CoreDX DDS Python API¶
This is the CoreDX DDS Python Reference Manual. It provides a detailed reference for the CoreDX DDSTM Python API implementation from Twin Oaks Computing, Inc.
CoreDX DDSTM is a small-footprint, high-performance communications middleware compliant with the OMG Data Distribution Service (DDS) standard. CoreDX DDS supports multiple hardware architectures and operating systems, and is intended to facilitate the development of robust, near real-time, highly distributed systems.
The CoreDX DDS software implements the essential Data-Centric Publish-Subscribe (DCPS) communications layer as documented in the OMG DDS Standard. This standalone package provides everything needed to integrate QoS enabled, Publish-Subscribe messaging into an application. The core software is written in the C language, and is optimized to be small and fast.
Table of Contents¶
Quick Links¶
The CoreDX DDS Python CookBook provides helpful recepies for constructing and using DDS entities.
Below is a table-based index of the primary constructs that make up the CoreDX DDS Modern C++ API.
DDS Entities¶
This includes the primary objects with which an application must interact to enable DDS publish-subscribe communications.
Entity | Link |
---|---|
DomainParticipant | dds.domain.DomainParticipant |
Publisher | dds.pub.Publisher |
Subscriber | dds.sub.Subscriber |
Topic | dds.topic.Topic |
ContentFilteredTopic | dds.topic.ContentFilteredTopic |
DataWriter | dds.pub.DataWriter |
DataReader | dds.sub.DataReader |
DDS QoS¶
These elements are used in configuring the Quality of Service of the various DDS entities.
QoS Collection | Link |
---|---|
DomainParticipantQos | dds.domain.DomainParticipantQos |
PublisherQos | dds.pub.PublisherQos |
SubscriberQos | dds.sub.SubscriberQos |
TopicQos | dds.topic.TopicQos |
DataWriterQos | dds.pub.DataWriterQos |
DataReaderQos | dds.sub.DataReaderQos |
DDS Listeners¶
This section covers the various structures and concepts involved in delivering events to the application.
Listener | Link |
---|---|
DomainParticipantListener | dds.domain.DomainParticipantListener |
TopicListener | dds.topic.TopicListener |
PublisherListener | dds.pub.PublisherListener |
DataWriterListener | dds.pub.DataWriterListener |
SubscriberListener | dds.sub.SubscriberListener |
DataReaderListener | dds.sub.DataReaderListener |
DDS Status¶
This section describes the types of status maintained by the infrastructure.
Status | Link |
---|---|
InconsistentTopicStatus | dds.core.InconsistentTopicStatus |
LivelinessChangedStatus | dds.core.LivelinessChangedStatus |
LivelinessLostStatus | dds.core.LivelinessLostStatus |
OfferedDeadlineMissedStatus | dds.core.OfferedDeadlineMissedStatus |
OfferedIncompatibleQosStatus | dds.core.OfferedIncompatibleQosStatus |
PublicationMatchedStatus | dds.core.PublicationMatchedStatus |
SampleRejectedStatus | dds.core.SampleRejectedStatus |
RequestedDeadlineMissedStatus | dds.core.RequestedDeadlineMissedStatus |
RequestedIncompatibleQosStatus | dds.core.RequestedIncompatibleQosStatus |
SampleLostStatus | dds.core.SampleLostStatus |
SubscriptionMatchedStatus | dds.core.SubscriptionMatchedStatus |
DDS Conditions¶
The various ‘condition’ types and the associated WaitSet type.
Condition | Link |
---|---|
Condition | dds.cond.Condition |
GuardCondition | dds.cond.GuardCondition |
StatusCondition | dds.cond.StatusCondition |
ReadCondition | dds.cond.ReadCondition |
QueryCondition | dds.cond.QueryCondition |
WaitSet | dds.cond.WaitSet |
Intended Audience¶
This document is intended for software developers who are integrating the CoreDX DDS software into their application(s). The reference manual assumes that the reader is competent in programming languages and software development concepts. CoreDX DDS supports multiple languages, and this reference manual focuses on the Python programming language.