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 Id
- Participant Type
Participant creation
Participant types

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 Id in a DDS Router execution and has a predefined Participant Type that specifies the internal general functionality of the Participant.

2.1.1. Participant Id¶

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

2.1.2. Participant Type¶

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

2.2. Participant creation¶

Each Participant has a unique Participant Id that can not be repeated in a DDS Router execution. This id is the name of the tag that contains the Participant configuration.

Note

If the id is repeated, the yaml will be bad formed and the DDS Router execution will fail when configured.

Each Participant Type is associated with one or several names or aliases that represent it. In order to use a Participant of a specific type, use type tag in the yaml configuration file, or set the Participant Id as the alias of the type. If the type 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 types could be repeated, but all ids must be unique.

Below are some examples on how to configure a Participant:

participant_1:     # New Participant with Id: 'participant_1'
  type: simple     # 'participant_1' will be created of type 'simple'
  extra_configuration: ...

simple:     # New Participant with Id: 'simple' and Type: 'simple'
  extra_configuration: ...

2.3. Participant types¶

Below is the list with all the available Participant Types.

Participant Type	Aliases	Specific configuration tags	Description
Echo Participant	`echo`		Print in stdout every 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.
WAN Participant	`wan` `router`	`guid` `listening-addresses` `connection-addresses` `tls`	Discovery Server DDS DomainParticipant for WAN communication.