def createReader(self, topic, listener):
global mutex
guard = OpenRTM_aist.ScopedLock(mutex)
if self._qosProfile:
return self._subscriber.create_datareader(
topic, self._qosProfile.get_reader_qos(), listener)
else:
reader_qos = dds.Qos([
dds.DurabilityQosPolicy(dds.DDSDurabilityKind.TRANSIENT),
dds.DeadlineQosPolicy(dds.DDSDuration(500)),
dds.LatencyBudgetQosPolicy(dds.DDSDuration(3000)),
dds.LivelinessQosPolicy(
dds.DDSLivelinessKind.MANUAL_BY_PARTICIPANT),
dds.ReliabilityQosPolicy(dds.DDSReliabilityKind.RELIABLE,
dds.DDSDuration.infinity()),
dds.DestinationOrderQosPolicy(
dds.DDSDestinationOrderKind.BY_SOURCE_TIMESTAMP),
dds.HistoryQosPolicy(dds.DDSHistoryKind.KEEP_ALL),
dds.ResourceLimitsQosPolicy(10, 10, 10),
dds.OwnershipQosPolicy(dds.DDSOwnershipKind.EXCLUSIVE),
dds.TimeBasedFilterQosPolicy(dds.DDSDuration(2, 500)),
dds.ReaderDataLifecycleQosPolicy(dds.DDSDuration(3),
dds.DDSDuration(5))
])
return self._subscriber.create_datareader(topic, reader_qos,
listener)
def createWriter(self, topic):
global mutex
guard = OpenRTM_aist.ScopedLock(mutex)
if self._qosProfile:
return self._publisher.create_datawriter(
topic, self._qosProfile.get_writer_qos())
else:
writer_qos = dds.Qos([
dds.DurabilityQosPolicy(dds.DDSDurabilityKind.TRANSIENT),
dds.DeadlineQosPolicy(dds.DDSDuration(500)),
dds.LatencyBudgetQosPolicy(dds.DDSDuration(3000)),
dds.LivelinessQosPolicy(
dds.DDSLivelinessKind.MANUAL_BY_PARTICIPANT),
dds.ReliabilityQosPolicy(dds.DDSReliabilityKind.RELIABLE,
dds.DDSDuration.infinity()),
dds.DestinationOrderQosPolicy(
dds.DDSDestinationOrderKind.BY_SOURCE_TIMESTAMP),
dds.HistoryQosPolicy(dds.DDSHistoryKind.KEEP_ALL),
dds.ResourceLimitsQosPolicy(10, 10, 10),
dds.TransportPriorityQosPolicy(700),
dds.LifespanQosPolicy(dds.DDSDuration(10, 500)),
dds.OwnershipQosPolicy(dds.DDSOwnershipKind.EXCLUSIVE),
dds.OwnershipStrengthQosPolicy(100),
dds.WriterDataLifecycleQosPolicy(False)
])
return self._publisher.create_datawriter(topic, writer_qos)
def __init__(self, qos_path):
self.participant = None
self._component_set = set()
self.qos_path = pathlib.Path(qos_path).resolve()
if not self.qos_path.is_file():
raise ValueError(f"qos_path={qos_path} is not a file")
self.qos_provider = dds.QosProvider(self.qos_path.as_uri(), 'DDS DefaultQosProfile')
participant_qos = self.qos_provider.get_participant_qos()
self.participant = dds.DomainParticipant(qos=participant_qos)
self.topic_qos = self.qos_provider.get_topic_qos()
read_queue_policy = dds.HistoryQosPolicy(depth=DDS_READ_QUEUE_LEN,
kind=dds.DDSHistoryKind.KEEP_LAST)
self.reader_qos = self.qos_provider.get_reader_qos()
# QoS for readers that want late-joiner data
self.reader_qos.set_policies([read_queue_policy])
self.volatilereader_qos = self.qos_provider.get_reader_qos()
volatile_policy = dds.DurabilityQosPolicy(dds.DDSDurabilityKind.VOLATILE)
# QoS for readers that do not want late-joiner data
self.volatilereader_qos.set_policies([read_queue_policy, volatile_policy])
self.writer_qos = self.qos_provider.get_writer_qos()
def createTopic(self, datatype, topicname):
global mutex
guard = OpenRTM_aist.ScopedLock(mutex)
if topicname in self._topic:
return self._topic[topicname]
else:
geninfo = self.genInfo(datatype)
if geninfo:
if self._qosProfile:
self._topic[topicname] = geninfo.register_topic(
self._domainParticipant, topicname, self._qosProfile.get_topic_qos())
else:
topic_qos = dds.Qos([dds.DurabilityQosPolicy(dds.DDSDurabilityKind.TRANSIENT),
dds.DurabilityServiceQosPolicy(dds.DDSDuration(
2, 500), dds.DDSHistoryKind.KEEP_ALL, 2, 100, 100, 100),
dds.DeadlineQosPolicy(
dds.DDSDuration(500)),
dds.LatencyBudgetQosPolicy(
dds.DDSDuration(3000)),
dds.LivelinessQosPolicy(
dds.DDSLivelinessKind.MANUAL_BY_PARTICIPANT),
dds.ReliabilityQosPolicy(
dds.DDSReliabilityKind.RELIABLE, dds.DDSDuration.infinity()),
dds.DestinationOrderQosPolicy(
dds.DDSDestinationOrderKind.BY_SOURCE_TIMESTAMP),
dds.HistoryQosPolicy(
dds.DDSHistoryKind.KEEP_ALL),
dds.ResourceLimitsQosPolicy(
10, 10, 10),
dds.TransportPriorityQosPolicy(700),
dds.LifespanQosPolicy(
dds.DDSDuration(10, 500)),
dds.OwnershipQosPolicy(
dds.DDSOwnershipKind.EXCLUSIVE)
])
self._topic[topicname] = geninfo.register_topic(
self._domainParticipant, topicname, topic_qos)
return self._topic[topicname]
return None
