2.2.1.2.2 Overall Conceptual Model

1

Topic

Entity

*

DomainEntity

StatusCondition

QosPolicy

Subscriber

Condition

<<interface>>Listener

<<implicit>>

WaitSet

DataWriter

Qos

DomainParticipant 是服务的入口点，在共享物理网络的应用程序上隔离一组

DomainParticipant

Data

0..1statuscondtion

DataReader

<<interface>>TypeSupport

Publisher