19.1.2.1. DomainParticipant

class fastdds.DomainParticipant(*args, **kwargs)

Class DomainParticipant used to group Publishers and Subscribers into a single working unit.

assert_liveliness()

This operation manually asserts the liveliness of the DomainParticipant. This is used in combination with the LIVELINESS QoS policy to indicate to the Service that the entity remains active.

This operation needs to only be used if the DomainParticipant contains DataWriter entities with the LIVELINESS set to MANUAL_BY_PARTICIPANT and it only affects the liveliness of those DataWriter entities. Otherwise, it has no effect.

Notes: Writing data via the write operation on a DataWriter asserts liveliness on the DataWriter itself and its DomainParticipant. Consequently the use of assert_liveliness is only needed if the application is not writing data regularly.

Return type:

int

Returns:

RETCODE_OK if the liveliness was asserted, RETCODE_ERROR otherwise.

contains_entity(a_handle, recursive=True)

This operation checks whether or not the given handle represents an Entity that was created from the DomainParticipant.

Parameters:

  • a_handle (InstanceHandle_t) – InstanceHandle of the entity to look for.

  • recursive (boolean) – The containment applies recursively. That is, it applies both to entities (TopicDescription, Publisher, or Subscriber) created directly using the DomainParticipant as well as entities created using a contained Publisher, or Subscriber as the factory, and so forth. (default: true)

Return type:

boolean

Returns:

True if entity is contained. False otherwise.

create_contentfilteredtopic(*args)

Overload 1:

Create a ContentFilteredTopic in this Participant.

Parameters:

  • name (string) – Name of the ContentFilteredTopic

  • related_topic (Topic) – Related Topic to being subscribed

  • filter_expression (string) – Logic expression to create filter

  • expression_parameters (std::vector< std::string,std::allocator< std::string > >) – Parameters to filter content

Return type:

ContentFilteredTopic

Returns:

Pointer to the created ContentFilteredTopic.

Return type:

ContentFilteredTopic

Returns:

nullptr if related_topic does not belong to this participant.

Return type:

ContentFilteredTopic

Returns:

nullptr if a topic with the specified name has already been created.

Return type:

ContentFilteredTopic

Returns:

nullptr if a filter cannot be created with the specified filter_expression and expression_parameters.


Overload 2:

Create a ContentFilteredTopic in this Participant using a custom filter.

Parameters:

  • name (string) – Name of the ContentFilteredTopic

  • related_topic (Topic) – Related Topic to being subscribed

  • filter_expression (string) – Logic expression to create filter

  • expression_parameters (std::vector< std::string,std::allocator< std::string > >) – Parameters to filter content

  • filter_class_name (string) – Name of the filter class to use

Return type:

ContentFilteredTopic

Returns:

Pointer to the created ContentFilteredTopic.

Return type:

ContentFilteredTopic

Returns:

nullptr if related_topic does not belong to this participant.

Return type:

ContentFilteredTopic

Returns:

nullptr if a topic with the specified name has already been created.

Return type:

ContentFilteredTopic

Returns:

nullptr if a filter cannot be created with the specified filter_expression and expression_parameters.

Return type:

ContentFilteredTopic

Returns:

nullptr if the specified filter_class_name has not been registered.

create_multitopic(name, type_name, subscription_expression, expression_parameters)

Create a MultiTopic in this Participant.

Parameters:

  • name (string) – Name of the MultiTopic

  • type_name (string) – Result type of the MultiTopic

  • subscription_expression (string) – Logic expression to combine filter

  • expression_parameters (std::vector< std::string,std::allocator< std::string > >) – Parameters to subscription content

Return type:

eprosima::fastdds::dds::MultiTopic

Returns:

Pointer to the created ContentFilteredTopic, nullptr in error case

create_publisher(*args)

Create a Publisher in this Participant.

Parameters:

  • qos (PublisherQos) – QoS of the Publisher.

  • listener (PublisherListener) – Pointer to the listener (default: nullptr)

  • mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Publisher

Returns:

Pointer to the created Publisher.

create_publisher_with_profile(*args)

Create a Publisher in this Participant.

Parameters:

  • profile_name (string) – Publisher profile name.

  • listener (PublisherListener) – Pointer to the listener (default: nullptr)

  • mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Publisher

Returns:

Pointer to the created Publisher.

create_subscriber(*args)

Create a Subscriber in this Participant.

Parameters:

  • qos (SubscriberQos) – QoS of the Subscriber.

  • listener (SubscriberListener) – Pointer to the listener (default: nullptr)

  • mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Subscriber

Returns:

Pointer to the created Subscriber.

create_subscriber_with_profile(*args)

Create a Subscriber in this Participant.

Parameters:

  • profile_name (string) – Subscriber profile name.

  • listener (SubscriberListener) – Pointer to the listener (default: nullptr)

  • mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Subscriber

Returns:

Pointer to the created Subscriber.

create_topic(*args)

Create a Topic in this Participant.

Parameters:

  • topic_name (string) – Name of the Topic.

  • type_name (string) – Data type of the Topic.

  • qos (TopicQos) – QoS of the Topic.

  • listener (TopicListener) – Pointer to the listener (default: nullptr)

  • mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Topic

Returns:

Pointer to the created Topic.

create_topic_with_profile(*args)

Create a Topic in this Participant.

Parameters:

  • topic_name (string) – Name of the Topic.

  • type_name (string) – Data type of the Topic.

  • profile_name (string) – Topic profile name.

  • listener (TopicListener) – Pointer to the listener (default: nullptr)

  • mask (StatusMask) – StatusMask that holds statuses the listener responds to (default: all)

Return type:

Topic

Returns:

Pointer to the created Topic.

delete_contained_entities()

Deletes all the entities that were created by means of the “create” methods

Return type:

int

Returns:

RETURN_OK code if everything correct, error code otherwise

delete_contentfilteredtopic(a_contentfilteredtopic)

Deletes an existing ContentFilteredTopic.

Parameters:

a_contentfilteredtopic (ContentFilteredTopic) – ContentFilteredTopic to be deleted

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the topic passed is a nullptr, RETCODE_PRECONDITION_NOT_MET if the topic does not belong to this participant or if it is referenced by any entity and RETCODE_OK if the ContentFilteredTopic was deleted.

delete_multitopic(a_multitopic)

Deletes an existing MultiTopic.

Parameters:

a_multitopic (eprosima::fastdds::dds::MultiTopic) – MultiTopic to be deleted

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the topic passed is a nullptr, RETCODE_PRECONDITION_NOT_MET if the topic does not belong to this participant or if it is referenced by any entity and RETCODE_OK if the Topic was deleted.

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

delete_publisher(publisher)

Deletes an existing Publisher.

Parameters:

publisher (Publisher) – to be deleted.

Return type:

int

Returns:

RETCODE_PRECONDITION_NOT_MET if the publisher does not belong to this participant or if it has active DataWriters, RETCODE_OK if it is correctly deleted and RETCODE_ERROR otherwise.

delete_subscriber(subscriber)

Deletes an existing Subscriber.

Parameters:

subscriber (Subscriber) – to be deleted.

Return type:

int

Returns:

RETCODE_PRECONDITION_NOT_MET if the subscriber does not belong to this participant or if it has active DataReaders, RETCODE_OK if it is correctly deleted and RETCODE_ERROR otherwise.

delete_topic(topic)

Deletes an existing Topic.

Parameters:

topic (Topic) – to be deleted.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the topic passed is a nullptr, RETCODE_PRECONDITION_NOT_MET if the topic does not belong to this participant or if it is referenced by any entity and RETCODE_OK if the Topic was deleted.

enable()

This operation enables the DomainParticipant

Return type:

int

Returns:

RETCODE_OK

find_topic(topic_name, timeout)

Gives access to an existing (or ready to exist) enabled Topic. It should be noted that the returned Topic is a local object that acts as a proxy to designate the global concept of topic. Topics obtained by means of find_topic, must also be deleted by means of delete_topic so that the local resources can be released. If a Topic is obtained multiple times by means of find_topic or create_topic, it must also be deleted that same number of times using delete_topic.

Parameters:

  • topic_name (string) – Topic name

  • timeout (Duration_t) – Maximum time to wait for the Topic

Return type:

Topic

Returns:

Pointer to the existing Topic, nullptr in case of error or timeout

find_type(type_name)

This method gives access to a registered type based on its name.

Parameters:

type_name (string) – Name of the type

Return type:

TypeSupport

Returns:

TypeSupport corresponding to the type_name

get_builtin_subscriber()

Allows access to the builtin Subscriber.

Return type:

Subscriber

Returns:

Pointer to the builtin Subscriber, nullptr in error case

get_current_time(current_time)

This operation returns the current value of the time that the service uses to time-stamp data-writes and to set the reception-timestamp for the data-updates it receives.

Parameters:

current_time (Time_t) – Time_t reference where the current time is returned

Return type:

int

Returns:

RETCODE_OK

get_default_publisher_qos(*args)

Overload 1:

This operation retrieves the default value of the Publisher QoS, that is, the QoS policies which will be used for newly created Publisher entities in the case where the QoS policies are defaulted in the create_publisher operation.

The values retrieved get_default_publisher_qos will match the set of values specified on the last successful call to set_default_publisher_qos, or else, if the call was never made, the default values.

Return type:

PublisherQos

Returns:

Current default publisher qos.


Overload 2:

This operation retrieves the default value of the Publisher QoS, that is, the QoS policies which will be used for newly created Publisher entities in the case where the QoS policies are defaulted in the create_publisher operation.

The values retrieved get_default_publisher_qos will match the set of values specified on the last successful call to set_default_publisher_qos, or else, if the call was never made, the default values.

Parameters:

qos (PublisherQos) – PublisherQos reference where the default_publisher_qos is returned

Return type:

int

Returns:

RETCODE_OK

get_default_subscriber_qos(*args)

Overload 1:

This operation retrieves the default value of the Subscriber QoS, that is, the QoS policies which will be used for newly created Subscriber entities in the case where the QoS policies are defaulted in the create_subscriber operation.

The values retrieved get_default_subscriber_qos will match the set of values specified on the last successful call to set_default_subscriber_qos, or else, if the call was never made, the default values.

Return type:

SubscriberQos

Returns:

Current default subscriber qos.


Overload 2:

This operation retrieves the default value of the Subscriber QoS, that is, the QoS policies which will be used for newly created Subscriber entities in the case where the QoS policies are defaulted in the create_subscriber operation.

The values retrieved get_default_subscriber_qos will match the set of values specified on the last successful call to set_default_subscriber_qos, or else, if the call was never made, the default values.

Parameters:

qos (SubscriberQos) – SubscriberQos reference where the default_subscriber_qos is returned

Return type:

int

Returns:

RETCODE_OK

get_default_topic_qos(*args)

Overload 1:

This operation retrieves the default value of the Topic QoS, that is, the QoS policies that will be used for newly created Topic entities in the case where the QoS policies are defaulted in the create_topic operation.

The values retrieved get_default_topic_qos will match the set of values specified on the last successful call to set_default_topic_qos, or else, TOPIC_QOS_DEFAULT if the call was never made.

Return type:

TopicQos

Returns:

Current default topic qos.


Overload 2:

This operation retrieves the default value of the Topic QoS, that is, the QoS policies that will be used for newly created Topic entities in the case where the QoS policies are defaulted in the create_topic operation.

The values retrieved get_default_topic_qos will match the set of values specified on the last successful call to set_default_topic_qos, or else, TOPIC_QOS_DEFAULT if the call was never made.

Parameters:

qos (TopicQos) – TopicQos reference where the default_topic_qos is returned

Return type:

int

Returns:

RETCODE_OK

get_discovered_participant_data(participant_data, participant_handle)

Retrieves the DomainParticipant data of a discovered not ignored participant.

participant_data Reference to the ParticipantBuiltinTopicData object to return the data :type participant_handle: InstanceHandle_t :param participant_handle: InstanceHandle of DomainParticipant to retrieve the data from :rtype: int :return: RETCODE_OK if everything correct, PRECONDITION_NOT_MET if participant does not exist

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_discovered_participants(participant_handles)

Retrieves the list of DomainParticipants that have been discovered in the domain and are not “ignored”.

participant_handles Reference to the vector where discovered participants will be returned :rtype: int :return: RETCODE_OK if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_discovered_topic_data(topic_data, topic_handle)

Retrieves the Topic data of a discovered not ignored topic.

topic_data Reference to the TopicBuiltinTopicData object to return the data :type topic_handle: InstanceHandle_t :param topic_handle: InstanceHandle of Topic to retrieve the data from :rtype: int :return: RETCODE_OK if everything correct, PRECONDITION_NOT_MET if topic does not exist

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_discovered_topics(topic_handles)

Retrieves the list of topics that have been discovered in the domain and are not “ignored”.

topic_handles Reference to the vector where discovered topics will be returned :rtype: int :return: RETCODE_OK if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

get_domain_id()

This operation retrieves the domain_id used to create the DomainParticipant. The domain_id identifies the DDS domain to which the DomainParticipant belongs.

Return type:

int

Returns:

The Participant’s domain_id

get_instance_handle()

Returns the DomainParticipant’s handle.

Return type:

InstanceHandle_t

Returns:

InstanceHandle of this DomainParticipant.

get_listener()

Allows accessing the DomainParticipantListener.

Return type:

DomainParticipantListener

Returns:

DomainParticipantListener pointer

get_participant_names()

Getter for the participant names

Return type:

std::vector< std::string,std::allocator< std::string > >

Returns:

Vector with the names

get_publisher_qos_from_profile(profile_name, qos)

Fills the PublisherQos with the values of the XML profile.

Parameters:

  • profile_name (string) – Publisher profile name.

  • qos (PublisherQos) – PublisherQos object where the qos is returned.

Return type:

int

Returns:

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

get_qos(*args)

Overload 1:

This operation returns the value of the DomainParticipant QoS policies

Parameters:

qos (DomainParticipantQos) – DomainParticipantQos reference where the qos is going to be returned

Return type:

int

Returns:

RETCODE_OK


Overload 2:

This operation returns the value of the DomainParticipant QoS policies

Return type:

DomainParticipantQos

Returns:

A reference to the DomainParticipantQos

get_replier_qos_from_profile(profile_name, qos)

Fills the ReplierQos with the values of the XML profile.

Parameters:

  • profile_name (string) – Replier profile name.

  • qos (ReplierQos) – ReplierQos object where the qos is returned.

Return type:

int

Returns:

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

get_requester_qos_from_profile(profile_name, qos)

Fills the RequesterQos with the values of the XML profile.

Parameters:

  • profile_name (string) – Requester profile name.

  • qos (RequesterQos) – RequesterQos object where the qos is returned.

Return type:

int

Returns:

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

get_resource_event()

Getter for the resource event

Return type:

eprosima::fastrtps::rtps::ResourceEvent

Returns:

A reference to the resource event

get_subscriber_qos_from_profile(profile_name, qos)

Fills the SubscriberQos with the values of the XML profile.

Parameters:

  • profile_name (string) – Subscriber profile name.

  • qos (SubscriberQos) – SubscriberQos object where the qos is returned.

Return type:

int

Returns:

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

get_topic_qos_from_profile(profile_name, qos)

Fills the TopicQos with the values of the XML profile.

Parameters:

  • profile_name (string) – Topic profile name.

  • qos (TopicQos) – TopicQos object where the qos is returned.

Return type:

int

Returns:

RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.

guid()

Getter for the Participant GUID

Return type:

GUID_t

Returns:

A reference to the GUID

ignore_participant(handle)

Locally ignore a remote domain participant.

Notes: This action is not reversible.

Parameters:

handle (InstanceHandle_t) – Identifier of the remote participant to ignore

Return type:

int

Returns:

RETURN_OK code if everything correct, RETCODE_BAD_PARAMENTER otherwise

ignore_publication(handle)

Locally ignore a remote datawriter.

Notes: This action is not reversible.

Parameters:

handle (InstanceHandle_t) – Identifier of the datawriter to ignore

Return type:

int

Returns:

RETURN_OK code if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

ignore_subscription(handle)

Locally ignore a remote datareader.

Notes: This action is not reversible.

Parameters:

handle (InstanceHandle_t) – Identifier of the datareader to ignore

Return type:

int

Returns:

RETURN_OK code if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

ignore_topic(handle)

Locally ignore a topic.

Notes: This action is not reversible.

Parameters:

handle (InstanceHandle_t) – Identifier of the topic to ignore

Return type:

int

Returns:

RETURN_OK code if everything correct, error code otherwise

Warning: Not supported yet. Currently returns RETCODE_UNSUPPORTED

lookup_content_filter_factory(filter_class_name)

Lookup a custom content filter factory previously registered with register_content_filter_factory.

Parameters:

filter_class_name (string) – Name of the filter class. Cannot be nullptr.

Return type:

IContentFilterFactory

Returns:

nullptr if the given filter_class_name has not been previously registered on this DomainParticipant. Otherwise, the content filter factory previously registered with the given filter_class_name.

lookup_topicdescription(topic_name)

Looks up an existing, locally created ‘TopicDescription’, based on its name. May be called on a disabled participant.

Parameters:

topic_name (string) – Name of the ‘TopicDescription’ to search for.

Return type:

TopicDescription

Returns:

Pointer to the topic description, if it has been created locally. Otherwise, nullptr is returned.

Remarks: UNSAFE. It is unsafe to lookup a topic description while another thread is creating a topic.

new_remote_endpoint_discovered(partguid, userId, kind)

This method can be used when using a StaticEndpointDiscovery mechanism different that the one included in FastRTPS, for example when communicating with other implementations. It indicates the Participant that an Endpoint from the XML has been discovered and should be activated.

Parameters:

  • partguid (GUID_t) – Participant GUID_t.

  • userId (int) – User defined ID as shown in the XML file.

  • kind (int) – EndpointKind (WRITER or READER)

Return type:

boolean

Returns:

True if correctly found and activated.

register_content_filter_factory(filter_class_name, filter_factory)

Register a custom content filter factory, which can be used to create a ContentFilteredTopic.

DDS specifies a SQL-like content filter to be used by content filtered topics. If this filter does not meet your filtering requirements, you can register a custom filter factory.

To use a custom filter, a factory for it must be registered in the following places:

  • In any application that uses the custom filter factory to create a ContentFilteredTopic and the corresponding DataReader.

  • In each application that writes the data to the applications mentioned above.

For example, suppose Application A on the subscription side creates a Topic named X and a ContentFilteredTopic named filteredX (and a corresponding DataReader), using a previously registered content filter factory, myFilterFactory. With only that, you will have filtering at the subscription side. If you also want to perform filtering in any application that publishes Topic X, then you also need to register the same definition of the ContentFilterFactory myFilterFactory in that application.

Each filter_class_name can only be used to register a content filter factory once per DomainParticipant.

Parameters:

  • filter_class_name (string) – Name of the filter class. Cannot be nullptr, must not exceed 255 characters, and must be unique within this DomainParticipant.

  • filter_factory (IContentFilterFactory) – Factory of content filters to be registered. Cannot be nullptr.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if any parameter is nullptr, or the filter_class_name exceeds 255 characters.

Return type:

int

Returns:

RETCODE_PRECONDITION_NOT_MET if the filter_class_name has been already registered.

Return type:

int

Returns:

RETCODE_PRECONDITION_NOT_MET if filter_class_name is FASTDDS_SQLFILTER_NAME.

Return type:

int

Returns:

RETCODE_OK if the filter is correctly registered.

register_type(*args)

Overload 1:

Register a type in this participant.

Parameters:

  • type (TypeSupport) – TypeSupport.

  • type_name (string) – The name that will be used to identify the Type.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the size of the name is 0, RERCODE_PRECONDITION_NOT_MET if there is another TypeSupport with the same name and RETCODE_OK if it is correctly registered.


Overload 2:

Register a type in this participant.

Parameters:

type (TypeSupport) – TypeSupport.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the size of the name is 0, RERCODE_PRECONDITION_NOT_MET if there is another TypeSupport with the same name and RETCODE_OK if it is correctly registered.

set_default_publisher_qos(qos)

This operation sets a default value of the Publisher QoS policies which will be used for newly created Publisher entities in the case where the QoS policies are defaulted in the create_publisher operation.

This operation will check that the resulting policies are self consistent; if they are not, the operation will have no effect and return false.

The special value PUBLISHER_QOS_DEFAULT may be passed to this operation to indicate that the default QoS should be reset back to the initial values the factory would use, that is the values that would be used if the set_default_publisher_qos operation had never been called.

Parameters:

qos (PublisherQos) – PublisherQos to be set

Return type:

int

Returns:

RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

set_default_subscriber_qos(qos)

This operation sets a default value of the Subscriber QoS policies that will be used for newly created Subscriber entities in the case where the QoS policies are defaulted in the create_subscriber operation.

This operation will check that the resulting policies are self consistent; if they are not, the operation will have no effect and return false.

The special value SUBSCRIBER_QOS_DEFAULT may be passed to this operation to indicate that the default QoS should be reset back to the initial values the factory would use, that is the values that would be used if the set_default_subscriber_qos operation had never been called.

Parameters:

qos (SubscriberQos) – SubscriberQos to be set

Return type:

int

Returns:

RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

set_default_topic_qos(qos)

This operation sets a default value of the Topic QoS policies which will be used for newly created Topic entities in the case where the QoS policies are defaulted in the create_topic operation.

This operation will check that the resulting policies are self consistent; if they are not, the operation will have no effect and return INCONSISTENT_POLICY.

The special value TOPIC_QOS_DEFAULT may be passed to this operation to indicate that the default QoS should be reset back to the initial values the factory would use, that is the values that would be used if the set_default_topic_qos operation had never been called.

Parameters:

qos (TopicQos) – TopicQos to be set

Return type:

int

Returns:

RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

set_listener(*args)

Overload 1:

Modifies the DomainParticipantListener, sets the mask to StatusMask::all()

Parameters:

listener (DomainParticipantListener) – new value for the DomainParticipantListener

Return type:

int

Returns:

RETCODE_OK


Overload 2:

Modifies the DomainParticipantListener.

Parameters:
Return type:

int

Returns:

RETCODE_OK

set_qos(qos)

This operation sets the value of the DomainParticipant QoS policies.

Parameters:

qos (DomainParticipantQos) – DomainParticipantQos to be set

Return type:

int

Returns:

RETCODE_IMMUTABLE_POLICY if any of the Qos cannot be changed, RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

property thisown

The membership flag

unregister_content_filter_factory(filter_class_name)

Unregister a custom content filter factory previously registered with register_content_filter_factory.

A filter_class_name can be unregistered only if it has been previously registered to the DomainParticipant with register_content_filter_factory.

The unregistration of filter is not allowed if there are any existing ContentFilteredTopic objects that are using the filter.

If there is any existing discovered DataReader with the same filter_class_name, filtering on the writer side will be stopped, but this operation will not fail.

Parameters:

filter_class_name (string) – Name of the filter class. Cannot be nullptr.

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the filter_class_name is nullptr.

Return type:

int

Returns:

RERCODE_PRECONDITION_NOT_MET if the filter_class_name has not been previously registered.

Return type:

int

Returns:

RERCODE_PRECONDITION_NOT_MET if there is any ContentFilteredTopic referencing the filter.

Return type:

int

Returns:

RETCODE_OK if the filter is correctly unregistered.

unregister_type(typeName)

Unregister a type in this participant.

Parameters:

typeName (string) – Name of the type

Return type:

int

Returns:

RETCODE_BAD_PARAMETER if the size of the name is 0, RERCODE_PRECONDITION_NOT_MET if there are entities using that TypeSupport and RETCODE_OK if it is correctly unregistered.