKind
for list of available status-
all_samples
¶ [DDSStateKind.ANY_STATE]
Return type: list Returns: list of DDSStateKind
enumeration literals
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new_instance_samples
¶ [DDSStateKind.NOT_READ_SAMPLE_STATE, DDSStateKind.ALIVE_INSTANCE_STATE, DDSStateKind.NEW_VIEW_STATE]
Return type: list Returns: list of DDSStateKind
enumeration literals
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new_samples
¶ [DDSStateKind.NOT_READ_SAMPLE_STATE, DDSStateKind.ALIVE_INSTANCE_STATE, DDSStateKind.ANY_VIEW_STATE]
Return type: list Returns: list of DDSStateKind
enumeration literals
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not_alive_instance_samples
¶ [DDSStateKind.ANY_SAMPLE_STATE, DDSStateKind.ANY_VIEW_STATE, DDSStateKind.NOT_ALIVE_NO_WRITERS_INSTANCE_STATE, DDSStateKind.NOT_ALIVE_DISPOSED_INSTANCE_STATE]
Return type: list Returns: list of DDSStateKind
enumeration literals
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read_samples
¶ [DDSStateKind.READ_SAMPLE_STATE, DDSStateKind.ALIVE_INSTANCE_STATE, DDSStateKind.ANY_VIEW_STATE]
Return type: list Returns: list of DDSStateKind
enumeration literals
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class
dds.
DDSStateKind
¶ Bases:
enum.Enum
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ALIVE_INSTANCE_STATE
= 16¶
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ANY_INSTANCE_STATE
= 112¶
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ANY_SAMPLE_STATE
= 3¶
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ANY_STATE
= 127¶
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ANY_VIEW_STATE
= 12¶
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NEW_VIEW_STATE
= 4¶
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NOT_ALIVE_DISPOSED_INSTANCE_STATE
= 32¶
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NOT_ALIVE_NO_WRITERS_INSTANCE_STATE
= 64¶
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NOT_NEW_VIEW_STATE
= 8¶
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NOT_READ_SAMPLE_STATE
= 2¶
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READ_SAMPLE_STATE
= 1¶
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class
dds.
DDSStatusKind
¶ Bases:
enum.Enum
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DATA_AVAILABLE
= 1024¶
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DATA_ON_READERS
= 512¶
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INCONSISTENT_TOPIC
= 1¶
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LIVELINESS_CHANGED
= 4096¶
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LIVELINESS_LOST
= 2048¶
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OFFERED_DEADLINE_MISSED
= 2¶
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OFFERED_INCOMPATIBLE_QOS
= 32¶
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PUBLICATION_MATCHED
= 8192¶
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REQUESTED_DEADLINE_MISSED
= 4¶
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REQUESTED_INCOMPATIBLE_QOS
= 64¶
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SAMPLE_LOST
= 128¶
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SAMPLE_REJECTED
= 256¶
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SUBSCRIPTION_MATCHED
= 16384¶
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class
dds.
DDSTime
¶ Bases:
object
DDS Time
Parameters: - sec (long) – seconds (default: 1)
- nanosec (long) – nanoseconds (default: 0)
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__init__
()¶
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class
dds.
DataReader
¶ Bases:
dds.Entity
DataReader class
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read
(n=1, masks=DDSMaskUtil.all_samples())¶ Read samples
Parameters: - n (int) – number of samples to read
- masks (list) – list of DDS statuses
Return type: list
Returns: list of sample data and sample info tuple
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take
(n=1, masks=DDSMaskUtil.all_samples())¶ Take samples
Parameters: - n (int) – number of samples to take
- masks (list) – list of DDS statuses
Return type: list
Returns: list of sample data and sample info tuple
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wait_for_historical_data
(timeout = None)¶ Wait for data reader to receive historical data, up to timeout duration
Parameters: timeout (DDSDuration) – timeout in seconds(default: infinity) Return type: boolean Returns: False if timeout exipred; True otherwise
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class
dds.
DataWriter
¶ Bases:
dds.Entity
DataWriter class
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dispose_instance
(data)¶ Dispose instance
Parameters: data (object) – Topic data class instance
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dispose_instance_ts
(data, ts)¶ Dispose instance with timestamp
Parameters: - data (object) – Topic data class instance
- ts (long) – timestamp
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write
(data)¶ Write data
Parameters: data (object) – Topic data class instance
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class
dds.
DeadlineQosPolicy
¶ Bases:
dds.QosPolicy
Deadline QoS Policy
Parameters: deadline (DDSDuration) – Value for deadline (default: infinity) -
__init__
()¶
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deadline
¶
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class
dds.
DestinationOrderQosPolicy
¶ Bases:
dds.QosPolicy
Destination order QoS Policy
Parameters: kind (DDSDestinationOrderKind) – Destination order kind -
__init__
()¶
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class
dds.
DomainParticipant
¶ Bases:
dds.Entity
Domain participant class
Parameters: -
create_datareader
(Topic topic, Qos qos = None, listener = None)¶ Create a publisher
Parameters: Return type:
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create_datawriter
(Topic topic, Qos qos = None, listener = None)¶ Create a publisher
Parameters: Return type:
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create_publisher
(Qos qos = None, listener = None)¶ Create a publisher
Parameters: - qos (QoS) – QoS
- listener (Listener) – Listener
Return type:
-
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class
dds.
DurabilityQosPolicy
¶ Bases:
dds.QosPolicy
Durability QoS Policy
Parameters: k (DDSDurabilityKind) – Durability kind -
__init__
(k=DDSDurabilityKind.VOLATILE)¶
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class
dds.
DurabilityServiceQosPolicy
¶ Bases:
dds.QosPolicy
Durability service QoS Policy
Parameters: - service_cleanup_delay (DDSDuration) – set service_cleanup_delay (default: 0)
- history_kind (DDSHistoryKind) – set history kind (default: KEEP_LAST)
- history_depth (long) – set history_depth (default: 1)
- max_samples (long) – set max_samples (default: unlimited)
- max_instances (long) – set max_instances (default: unlimited)
- max_samples_per_instance (long) – set max_samples_per_instance (default: unlimited)
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__init__
()¶
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history_depth
¶
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history_kind
¶
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max_instances
¶
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max_samples
¶
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max_samples_per_instance
¶
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service_cleanup_delay
¶
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class
dds.
Entity
¶ Bases:
object
Abstract base entity class
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get_statuscondition
()¶
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listener
¶ Listener
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parent
¶ Parent entity
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class
dds.
GroupdataQosPolicy
¶ Bases:
dds.UserdataQosPolicy
Group data QoS Policy
Parameters: value (string) – value -
__init__
()¶
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class
dds.
GuardCondition
¶ Bases:
dds.Condition
Guard condition
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reset
()¶ Reset guard condition
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trigger
()¶ Trigger guard condition
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class
dds.
HistoryQosPolicy
¶ Bases:
dds.QosPolicy
History QoS Policy
Parameters: - k (DDSHistoryKind) – History kind
- depth (int) – History depth (default: 1)
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__init__
(kind=DDSHistoryKind.KEEP_LAST, depth=1)¶
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depth
¶
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class
dds.
LatencyBudgetQosPolicy
¶ Bases:
dds.QosPolicy
Latency budget QoS Policy
Parameters: duration (DDSDuration) – Value for duration (default: 0) -
__init__
()¶
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duration
¶
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class
dds.
LifespanQosPolicy
¶ Bases:
dds.QosPolicy
Lifespan QoS Policy
Parameters: lifespan (DDSDuration) – Value for lifespan (default: infinity) -
__init__
()¶
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lifespan
¶
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class
dds.
Listener
¶ Bases:
object
Abstract Listener class. Beta: only on_data_available is implemented.
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__init__
()¶
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on_data_available
(entity)¶
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on_data_readers
(entity)¶
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on_inconsistent_topic
(entity, status)¶
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on_liveliness_changed
(entity, status)¶
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on_liveliness_lost
(entity, status)¶
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on_offered_deadline_missed
(entity, status)¶
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on_offered_incompatible_qos
(entity, status)¶
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on_publication_matched
(entity, status)¶
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on_requested_deadline_missed
(entity, status)¶
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on_requested_incompatible_qos
(entity, status)¶
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on_sample_lost
(entity, status)¶
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on_sample_rejected
(entity, status)¶
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on_subscription_matched
(entity, status)¶
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class
dds.
LivelinessQosPolicy
¶ Bases:
dds.QosPolicy
Liveliness QoS Policy
Parameters: - kind (DDSLivelinessKind) – Liveliness kind
- lease_duration (DDSDuration) – Lease duration (default: infinity)
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__init__
()¶
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lease_duration
¶
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class
dds.
OwnershipQosPolicy
¶ Bases:
dds.QosPolicy
Ownership QoS Policy
Parameters: kind (DDSOwnershipKind) – Ownership kind -
__init__
()¶
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class
dds.
OwnershipStrengthQosPolicy
¶ Bases:
dds.QosPolicy
Ownership strenth QoS Policy
Parameters: value (int) – value for strength (default: 0) -
__init__
()¶
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value
¶
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class
dds.
PartitionQosPolicy
¶ Bases:
dds.QosPolicy
Partition QoS Policy
Parameters: ps (list) – list of partition names -
__init__
()¶
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ps
¶
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class
dds.
PresentationQosPolicy
¶ Bases:
dds.QosPolicy
Presentation QoS Policy
Parameters: - kind (DDSPresentationAccessScopeKind) – Presentation kind (default: INSTANCE)
- coherent_access (bool) – Set coherent access (default: False)
- ordered_access (bool) – Set ordered access (default: False)
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__init__
(kind=DDSHistoryKind.KEEP_LAST, depth=1)¶
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coherent_access
¶
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ordered_access
¶
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class
dds.
Publisher
¶ Bases:
dds.Entity
Publisher class
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create_datawriter
(Topic topic, Qos qos = None, listener = None)¶ Create a data writer :type topic: Topic :param topic: Topic
Parameters: Return type:
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class
dds.
Qos
¶ Bases:
object
QoS class
Parameters: policies (list) – list of QoS policies -
set_policies
(policies)¶ Set policies :type policies: list :param policies: list of QoS policies
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class
dds.
QosPolicy
¶ Bases:
object
Abstract QoS policy class. Users should not instantiate this class.
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__init__
(i)¶
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id
¶ An internal QoS Policy id
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kind
¶ QoS Policy kind
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class
dds.
QosProfile
¶ Bases:
object
QoS Provider class
Parameters: - uri (string) – uri to xml file
- profile (string) – profile name
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class
dds.
QueryCondition
¶ Bases:
dds.Condition
Query condition
Parameters: - reader (DataReader) – Source DataReader
- masks (list) – list of masks (default:
DDSMaskUtil.all_samples()
- expression (string) – Expression
- parameters (list) – list of parameters in string
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class
dds.
ReadCondition
¶ Bases:
dds.Condition
Read condition
Parameters: - reader (DataReader) – Source DataReader
- masks (list) – list of masks (default:
DDSMaskUtil.all_samples()
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class
dds.
ReaderDataLifecycleQosPolicy
¶ Bases:
dds.QosPolicy
Reader data lifecycle QoS Policy
Parameters: - autopurge_nowriter_samples (DDSDuration) – set autopurge_nowriter_samples (default: infinity)
- autopurge_disposed_samples_delay (DDSDuration) – set autopurge_nowriter_samples (default: infinity)
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__init__
()¶
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autopurge_disposed_samples_delay
¶
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autopurge_nowriter_samples
¶
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class
dds.
ReliabilityQosPolicy
¶ Bases:
dds.QosPolicy
Reliability QoS Policy
Parameters: - kind (DDSReliabilityKind) – Reliability kind
- max_blocking_time (DDSDuration) – Max blocking time (default: 100 milliseconds)
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__init__
()¶
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max_blocking_time
¶
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class
dds.
ResourceLimitsQosPolicy
¶ Bases:
dds.QosPolicy
Resource limit QoS Policy
Parameters: - max_samples (int) – maximum samples (default: -1)
- max_instances (int) – maximum instances (default: -1)
- max_samples_per_instance (int) – maximum samples per instance (default: -1)
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__init__
()¶
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max_instances
¶
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max_samples
¶
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max_samples_per_instance
¶
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class
dds.
StatusCondition
¶ Bases:
dds.Condition
Status condition
Parameters: entity (Entity) – Source entity -
enable_status
()¶
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entity
¶
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get_enabled_status
()¶
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class
dds.
Subscriber
¶ Bases:
dds.Entity
Subscriber class
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create_datareader
(Topic topic, Qos qos = None, listener = None)¶ Create a data reader :type topic: Topic :param topic: Topic
Parameters: Return type:
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class
dds.
TimeBasedFilterQosPolicy
¶ Bases:
dds.QosPolicy
Time based filter QoS Policy
Parameters: minimum_separation (DDSDuration) – Value for minimum separation (default: 0) -
__init__
()¶
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minimum_separation
¶
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class
dds.
Topic
¶ Bases:
dds.Entity
Topic class
Parameters: - dp (DomainParticipant) – Domain participant
- name (string) – Topic name
- qos (Qos) – Topic QoS (default: None)
- listener (Listener) – Topic listener (default: None)
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class
dds.
TopicdataQosPolicy
¶ Bases:
dds.UserdataQosPolicy
Topic data QoS Policy
Parameters: value (string) – value -
__init__
()¶
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class
dds.
TransportPriorityQosPolicy
¶ Bases:
dds.QosPolicy
Transport priority QoS Policy
Parameters: value (int) – value for transport priority -
__init__
()¶
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value
¶
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class
dds.
TypeSupport
¶ Bases:
object
It is used to generate a dds_topic_descriptor from the provided typename, keys and XML type specification. The size attribute is need to allocate memory when the topic data is deserialized. For the serialization and deserialization the struct module is used
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__init__
¶ Initialize self. See help(type(self)) for accurate signature.
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deserialize
(b)¶ Deserialize data
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handle
¶ C handle
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serialize
(o)¶ Serialize data
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size
¶ Data size
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class
dds.
UserdataQosPolicy
¶ Bases:
dds.QosPolicy
Userdata QoS Policy
Parameters: value (string) – value -
__init__
()¶
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value
¶
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class
dds.
WaitSet
¶ Bases:
object
WaitSet class
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attach
(Condition cond)¶ Attach condition :type cond: Condition :param cond: condition to attach
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get_conditions
()¶ Return conditions
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wait
(timeout = DDSDuration.infinity())¶ Wait for any of the conditions attached to the waitset to be triggered
Parameters: timeout (DDSDuration) – timeout in seconds(default: infinity) Return type: list Returns: list of Condition
objects that were triggered. list is empty if timeout expired
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class
dds.
WriterDataLifecycleQosPolicy
¶ Bases:
dds.QosPolicy
Writer data lifecycle QoS Policy
Parameters: autodispose_unregistered_instances (bool) – set autodispose_unregistered_instances (default: true) -
__init__
()¶
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autodispose_unregistered_instances
¶
-