/src/Fast-DDS/include/fastdds/rtps/RTPSDomain.h

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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file RTPSDomain.h
 */

#ifndef _FASTDDS_RTPS_DOMAIN_H_
#define _FASTDDS_RTPS_DOMAIN_H_

#include <atomic>
#include <mutex>
#include <set>

#include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
#include <fastdds/rtps/common/Types.h>
#include <fastdds/rtps/history/IPayloadPool.h>
#include <fastdds/rtps/history/IChangePool.h>

namespace eprosima {
namespace fastrtps {
namespace rtps {

class RTPSParticipantImpl;
class RTPSParticipant;
class RTPSParticipantListener;
class RTPSWriter;
class WriterAttributes;
class WriterHistory;
class WriterListener;
class RTPSReader;
class ReaderAttributes;
class ReaderHistory;
class ReaderListener;
class RTPSDomainImpl;

/**
 * Class RTPSDomain,it manages the creation and destruction of RTPSParticipant RTPSWriter and RTPSReader. It stores
 * a list of all created RTPSParticipant. It has only static methods.
 * @ingroup RTPS_MODULE
 */
class RTPSDomain
{

    friend class RTPSDomainImpl;

public:

    /**
     * Method to shut down all RTPSParticipants, readers, writers, etc.
     * It must be called at the end of the process to avoid memory leaks.
     * It also shut downs the DomainRTPSParticipant.
     *
     * \post After this call, all the pointers to RTPS entities are invalidated and their use may
     *       result in undefined behaviour.
     */
    RTPS_DllAPI static void stopAll();

    /**
     * @brief Create a RTPSParticipant.
     * @param domain_id DomainId to be used by the RTPSParticipant (80 by default).
     * @param attrs RTPSParticipant Attributes.
     * @param plisten Pointer to the ParticipantListener.
     * @return Pointer to the RTPSParticipant.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSParticipant* createParticipant(
            uint32_t domain_id,
            const RTPSParticipantAttributes& attrs,
            RTPSParticipantListener* plisten = nullptr);

    /**
     * @brief Create a RTPSParticipant.
     * @param domain_id DomainId to be used by the RTPSParticipant (80 by default).
     * @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
     * @param attrs RTPSParticipant Attributes.
     * @param plisten Pointer to the ParticipantListener.
     * @return Pointer to the RTPSParticipant.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSParticipant* createParticipant(
            uint32_t domain_id,
            bool enabled,
            const RTPSParticipantAttributes& attrs,
            RTPSParticipantListener* plisten = nullptr);

    /**
     * Create a RTPSWriter in a participant.
     * @param p Pointer to the RTPSParticipant.
     * @param watt Writer Attributes.
     * @param hist Pointer to the WriterHistory.
     * @param listen Pointer to the WriterListener.
     * @return Pointer to the created RTPSWriter.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
            RTPSParticipant* p,
            WriterAttributes& watt,
            WriterHistory* hist,
            WriterListener* listen = nullptr);

    /**
     * Create a RTPSWriter in a participant using a custom payload pool.
     * @param p Pointer to the RTPSParticipant.
     * @param watt Writer Attributes.
     * @param payload_pool Shared pointer to the IPayloadPool
     * @param hist Pointer to the WriterHistory.
     * @param listen Pointer to the WriterListener.
     * @return Pointer to the created RTPSWriter.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
            RTPSParticipant* p,
            WriterAttributes& watt,
            const std::shared_ptr<IPayloadPool>& payload_pool,
            WriterHistory* hist,
            WriterListener* listen = nullptr);

    /**
     * Create a RTPSWriter in a participant using a custom payload pool.
     * @param p Pointer to the RTPSParticipant.
     * @param watt Writer Attributes.
     * @param payload_pool Shared pointer to the IPayloadPool
     * @param change_pool Shared pointer to the IChangePool
     * @param hist Pointer to the WriterHistory.
     * @param listen Pointer to the WriterListener.
     * @return Pointer to the created RTPSWriter.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
            RTPSParticipant* p,
            WriterAttributes& watt,
            const std::shared_ptr<IPayloadPool>& payload_pool,
            const std::shared_ptr<IChangePool>& change_pool,
            WriterHistory* hist,
            WriterListener* listen = nullptr);

    /**
     * Create a RTPSWriter in a participant using a custom payload pool.
     * @param p Pointer to the RTPSParticipant.
     * @param entity_id Specific entity id to use for the created writer.
     * @param watt Writer Attributes.
     * @param payload_pool Shared pointer to the IPayloadPool
     * @param change_pool Shared pointer to the IChangePool
     * @param hist Pointer to the WriterHistory.
     * @param listen Pointer to the WriterListener.
     * @return Pointer to the created RTPSWriter.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
            RTPSParticipant* p,
            const EntityId_t& entity_id,
            WriterAttributes& watt,
            const std::shared_ptr<IPayloadPool>& payload_pool,
            const std::shared_ptr<IChangePool>& change_pool,
            WriterHistory* hist,
            WriterListener* listen = nullptr);

    /**
     * Create a RTPSWriter in a participant.
     * @param p Pointer to the RTPSParticipant.
     * @param entity_id Specific entity id to use for the created writer.
     * @param watt Writer Attributes.
     * @param payload_pool Shared pointer to the IPayloadPool
     * @param hist Pointer to the WriterHistory.
     * @param listen Pointer to the WriterListener.
     * @return Pointer to the created RTPSWriter.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
            RTPSParticipant* p,
            const EntityId_t& entity_id,
            WriterAttributes& watt,
            const std::shared_ptr<IPayloadPool>& payload_pool,
            WriterHistory* hist,
            WriterListener* listen = nullptr);

    /**
     * Remove a RTPSWriter.
     * @param writer Pointer to the writer you want to remove.
     * @return  True if correctly removed.
     */
    RTPS_DllAPI static bool removeRTPSWriter(
            RTPSWriter* writer);

    /**
     * Create a RTPSReader in a participant.
     * @param p Pointer to the RTPSParticipant.
     * @param ratt Reader Attributes.
     * @param hist Pointer to the ReaderHistory.
     * @param listen Pointer to the ReaderListener.
     * @return Pointer to the created RTPSReader.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSReader* createRTPSReader(
            RTPSParticipant* p,
            ReaderAttributes& ratt,
            ReaderHistory* hist,
            ReaderListener* listen = nullptr);

    /**
     * Create a RTPReader in a participant using a custom payload pool.
     * @param p Pointer to the RTPSParticipant.
     * @param ratt Reader Attributes.
     * @param payload_pool Shared pointer to the IPayloadPool
     * @param hist Pointer to the ReaderHistory.
     * @param listen Pointer to the ReaderListener.
     * @return Pointer to the created RTPSReader.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSReader* createRTPSReader(
            RTPSParticipant* p,
            ReaderAttributes& ratt,
            const std::shared_ptr<IPayloadPool>& payload_pool,
            ReaderHistory* hist,
            ReaderListener* listen = nullptr);

    /**
     * Create a RTPSReader in a participant using a custom payload pool.
     * @param p Pointer to the RTPSParticipant.
     * @param entity_id Specific entity id to use for the created reader.
     * @param ratt Reader Attributes.
     * @param payload_pool Shared pointer to the IPayloadPool
     * @param hist Pointer to the ReaderHistory.
     * @param listen Pointer to the ReaderListener.
     * @return Pointer to the created RTPSReader.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    RTPS_DllAPI static RTPSReader* createRTPSReader(
            RTPSParticipant* p,
            const EntityId_t& entity_id,
            ReaderAttributes& ratt,
            const std::shared_ptr<IPayloadPool>& payload_pool,
            ReaderHistory* hist,
            ReaderListener* listen = nullptr);

    /**
     * Remove a RTPSReader.
     * @param reader Pointer to the reader you want to remove.
     * @return  True if correctly removed.
     */
    RTPS_DllAPI static bool removeRTPSReader(
            RTPSReader* reader);

    /**
     * Remove a RTPSParticipant and delete all its associated Writers, Readers, resources, etc.
     * @param[in] p Pointer to the RTPSParticipant;
     * @return True if correct.
     */
    RTPS_DllAPI static bool removeRTPSParticipant(
            RTPSParticipant* p);

    /**
     * Set the maximum RTPSParticipantID.
     * @param maxRTPSParticipantId ID.
     */
    static inline void setMaxRTPSParticipantId(
            uint32_t maxRTPSParticipantId)
    {
        m_maxRTPSParticipantID = maxRTPSParticipantId;
    }

    /**
     * Creates a RTPSParticipant as default server or client if ROS_MASTER_URI environment variable is set.
     * @param domain_id DDS domain associated
     * @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
     * @param attrs RTPSParticipant Attributes.
     * @param listen Pointer to the ParticipantListener.
     * @return Pointer to the RTPSParticipant.
     *
     * \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
     *          so its use may result in undefined behaviour.
     */
    static RTPSParticipant* clientServerEnvironmentCreationOverride(
            uint32_t domain_id,
            bool enabled,
            const RTPSParticipantAttributes& attrs,
            RTPSParticipantListener* listen /*= nullptr*/);

private:

    typedef std::pair<RTPSParticipant*, RTPSParticipantImpl*> t_p_RTPSParticipant;

    RTPSDomain() = delete;

    /**
     * DomainRTPSParticipant destructor
     */
    ~RTPSDomain() = delete;

    /**
     * @brief Get Id to create a RTPSParticipant.
     * @return Different ID for each call.
     */
    static inline uint32_t getNewId()
    {
        return m_maxRTPSParticipantID++;
    }

    static void removeRTPSParticipant_nts(
            t_p_RTPSParticipant&);

    static std::mutex m_mutex;

    static std::atomic<uint32_t> m_maxRTPSParticipantID;

    static std::vector<t_p_RTPSParticipant> m_RTPSParticipants;

    static std::set<uint32_t> m_RTPSParticipantIDs;
};

} // namespace rtps
} /* namespace fastrtps  */
} /* namespace eprosima */

#endif /* _FASTDDS_RTPS_DOMAIN_H_*/

Coverage Report

Created: 2022-08-24 06:19

Line	Count	Source (jump to first uncovered line)
1		// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
2		//
3		// Licensed under the Apache License, Version 2.0 (the "License");
4		// you may not use this file except in compliance with the License.
5		// You may obtain a copy of the License at
6		//
7		// http://www.apache.org/licenses/LICENSE-2.0
8		//
9		// Unless required by applicable law or agreed to in writing, software
10		// distributed under the License is distributed on an "AS IS" BASIS,
11		// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12		// See the License for the specific language governing permissions and
13		// limitations under the License.
14
15		/**
16		* @file RTPSDomain.h
17		*/
18
19		#ifndef _FASTDDS_RTPS_DOMAIN_H_
20		#define _FASTDDS_RTPS_DOMAIN_H_
21
22		#include <atomic>
23		#include <mutex>
24		#include <set>
25
26		#include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
27		#include <fastdds/rtps/common/Types.h>
28		#include <fastdds/rtps/history/IPayloadPool.h>
29		#include <fastdds/rtps/history/IChangePool.h>
30
31		namespace eprosima {
32		namespace fastrtps {
33		namespace rtps {
34
35		class RTPSParticipantImpl;
36		class RTPSParticipant;
37		class RTPSParticipantListener;
38		class RTPSWriter;
39		class WriterAttributes;
40		class WriterHistory;
41		class WriterListener;
42		class RTPSReader;
43		class ReaderAttributes;
44		class ReaderHistory;
45		class ReaderListener;
46		class RTPSDomainImpl;
47
48		/**
49		* Class RTPSDomain,it manages the creation and destruction of RTPSParticipant RTPSWriter and RTPSReader. It stores
50		* a list of all created RTPSParticipant. It has only static methods.
51		* @ingroup RTPS_MODULE
52		*/
53		class RTPSDomain
54		{
55
56		friend class RTPSDomainImpl;
57
58		public:
59
60		/**
61		* Method to shut down all RTPSParticipants, readers, writers, etc.
62		* It must be called at the end of the process to avoid memory leaks.
63		* It also shut downs the DomainRTPSParticipant.
64		*
65		* \post After this call, all the pointers to RTPS entities are invalidated and their use may
66		* result in undefined behaviour.
67		*/
68		RTPS_DllAPI static void stopAll();
69
70		/**
71		* @brief Create a RTPSParticipant.
72		* @param domain_id DomainId to be used by the RTPSParticipant (80 by default).
73		* @param attrs RTPSParticipant Attributes.
74		* @param plisten Pointer to the ParticipantListener.
75		* @return Pointer to the RTPSParticipant.
76		*
77		* \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
78		* so its use may result in undefined behaviour.
79		*/
80		RTPS_DllAPI static RTPSParticipant* createParticipant(
81		uint32_t domain_id,
82		const RTPSParticipantAttributes& attrs,
83		RTPSParticipantListener* plisten = nullptr);
84
85		/**
86		* @brief Create a RTPSParticipant.
87		* @param domain_id DomainId to be used by the RTPSParticipant (80 by default).
88		* @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
89		* @param attrs RTPSParticipant Attributes.
90		* @param plisten Pointer to the ParticipantListener.
91		* @return Pointer to the RTPSParticipant.
92		*
93		* \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
94		* so its use may result in undefined behaviour.
95		*/
96		RTPS_DllAPI static RTPSParticipant* createParticipant(
97		uint32_t domain_id,
98		bool enabled,
99		const RTPSParticipantAttributes& attrs,
100		RTPSParticipantListener* plisten = nullptr);
101
102		/**
103		* Create a RTPSWriter in a participant.
104		* @param p Pointer to the RTPSParticipant.
105		* @param watt Writer Attributes.
106		* @param hist Pointer to the WriterHistory.
107		* @param listen Pointer to the WriterListener.
108		* @return Pointer to the created RTPSWriter.
109		*
110		* \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
111		* so its use may result in undefined behaviour.
112		*/
113		RTPS_DllAPI static RTPSWriter* createRTPSWriter(
114		RTPSParticipant* p,
115		WriterAttributes& watt,
116		WriterHistory* hist,
117		WriterListener* listen = nullptr);
118
119		/**
120		* Create a RTPSWriter in a participant using a custom payload pool.
121		* @param p Pointer to the RTPSParticipant.
122		* @param watt Writer Attributes.
123		* @param payload_pool Shared pointer to the IPayloadPool
124		* @param hist Pointer to the WriterHistory.
125		* @param listen Pointer to the WriterListener.
126		* @return Pointer to the created RTPSWriter.
127		*
128		* \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
129		* so its use may result in undefined behaviour.
130		*/
131		RTPS_DllAPI static RTPSWriter* createRTPSWriter(
132		RTPSParticipant* p,
133		WriterAttributes& watt,
134		const std::shared_ptr<IPayloadPool>& payload_pool,
135		WriterHistory* hist,
136		WriterListener* listen = nullptr);
137
138		/**
139		* Create a RTPSWriter in a participant using a custom payload pool.
140		* @param p Pointer to the RTPSParticipant.
141		* @param watt Writer Attributes.
142		* @param payload_pool Shared pointer to the IPayloadPool
143		* @param change_pool Shared pointer to the IChangePool
144		* @param hist Pointer to the WriterHistory.
145		* @param listen Pointer to the WriterListener.
146		* @return Pointer to the created RTPSWriter.
147		*
148		* \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
149		* so its use may result in undefined behaviour.
150		*/
151		RTPS_DllAPI static RTPSWriter* createRTPSWriter(
152		RTPSParticipant* p,
153		WriterAttributes& watt,
154		const std::shared_ptr<IPayloadPool>& payload_pool,
155		const std::shared_ptr<IChangePool>& change_pool,
156		WriterHistory* hist,
157		WriterListener* listen = nullptr);
158
159		/**
160		* Create a RTPSWriter in a participant using a custom payload pool.
161		* @param p Pointer to the RTPSParticipant.
162		* @param entity_id Specific entity id to use for the created writer.
163		* @param watt Writer Attributes.
164		* @param payload_pool Shared pointer to the IPayloadPool
165		* @param change_pool Shared pointer to the IChangePool
166		* @param hist Pointer to the WriterHistory.
167		* @param listen Pointer to the WriterListener.
168		* @return Pointer to the created RTPSWriter.
169		*
170		* \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
171		* so its use may result in undefined behaviour.
172		*/
173		RTPS_DllAPI static RTPSWriter* createRTPSWriter(
174		RTPSParticipant* p,
175		const EntityId_t& entity_id,
176		WriterAttributes& watt,
177		const std::shared_ptr<IPayloadPool>& payload_pool,
178		const std::shared_ptr<IChangePool>& change_pool,
179		WriterHistory* hist,
180		WriterListener* listen = nullptr);
181
182		/**
183		* Create a RTPSWriter in a participant.
184		* @param p Pointer to the RTPSParticipant.
185		* @param entity_id Specific entity id to use for the created writer.
186		* @param watt Writer Attributes.
187		* @param payload_pool Shared pointer to the IPayloadPool
188		* @param hist Pointer to the WriterHistory.
189		* @param listen Pointer to the WriterListener.
190		* @return Pointer to the created RTPSWriter.
191		*
192		* \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
193		* so its use may result in undefined behaviour.
194		*/
195		RTPS_DllAPI static RTPSWriter* createRTPSWriter(
196		RTPSParticipant* p,
197		const EntityId_t& entity_id,
198		WriterAttributes& watt,
199		const std::shared_ptr<IPayloadPool>& payload_pool,
200		WriterHistory* hist,
201		WriterListener* listen = nullptr);
202
203		/**
204		* Remove a RTPSWriter.
205		* @param writer Pointer to the writer you want to remove.
206		* @return True if correctly removed.
207		*/
208		RTPS_DllAPI static bool removeRTPSWriter(
209		RTPSWriter* writer);
210
211		/**
212		* Create a RTPSReader in a participant.
213		* @param p Pointer to the RTPSParticipant.
214		* @param ratt Reader Attributes.
215		* @param hist Pointer to the ReaderHistory.
216		* @param listen Pointer to the ReaderListener.
217		* @return Pointer to the created RTPSReader.
218		*
219		* \warning The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(),
220		* so its use may result in undefined behaviour.
221		*/
222		RTPS_DllAPI static RTPSReader* createRTPSReader(
223		RTPSParticipant* p,
224		ReaderAttributes& ratt,
225		ReaderHistory* hist,
226		ReaderListener* listen = nullptr);
227
228		/**
229		* Create a RTPReader in a participant using a custom payload pool.
230		* @param p Pointer to the RTPSParticipant.
231		* @param ratt Reader Attributes.
232		* @param payload_pool Shared pointer to the IPayloadPool
233		* @param hist Pointer to the ReaderHistory.
234		* @param listen Pointer to the ReaderListener.
235		* @return Pointer to the created RTPSReader.
236		*
237		* \warning The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(),
238		* so its use may result in undefined behaviour.
239		*/
240		RTPS_DllAPI static RTPSReader* createRTPSReader(
241		RTPSParticipant* p,
242		ReaderAttributes& ratt,
243		const std::shared_ptr<IPayloadPool>& payload_pool,
244		ReaderHistory* hist,
245		ReaderListener* listen = nullptr);
246
247		/**
248		* Create a RTPSReader in a participant using a custom payload pool.
249		* @param p Pointer to the RTPSParticipant.
250		* @param entity_id Specific entity id to use for the created reader.
251		* @param ratt Reader Attributes.
252		* @param payload_pool Shared pointer to the IPayloadPool
253		* @param hist Pointer to the ReaderHistory.
254		* @param listen Pointer to the ReaderListener.
255		* @return Pointer to the created RTPSReader.
256		*
257		* \warning The returned pointer is invalidated after a call to removeRTPSReader() or stopAll(),
258		* so its use may result in undefined behaviour.
259		*/
260		RTPS_DllAPI static RTPSReader* createRTPSReader(
261		RTPSParticipant* p,
262		const EntityId_t& entity_id,
263		ReaderAttributes& ratt,
264		const std::shared_ptr<IPayloadPool>& payload_pool,
265		ReaderHistory* hist,
266		ReaderListener* listen = nullptr);
267
268		/**
269		* Remove a RTPSReader.
270		* @param reader Pointer to the reader you want to remove.
271		* @return True if correctly removed.
272		*/
273		RTPS_DllAPI static bool removeRTPSReader(
274		RTPSReader* reader);
275
276		/**
277		* Remove a RTPSParticipant and delete all its associated Writers, Readers, resources, etc.
278		* @param[in] p Pointer to the RTPSParticipant;
279		* @return True if correct.
280		*/
281		RTPS_DllAPI static bool removeRTPSParticipant(
282		RTPSParticipant* p);
283
284		/**
285		* Set the maximum RTPSParticipantID.
286		* @param maxRTPSParticipantId ID.
287		*/
288		static inline void setMaxRTPSParticipantId(
289		uint32_t maxRTPSParticipantId)
290	0	{
291	0	m_maxRTPSParticipantID = maxRTPSParticipantId;
292	0	}
293
294		/**
295		* Creates a RTPSParticipant as default server or client if ROS_MASTER_URI environment variable is set.
296		* @param domain_id DDS domain associated
297		* @param enabled True if the RTPSParticipant should be enabled on creation. False if it will be enabled later with RTPSParticipant::enable()
298		* @param attrs RTPSParticipant Attributes.
299		* @param listen Pointer to the ParticipantListener.
300		* @return Pointer to the RTPSParticipant.
301		*
302		* \warning The returned pointer is invalidated after a call to removeRTPSParticipant() or stopAll(),
303		* so its use may result in undefined behaviour.
304		*/
305		static RTPSParticipant* clientServerEnvironmentCreationOverride(
306		uint32_t domain_id,
307		bool enabled,
308		const RTPSParticipantAttributes& attrs,
309		RTPSParticipantListener* listen /= nullptr/);
310
311		private:
312
313		typedef std::pair<RTPSParticipant, RTPSParticipantImpl> t_p_RTPSParticipant;
314
315		RTPSDomain() = delete;
316
317		/**
318		* DomainRTPSParticipant destructor
319		*/
320		~RTPSDomain() = delete;
321
322		/**
323		* @brief Get Id to create a RTPSParticipant.
324		* @return Different ID for each call.
325		*/
326		static inline uint32_t getNewId()
327	0	{
328	0	return m_maxRTPSParticipantID++;
329	0	}
330
331		static void removeRTPSParticipant_nts(
332		t_p_RTPSParticipant&);
333
334		static std::mutex m_mutex;
335
336		static std::atomic<uint32_t> m_maxRTPSParticipantID;
337
338		static std::vector<t_p_RTPSParticipant> m_RTPSParticipants;
339
340		static std::set<uint32_t> m_RTPSParticipantIDs;
341		};
342
343		} // namespace rtps
344		} /* namespace fastrtps */
345		} /* namespace eprosima */
346
347		#endif /* _FASTDDS_RTPS_DOMAIN_H_*/