API Surface

Python API Surface

The astutedds package re-exports the contents of the native _core pybind11 extension module. This page enumerates the public symbols; full per-class documentation will be generated from the C++ DCPS headers in the API Reference.

Module attributes

Symbol Description
astutedds.__version__ Package version string (matches the C++ library).
astutedds.factory() Module-level convenience function returning the DomainParticipantFactory singleton (equivalent to DomainParticipantFactory.get_instance()).

Core entities

Class Purpose
DomainParticipantFactory Singleton — get_instance(), create_participant(domain_id, qos=None), delete_participant(...).
DomainParticipant Per-domain entity factory: topics, publishers, subscribers. Supports the context-manager protocol (with factory.create_participant(0) as dp: …).
Publisher Container for DataWriters.
Subscriber Container for DataReaders.
Topic / TopicDescription Topic name + type-name binding.
ContentFilteredTopic SQL-style filtered topic view.
DataWriter write(bytes[, handle]), register_instance(bytes), unregister_instance(handle), dispose(handle), wait_for_acknowledgments(timeout).
DataReader read(), take(), read_next_sample(), take_next_sample(), get_key_value(...), get_topicdescription(), get_qos(), set_data_callback(fn), return_loan(...).

Sample / status objects

Class Contents
ReceivedSample .data: bytes, .info: SampleInfo.
SampleInfo sample/view/instance state, valid_data, source/reception timestamps.
Duration seconds (int32) and fraction (NTP-style uint32, 2³² fractions per second). Construct via Duration(seconds, fraction=0), Duration.from_seconds(float), Duration.zero(), or Duration.infinite(). Round-trip with .to_seconds().

QoS aggregates

One per entity kind. All are plain Python objects with read/write attributes mirroring the C++ dds::core::policy::* types:

  • DomainParticipantQos
  • TopicQos
  • PublisherQos
  • SubscriberQos
  • DataWriterQos
  • DataReaderQos

QoS policies

Policy Enum (if applicable)
DurabilityQos DurabilityKind.{VOLATILE, TRANSIENT_LOCAL, TRANSIENT, PERSISTENT}
ReliabilityQos ReliabilityKind.{BEST_EFFORT, RELIABLE}
HistoryQos HistoryKind.{KEEP_LAST, KEEP_ALL}
LivelinessQos LivelinessKind.{AUTOMATIC, MANUAL_BY_PARTICIPANT, MANUAL_BY_TOPIC}
DeadlineQos —
OwnershipQos OwnershipKind.{SHARED, EXCLUSIVE}
OwnershipStrengthQos —
PartitionQos —
PresentationQos PresentationAccessScope.{INSTANCE, TOPIC, GROUP}
ResourceLimitsQos —
LifespanQos —
TimeBasedFilterQos —
DestinationOrderQos DestinationOrderKind.{BY_RECEPTION_TIMESTAMP, BY_SOURCE_TIMESTAMP}
LatencyBudgetQos —
UserDataQos / TopicDataQos / GroupDataQos —
EntityFactoryQos —
WriterDataLifecycleQos / ReaderDataLifecycleQos —
DurabilityServiceQos —
DataRepresentationQos —
TransportPriorityQos —

Sample / instance state constants

READ_SAMPLE_STATE                 NEW_VIEW_STATE                ALIVE_INSTANCE_STATE
NOT_READ_SAMPLE_STATE             NOT_NEW_VIEW_STATE            NOT_ALIVE_DISPOSED_INSTANCE_STATE
ANY_SAMPLE_STATE                  ANY_VIEW_STATE                NOT_ALIVE_NO_WRITERS_INSTANCE_STATE
                                                                NOT_ALIVE_INSTANCE_STATE
                                                                ANY_INSTANCE_STATE

Status masks

STATUS_MASK_NONE                  PUBLICATION_MATCHED_STATUS    OFFERED_DEADLINE_MISSED_STATUS
STATUS_MASK_ALL                   SUBSCRIPTION_MATCHED_STATUS   REQUESTED_DEADLINE_MISSED_STATUS
DATA_AVAILABLE_STATUS             LIVELINESS_LOST_STATUS        OFFERED_INCOMPATIBLE_QOS_STATUS
DATA_ON_READERS_STATUS            LIVELINESS_CHANGED_STATUS     REQUESTED_INCOMPATIBLE_QOS_STATUS
                                                                SAMPLE_REJECTED_STATUS
                                                                SAMPLE_LOST_STATUS
                                                                INCONSISTENT_TOPIC_STATUS

Status structures

InconsistentTopicStatus, SampleLostStatus, SampleRejectedStatus, LivelinessLostStatus, LivelinessChangedStatus, OfferedDeadlineMissedStatus, RequestedDeadlineMissedStatus, OfferedIncompatibleQosStatus, RequestedIncompatibleQosStatus, PublicationMatchedStatus, SubscriptionMatchedStatus, QosPolicyCount.

Listeners

Subclass to override the callbacks you care about:

  • DomainParticipantListener
  • PublisherListener / SubscriberListener
  • TopicListener
  • DataWriterListener / DataReaderListener

WaitSet + Conditions

Class Purpose
WaitSet attach(condition), detach(condition), wait(timeout_secs).
Condition Base class.
ReadCondition Trigger when a DataReader has matching samples.
StatusCondition Trigger on a chosen status mask.
GuardCondition User-triggered (set_trigger_value(True)) — ideal shutdown signal.

Return codes

ReturnCode.{OK, ERROR, UNSUPPORTED, BAD_PARAMETER, PRECONDITION_NOT_MET, OUT_OF_RESOURCES, NOT_ENABLED, IMMUTABLE_POLICY, INCONSISTENT_POLICY, ALREADY_DELETED, TIMEOUT, NO_DATA, ILLEGAL_OPERATION, NOT_ALLOWED_BY_SECURITY}.

Introspection

The full export list is reachable from Python:

import astutedds
print(sorted(astutedds.__all__))
help(astutedds.DataReader)
help(astutedds.DataWriterQos)