def __init__(self):
self._matched_reader = 0
self._cvDiscovery = Condition()
self.index = 0
factory = fastdds.DomainParticipantFactory.get_instance()
self.participant_qos = fastdds.DomainParticipantQos()
factory.get_default_participant_qos(self.participant_qos)
self.participant = factory.create_participant(0, self.participant_qos)
self.topic_data_type = HelloWorld.HelloWorldPubSubType()
self.topic_data_type.setName("HelloWorld")
self.type_support = fastdds.TypeSupport(self.topic_data_type)
self.participant.register_type(self.type_support)
self.topic_qos = fastdds.TopicQos()
self.participant.get_default_topic_qos(self.topic_qos)
self.topic = self.participant.create_topic(
"HelloWorldTopic", self.topic_data_type.getName(), self.topic_qos)
self.publisher_qos = fastdds.PublisherQos()
self.participant.get_default_publisher_qos(self.publisher_qos)
self.publisher = self.participant.create_publisher(self.publisher_qos)
self.listener = WriterListener(self)
self.writer_qos = fastdds.DataWriterQos()
self.publisher.get_default_datawriter_qos(self.writer_qos)
self.writer = self.publisher.create_datawriter(self.topic,
self.writer_qos,
self.listener)
