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 __init__(self, qos_path: type_hints.PathType,
profile_name: str) -> None:
self.profile_name = profile_name
self.qos_provider = dds.QosProvider(
pathlib.Path(qos_path).as_uri(), profile_name)
self.topic_qos = self.qos_provider.get_topic_qos()
self.reader_qos = self.qos_provider.get_reader_qos()
self.writer_qos = self.qos_provider.get_writer_qos()
def __init__(self, sQualityOfServiceFile, sQualityOfServiceName,
sDataStructureFile):
self.__oQP = dds.QosProvider(sQualityOfServiceFile,
sQualityOfServiceName)
self.__oDP = dds.DomainParticipant(
qos=self.__oQP.get_participant_qos())
self.__sDataStructureFile = sDataStructureFile
self.__oTopics = None
self.__oPub = None
self.DataReceived = Event()
def start(self, qosxml, qosprofile):
if qosxml and qosprofile:
self._qosProfile = dds.QosProvider(qosxml, qosprofile)
self._domainParticipant = dds.DomainParticipant(
qos=self._qosProfile.get_participant_qos())
self._publisher = self._domainParticipant.create_publisher(
qos=self._qosProfile.get_publisher_qos())
self._subscriber = self._domainParticipant.create_subscriber(
qos=self._qosProfile.get_subscriber_qos())
else:
self._domainParticipant = dds.DomainParticipant()
self._publisher = self._domainParticipant.create_publisher()
self._subscriber = self._domainParticipant.create_subscriber()