2. DDS Router Participant¶

DDS Router Participant is a DDS Router entity that works as an interface between a network and the core of the router. Participants are the main elements inside the DDS Router functionality.

Participant
- Participant Name
- Participant Kind
Participant creation
Participant kinds

2.1. Participant¶

A Participant is an abstraction over the DDS DomainParticipant. This entity manages the dynamic discovery of DDS entities on a specific network or interface. Each Participant is uniquely identified by a Participant Name in a DDS Router execution and has a predefined Participant Kind that specifies the internal general functionality of the Participant.

2.1.1. Participant Name¶

It is an alphanumeric string that uniquely identifies a Participant in a DDS Router execution.

2.1.2. Participant Kind¶

It specifies the kind of the Participant. There are several Participant kinds already defined, which will specify in general terms how the Participant behaves.

2.2. Participant creation¶

Each participant configuration is specified as a different item of participants array, and each of these configurations has a unique Participant Name that should not be repeated in a DDS Router execution.

Each Participant Kind is associated with one or several names or aliases that represent it. In order to use a Participant of a specific kind, use kind tag in the yaml configuration file. If the kind is not any of the valid aliases, the Participant will not be created and the execution will fail.

Note

There could be as many Participants as required, and their kinds could be repeated, but all names must be unique.

Below are some examples on how to configure a Participant:

- name: participant_1  # New Participant with Name = 'participant_1'
  kind: simple         # 'participant_1' will be created of kind 'simple'
  extra_configuration: ...

2.3. Participant kinds¶

Below is the list with all the available Participant Kinds.

Participant Kind	Aliases	Specific configuration tags	Description
Echo Participant	`echo`	`discovery` `data` `verbose`	Print in stdout all user and/or discovery data received.
Simple Participant	`simple` `local`	`domain`	Simple DDS DomainParticipant.
Local Discovery Server Participant	`discovery-server` `local-ds` `ds`	`guid` `listening-addresses` `connection-addresses` `tls`	Discovery Server DDS DomainParticipant for local communication.
Discovery Server WAN Participant	`wan-discovery-server` `wan-ds`	`guid` `listening-addresses` `connection-addresses` `tls`	Discovery Server DDS DomainParticipant for WAN communication.
WAN Participant	`wan` `router` `initial-peers`	`guid` `listening-addresses` `connection-addresses` `tls`	Initial Peers DDS DomainParticipant for WAN communication.
XML Participant	`xml` `XML`	`profile`	XML DDS DomainParticipant for custom configuration.