enum SubscriptionMode enum SubscriptionMode mode of subscription enum SubscriptionMode { PULLED, IMMEDIATE }; PULLED polled IMMEDIATE using callback function Specifies whether user application will poll for data or whether a callback function will be called by ORTE middleware when new data will be available. enum SubscriptionType enum SubscriptionType type of subcsription enum SubscriptionType { BEST_EFFORTS, STRICT_RELIABLE }; BEST_EFFORTS best effort subscription STRICT_RELIABLE strict reliable subscription. Specifies which mode will be used for this subscription. enum ORTERecvStatus enum ORTERecvStatus status of a subscription enum ORTERecvStatus { NEW_DATA, DEADLINE }; NEW_DATA new data has arrived DEADLINE deadline has occurred Specifies which event has occurred in the subscription object. enum ORTESendStatus enum ORTESendStatus status of a publication enum ORTESendStatus { NEED_DATA, CQL }; NEED_DATA need new data (set when callback function specified for publciation is beeing called) CQL transmit queue has been filled up to critical level. Specifies which event has occurred in the publication object. Critical level of transmit queue is specified as one of publication properties (ORTEPublProp.criticalQueueLevel). struct ORTEIFProp struct ORTEIFProp interface flags struct ORTEIFProp { int32_t ifFlags; IPAddress ipAddress; }; ifFlags flags ipAddress IP address Flags for network interface. struct ORTEMulticastProp struct ORTEMulticastProp properties for ORTE multicast (not supported yet) struct ORTEMulticastProp { Boolean enabled; unsigned char ttl; Boolean loopBackEnabled; IPAddress ipAddress; }; enabled ORTE_TRUE if multicast enabled otherwise ORTE_FALSE ttl time-to-live (TTL) for sent datagrams loopBackEnabled ORTE_TRUE if data should be received by sender itself otherwise ORTE_FALSE ipAddress desired multicast IP address Properties for ORTE multicast subsystem which is not fully supported yet. Multicast IP address is assigned by the ORTE middleware itself. struct ORTEGetMaxSizeParam struct ORTEGetMaxSizeParam parameters for function ORTETypeGetMaxSize struct ORTEGetMaxSizeParam { CDR_Endianness host_endian; CDR_Endianness data_endian; CORBA_octet * data; unsigned int max_size; int recv_size; int csize; }; host_endian data_endian data max_size recv_size csize It used to determine maximal size of intermal buffer for incomming data struct ORTETypeRegister struct ORTETypeRegister registered data type struct ORTETypeRegister { const char * typeName; ORTETypeSerialize serialize; ORTETypeDeserialize deserialize; ORTETypeGetMaxSize getMaxSize; unsigned int maxSize; }; typeName name of data type serialize pointer to serialization function deserialize pointer to deserialization function getMaxSize pointer to function given maximal data length maxSize maximal size of ser./deser. data Contains description of registered data type. See ORTETypeRegisterAdd function for details. struct ORTEDomainBaseProp struct ORTEDomainBaseProp base properties of a domain struct ORTEDomainBaseProp { unsigned int registrationMgrRetries; NtpTime registrationMgrPeriod; unsigned int registrationAppRetries; NtpTime registrationAppPeriod; NtpTime expirationTime; NtpTime refreshPeriod; NtpTime purgeTime; NtpTime repeatAnnounceTime; NtpTime repeatActiveQueryTime; NtpTime delayResponceTimeACKMin; NtpTime delayResponceTimeACKMax; unsigned int HBMaxRetries; unsigned int ACKMaxRetries; NtpTime maxBlockTime; }; registrationMgrRetries a manager which want to start communication have to register to other manager. This parametr is used for specify maximal repetition retries of registration process when it fail. registrationMgrPeriod an application which want to start communication have to register to a manager. This parametr is used for specify maximal repetition retries of registration process when it fail. registrationAppRetries same like registrationMgrRetries parameter, but is used for an application registrationAppPeriod repetition time for registration process expirationTime specifies how long is this application taken as alive in other applications/managers (default 180s) refreshPeriod how often an application refresh itself to its manager or manager to other managers (default 60s) purgeTime how often the local database should be cleaned from invalid (expired) objects (default 60s) repeatAnnounceTime This is the period with which the CSTWriter will announce its existence and/or the availability of new CSChanges to the CSTReader. This period determines how quickly the protocol recovers when an announcement of data is lost. repeatActiveQueryTime ??? delayResponceTimeACKMin minimum time the CSTWriter waits before responding to an incoming message. delayResponceTimeACKMax maximum time the CSTWriter waits before responding to an incoming message. HBMaxRetries how many times a HB message is retransmitted if no response has been received until timeout ACKMaxRetries how many times an ACK message is retransmitted if no response has been received until timeout maxBlockTime timeout for send functions if sending queue is full (default 30s) struct ORTEDomainWireProp struct ORTEDomainWireProp wire properties of a message struct ORTEDomainWireProp { unsigned int metaBytesPerPacket; unsigned int metaBytesPerFastPacket; unsigned int metabitsPerACKBitmap; }; metaBytesPerPacket maximum number of bytes in single frame (default 1500B) metaBytesPerFastPacket maximum number of bytes in single frame if transmitting queue has reached criticalQueueLevel level (see ORTEPublProp struct) metabitsPerACKBitmap not supported yet (default 32) struct ORTEPublProp struct ORTEPublProp properties of a publication struct ORTEPublProp { PathName topic; TypeName typeName; TypeChecksum typeChecksum; Boolean expectsAck; NtpTime persistence; uint32_t reliabilityOffered; uint32_t sendQueueSize; int32_t strength; uint32_t criticalQueueLevel; NtpTime HBNornalRate; NtpTime HBCQLRate; unsigned int HBMaxRetries; NtpTime maxBlockTime; }; topic the name of the information in the Network that is published or subscribed to typeName the name of the type of this data typeChecksum a checksum that identifies the CDR-representation of the data expectsAck indicates wherther publication expects to receive ACKs to its messages persistence indicates how long the issue is valid reliabilityOffered reliability policy as offered by the publication sendQueueSize size of transmitting queue strength precedence of the issue sent by the publication criticalQueueLevel treshold for transmitting queue content length indicating the queue can became full immediately HBNornalRate how often send HBs to subscription objects HBCQLRate how often send HBs to subscription objects if transmittiong queue has reached criticalQueueLevel HBMaxRetries how many times retransmit HBs if no replay from target object has not been received maxBlockTime unsupported struct ORTESubsProp struct ORTESubsProp properties of a subscription struct ORTESubsProp { PathName topic; TypeName typeName; TypeChecksum typeChecksum; NtpTime minimumSeparation; uint32_t recvQueueSize; uint32_t reliabilityRequested; //additional parametersNtpTime deadline; uint32_t mode; IPAddress multicast; }; topic the name of the information in the Network that is published or subscribed to typeName the name of the type of this data typeChecksum a checksum that identifies the CDR-representation of the data minimumSeparation minimum time between two consecutive issues received by the subscription recvQueueSize size of receiving queue reliabilityRequested reliability policy requested by the subscription deadline deadline for subscription, a callback function (see ORTESubscriptionCreate) will be called if no data were received within this period of time mode mode of subscription (strict reliable/best effort), see SubscriptionType enum for values multicast registered multicast IP address(read only) struct ORTEAppInfo struct ORTEAppInfo struct ORTEAppInfo { HostId hostId; AppId appId; IPAddress * unicastIPAddressList; unsigned char unicastIPAddressCount; IPAddress * metatrafficMulticastIPAddressList; unsigned char metatrafficMulticastIPAddressCount; Port metatrafficUnicastPort; Port userdataUnicastPort; VendorId vendorId; ProtocolVersion protocolVersion; }; hostId hostId of application appId appId of application unicastIPAddressList unicast IP addresses of the host on which the application runs (there can be multiple addresses on a multi-NIC host) unicastIPAddressCount number of IPaddresses in unicastIPAddressList metatrafficMulticastIPAddressList for the purposes of meta-traffic, an application can also accept Messages on this set of multicast addresses metatrafficMulticastIPAddressCount number of IPaddresses in metatrafficMulticastIPAddressList metatrafficUnicastPort UDP port used for metatraffic communication userdataUnicastPort UDP port used for metatraffic communication vendorId identifies the vendor of the middleware implementing the RTPS protocol and allows this vendor to add specific extensions to the protocol protocolVersion describes the protocol version struct ORTEPubInfo struct ORTEPubInfo information about publication struct ORTEPubInfo { const char * topic; const char * type; ObjectId objectId; }; topic the name of the information in the Network that is published or subscribed to type the name of the type of this data objectId object providing this publication struct ORTESubInfo struct ORTESubInfo information about subscription struct ORTESubInfo { const char * topic; const char * type; ObjectId objectId; }; topic the name of the information in the Network that is published or subscribed to type the name of the type of this data objectId object with this subscription struct ORTEPublStatus struct ORTEPublStatus status of a publication struct ORTEPublStatus { unsigned int strict; unsigned int bestEffort; unsigned int issues; }; strict count of unreliable subscription (strict) connected on responsible subscription bestEffort count of reliable subscription (best effort) connected on responsible subscription issues number of messages in transmitting queue struct ORTESubsStatus struct ORTESubsStatus status of a subscription struct ORTESubsStatus { unsigned int strict; unsigned int bestEffort; unsigned int issues; }; strict count of unreliable publications (strict) connected to responsible subscription bestEffort count of reliable publications (best effort) connected to responsible subscription issues number of messages in receiving queue struct ORTERecvInfo struct ORTERecvInfo description of received data struct ORTERecvInfo { ORTERecvStatus status; const char * topic; const char * type; GUID_RTPS senderGUID; NtpTime localTimeReceived; NtpTime remoteTimePublished; SequenceNumber sn; }; status status of this event topic the name of the information type the name of the type of this data senderGUID GUID of object who sent this information localTimeReceived local timestamp when data were received remoteTimePublished remote timestam when data were published sn sequencial number of data struct ORTESendInfo struct ORTESendInfo description of sending data struct ORTESendInfo { ORTESendStatus status; const char * topic; const char * type; GUID_RTPS senderGUID; SequenceNumber sn; }; status status of this event topic the name of the information type the name of the type of this information senderGUID GUID of object who sent this information sn sequencial number of information struct ORTEPublicationSendParam struct ORTEPublicationSendParam description of sending data struct ORTEPublicationSendParam { void * instance; int data_endian; }; instance pointer to new data instance data_endian endianing of sending data (BIG | LITTLE) struct ORTEDomainAppEvents struct ORTEDomainAppEvents Domain event handlers of an application struct ORTEDomainAppEvents { ORTEOnRegFail onRegFail; void * onRegFailParam; ORTEOnMgrNew onMgrNew; void * onMgrNewParam; ORTEOnMgrDelete onMgrDelete; void * onMgrDeleteParam; ORTEOnAppRemoteNew onAppRemoteNew; void * onAppRemoteNewParam; ORTEOnAppDelete onAppDelete; void * onAppDeleteParam; ORTEOnPubRemote onPubRemoteNew; void * onPubRemoteNewParam; ORTEOnPubRemote onPubRemoteChanged; void * onPubRemoteChangedParam; ORTEOnPubDelete onPubDelete; void * onPubDeleteParam; ORTEOnSubRemote onSubRemoteNew; void * onSubRemoteNewParam; ORTEOnSubRemote onSubRemoteChanged; void * onSubRemoteChangedParam; ORTEOnSubDelete onSubDelete; void * onSubDeleteParam; }; onRegFail registration protocol has been failed onRegFailParam user parameters for onRegFail handler onMgrNew new manager has been created onMgrNewParam user parameters for onMgrNew handler onMgrDelete manager has been deleted onMgrDeleteParam user parameters for onMgrDelete handler onAppRemoteNew new remote application has been registered onAppRemoteNewParam user parameters for onAppRemoteNew handler onAppDelete an application has been removed onAppDeleteParam user parameters for onAppDelete handler onPubRemoteNew new remote publication has been registered onPubRemoteNewParam user parameters for onPubRemoteNew handler onPubRemoteChanged a remote publication's parameters has been changed onPubRemoteChangedParam user parameters for onPubRemoteChanged handler onPubDelete a publication has been deleted onPubDeleteParam user parameters for onPubDelete handler onSubRemoteNew a new remote subscription has been registered onSubRemoteNewParam user parameters for onSubRemoteNew handler onSubRemoteChanged a remote subscription's parameters has been changed onSubRemoteChangedParam user parameters for onSubRemoteChanged handler onSubDelete a publication has been deleted onSubDeleteParam user parameters for onSubDelete handler Prototypes of events handler fucntions can be found in file typedefs_api.h. struct ORTETasksProp struct ORTETasksProp ORTE task properties, not supported struct ORTETasksProp { Boolean realTimeEnabled; int smtStackSize; int smtPriority; int rmtStackSize; int rmtPriority; }; realTimeEnabled not supported smtStackSize not supported smtPriority not supported rmtStackSize not supported rmtPriority not supported struct ORTEDomainProp struct ORTEDomainProp domain properties struct ORTEDomainProp { ORTETasksProp tasksProp; ORTEIFProp * IFProp; //interface propertiesunsigned char IFCount; //count of interfacesORTEDomainBaseProp baseProp; ORTEDomainWireProp wireProp; ORTEMulticastProp multicast; //multicast properiesORTEPublProp publPropDefault; //default properties for a Publ/SubORTESubsProp subsPropDefault; char * mgrs; //managerschar * keys; //keysIPAddress appLocalManager; //applicationschar * version; //string product versionint recvBuffSize; int sendBuffSize; }; tasksProp task properties IFProp properties of network interfaces IFCount number of network interfaces baseProp base properties (see ORTEDomainBaseProp for details) wireProp wire properties (see ORTEDomainWireProp for details) multicast multicast properties (see ORTEMulticastProp for details) publPropDefault default properties of publiciations (see ORTEPublProp for details) subsPropDefault default properties of subscriptions (see ORTESubsProp for details) mgrs list of known managers keys access keys for managers appLocalManager IP address of local manager (default localhost) version string product version recvBuffSize receiving queue length sendBuffSize transmitting queue length