Release/connector/1.1.0 (#75)

* Feature/con 177 (#38) * CON-177: Added support/tests for addition sampleinfo fields * CON-177: Added unit tests for sample/view/instance state * CON-177: PR Feedback - Added possible values of the strings to the docs - Updated unit tests with new possible values * CON-188: docs + tests (#40) * CON-188: docs + tests * CON-188: Functionality changes - Always return all fields (not None for non-key members) - updated docs + tests for this * CON-188: PR feedback Applied the feedback from the JS review * CON-188: Fix typo * Performance tests for Python get/set sequence (#41) * Performance tests for Python get/set sequence * Separated tests * Update test/python/test_rticonnextdds_performance.py Co-authored-by: Alex Campos <alejandro@rti.com> * You can now set the number of iterations on the command line * Minor changes Co-authored-by: Alex Campos <alejandro@rti.com> * Feature/native dd perf (#42) * Added additional performance tests that use native DD API * Disable tests by default * CON-188: Fixed code block in docs (#44) * Feature/con 209 (#43) * CON-209: Test support for multiple urls in connector creation * CON-209: Update docs * CON-163: Added a unit test for license error (fix is in core) (#46) * CON-163: Added a (currently failing) unit test for license error * CON-163: Updated copyright * CON-163: PR feedback * CON-212: Added CONTRIBUTING.md file (#45) * CON-214: Added test for creating Connector with participant_qos (#47) * CON-211: updating all links to other docs per new doc tree structure, for python connector * CON-211: fixed a couple of link-related issues in connector-py that I missed in first update * CON-211: updated title of core GSG to remove "Core Libraries" * CORE-10744: Update documentation for new default system resources (#50) * CON-215: Added release notes (#48) * CON-215: Added release notes * CON-215: Fixed issue IDs * CON-215: Fix IDs again * CON-215: Fix title indentation * CON-215: Added notes from CON-188 * CON-215: Added more issues * CON-215: Fix codeblock * CON-215: Add issue # * Apply suggestions from code review * Update docs/release_notes.rst * CON-215: release notes review and edits, and a few other tweaks to capitalization in other files * Update docs/release_notes.rst * CON-215: Reverted LICENSE.pdf Co-authored-by: rkorte <rkorte@rti.com> * CON-194: added statement and link to Python API doc so users can understand the differences * CON-188: Updates instance support section of features.rst (#53) * PLATFORMS-1925. Updated supported platforms to match Hercules PAM. * PLATFORMS-1925. Added trademark symbols. * Introduce EOL normalisation (#58) With this, License.pdf should not longer show up as changed on Windows * Feature/core 11069 (#59) * CORE-11069: Replaced deprecated XML tags in documentation and public XML * CORE-11069: Also update test XML * Feature/con 174 armv8 (#57) * CON-174: Handle ARMV8 arch * CON-174: Minor edit * Fix string * CON-174: Handle other arm strings - Handle all of aarch64, aarch64_be, armv8b, armv8l - Also load the library for (deprecated) armv6 * GREEN-2058: Fixed string checking when setting invalid my_enum from dict (#61) * GREEN-2058: Added tests for new functionality in DD Parser (#62) Co-authored-by: Sam Raeburn <sam@rti.com> * Feature/dir renames (#64) * Updated the loading of native libraries * - Update common libs - Remove support for 32 bit Win + Linux * Updated native libs * Explicitly load the nddsc and nddscore libraries on Windows Co-authored-by: Sam Raeburn <sam@rti.com> * CON-221: Added docs for ability to load libs (#55) * CON-221: Added docs for ability to load libs * PR feedback * PR Feedback * working on LICENSE.pdf and gitattributes Co-authored-by: rkorte <rkorte@rti.com> Co-authored-by: Sam Raeburn <sam@rti.com> * Updated platforms in the relaese notes (#65) * Updated platforms in the relaese notes * Removed symbol from ARMv7 platform name Co-authored-by: Sam Raeburn <sam@rti.com> * Feature/update version (#66) * Update README for 1.1.0 preview * Update setup.py for version 1.1.0 preview * Updated version in setup.py to 1.1.0.rc2 * Updated submodule to use commit feature/update-libs-internal-rel Co-authored-by: Sam Raeburn <sam@rti.com> * Updated version in documentation to 1.1.0.rc2 (#67) * Updated version in documentation to 1.1.0.rc2 * - Now possible to do rti.Connector.version() to obtain current version * - Updated blue colour used in docs - Updated docs version to 1.1.0 - Removed version() API - needs further thought before implementation Co-authored-by: Sam Raeburn <sam@rti.com> * Update release_notes.rst Add 16.04 Ubuntu * Updated the Platforms notes to include Ubuntu 16.04 (x64 + ARMv8) (#68) * Updated the Platforms notes to include Ubuntu 16.04 (x64 + ARMv8) * Added support for ARMv8 to whats new 1.1.0 * fix typo Co-authored-by: Sam Raeburn <sam@rti.com> * CON-211: testing all links to core docs, fixing few that were broken - python * CON-194: python changes: update copyright page and copyright year tagline * Accept 32-bit archs if libraries are swapped * HERCULES-186: updates to licenses doc for python * HERCULES-186: modified lua and json-parser in Connector doc python * Document dependency on Connext version for dynamic libs (#74) * Document dependency on Connext version for dynamic libs * - PR feedback to clarify wording - Adding missing sentence from release notes about Connext DDS version * PR feedback Co-authored-by: Sam Raeburn <sam@rti.com> * Update setup.py for version 1.1.0 * Update native libraries to version 6.1.0 Co-authored-by: Alex Campos <alejandro@rti.com> Co-authored-by: rkorte <rkorte@rti.com> Co-authored-by: Adelle Olson <adelle@rti.com> Co-authored-by: rkorte <36715349+rkorte@users.noreply.github.com> Co-authored-by: Sam Raeburn <sam@rti.com>
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diff --git a/.gitattributes b/.gitattributes
@@ -1 +1,2 @@
 LICENSE.pdf filter=lfs diff=lfs merge=lfs -text
+* text=auto
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,4 @@
+# Contributing to RTI Connector for Python
+
+### Contributor License Agreement (CLA)
+In order to accept your pull request, we need you to sign a Contributor License Agreement (CLA). Complete your CLA here: http://community.rti.com/cla. You only need to do this once, we cross-check your Github username with the list of contributors who have signed the CLA.
diff --git a/LICENSE.pdf b/LICENSE.pdf
diff --git a/README.rst b/README.rst
@@ -2,7 +2,7 @@ RTI Connector for Python
 ========================
 
 RTI® Connext® DDS is a connectivity software framework for integrating
-data sources of all types. At its core is the world’s leading ultra-high
+data sources of all types. At its core is the world's leading ultra-high
 performance, distributed networking databus.
 
 *RTI Connector* provides a quick and easy way to write applications that

diff --git a/docs/advanced.rst b/docs/advanced.rst
@@ -1,4 +1,4 @@
-Advanced topics
+Advanced Topics
 ===============
 
 .. toctree::
@@ -8,4 +8,3 @@ Advanced topics
    threading
    errors
    features
-
diff --git a/docs/conf.py b/docs/conf.py
@@ -18,12 +18,12 @@
 # -- Project information -----------------------------------------------------
 
 project = 'RTI Connector for Python'
-copyright = '2019, Real-Time Innovations, Inc'
+copyright = '2021, Real-Time Innovations, Inc'
 author = 'Real-Time Innovations, Inc.'
 
 # The full version, including alpha/beta/rc tags
-version = '1.0.0'
-release = '1.0.0'
+version = '1.1.0'
+release = '1.1.0'
 
 master_doc = 'index'
 

diff --git a/docs/configuration.rst b/docs/configuration.rst
@@ -1,7 +1,7 @@
 
 .. py:currentmodule:: rticonnextdds_connector
 
-Defining a DDS system in XML
+Defining a DDS System in XML
 ============================
 
 *Connector* loads the definition of a DDS system from an XML configuration file
@@ -13,7 +13,7 @@ that includes the definition of domains, *DomainParticipants*, *Topics*,
 
 *Connector* uses the XML schema defined by RTI's
 `XML-Based Application Creation feature 
-<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/xml_application_creation/html_files/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted/index.htm>`__.
+<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/xml_application_creation/index.htm>`__.
 
 .. hint::
     The *Connext DDS* C, C++, Java and .NET APIs can also load the same XML files
@@ -77,11 +77,11 @@ and ``shapesize``:
 Types are associated with *Topics*, as explained in the next section, :ref:`Domain Library`.
 
 .. hint::
-    You can define your types in IDL and convert them to XML with `rtiddsgen <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/code_generator/html_files/RTI_CodeGenerator_UsersManual/index.htm#code_generator/UsersManual/UsersManual_Title.htm>`__.
+    You can define your types in IDL and convert them to XML with `rtiddsgen <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/code_generator/users_manual/index.htm>`__.
     For example: ``rtiddsgen -convertToXml MyTypes.idl``
 
 For more information about defining types, see
-`Creating User Data Types with XML <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/Creating_User_Data_Types_with_Extensible.htm>`__
+`Creating User Data Types with XML <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/Creating_User_Data_Types_with_Extensible.htm>`__
 in the *RTI Connext DDS Core Libraries User's Manual*.
 
 For more information about accessing data samples, see :ref:`Accessing the data`.
@@ -91,10 +91,10 @@ Domain library
 
 A domain library is a collection of domains. A domain specifies:
 
-  * A `domain id <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/ChoosingDomainID.htm>`__.
+  * A `domain id <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/ChoosingDomainID.htm>`__.
   * A set of registered types (from a subset of the types in ``<types>``).
     A registered type can have a local name.
-  * A set of `topics <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm>`__,
+  * A set of `topics <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/WorkingWithTopics.htm>`__,
     which are used by *DataReaders* and *DataWriters*.
 
 .. code-block:: xml
@@ -108,7 +108,7 @@ A domain library is a collection of domains. A domain specifies:
     </domain_library>
 
 For more information about the format of a domain library, see
-`XML-Based Application Creation: Domain Library <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/xml_application_creation/html_files/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted/index.htm#XMLBasedAppCreation/UnderstandingPrototyper/DomainLibrary.htm>`__.
+`XML-Based Application Creation: Domain Library <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/xml_application_creation/index.htm#xml_based_app_creation_guide/UnderstandingXMLBased/DomainLibrary.htm>`__.
 
 Participant library
 ~~~~~~~~~~~~~~~~~~~
@@ -140,14 +140,14 @@ an :class:`Input`, as described in :ref:`Reading data (Input)`.
         </domain_participant>
     </domain_participant_library>
 
-For more information about the format of a participant library, see the 
-`XML-Based Application Creation Getting Started Guide   
-<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/xml_application_creation/html_files/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted/index.htm#XMLBasedAppCreation/UnderstandingPrototyper/ParticipantLibrary.htm>`__.
+For more information about the format of a participant library, see 
+`XML-Based Application Creation: Participant Library 
+<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/xml_application_creation/index.htm#xml_based_app_creation_guide/UnderstandingXMLBased/ParticipantLibrary.htm>`__.
 
 Quality of service
 ~~~~~~~~~~~~~~~~~~
 
-All DDS entities have an associated `quality of service (QoS) <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/QosPolicies.htm>`__.
+All DDS entities have an associated `quality of service (QoS) <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/QosPolicies.htm>`__.
 There are several ways to configure it.
 
 You can define a QoS profile and make it the default. The following example
@@ -181,7 +181,7 @@ You can define the QoS for each individual entity:
 .. code-block:: xml
 
     <domain_participant name="MyPubParticipant" domain_ref="MyDomainLibrary::MyDomain">
-        <participant_qos> <!-- ... --> </participant_qos>
+        <domain_participant_qos> <!-- ... --> </domain_participant_qos>
         <publisher name="MyPublisher">
             <publisher_qos> <!-- ... --> </publisher_qos>
             <data_writer name="MySquareWriter" topic_ref="Square">
@@ -203,9 +203,9 @@ entity:
 .. code-block:: xml
 
     <domain_participant name="MyPubParticipant" domain_ref="MyDomainLibrary::MyDomain">
-        <participant_qos base_name="MyQosLibrary::MyQosProfile">
+        <domain_participant_qos base_name="MyQosLibrary::MyQosProfile">
             <!-- override or configure additional QoS policies -->
-        </participant_qos>
+        </domain_participant_qos>
         <publisher name="MyPublisher">
             <publisher_qos base_name="MyQosLibrary::MyQosProfile">
                 <!-- override or configure additional QoS policies -->
@@ -234,12 +234,12 @@ profile is equivalent to *MyQosProfile* above:
 
 You can read more in the *RTI Connext DDS Core Libraries User's Manual*, 
 `Configuring QoS with XML 
-<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/XMLConfiguration.htm>`__.
+<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/XMLConfiguration.htm>`__.
 
 Logging
 ^^^^^^^
 
-Logging can be configured as explained in `Configuring Logging via XML <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/Configuring_Logging_via_XML1.htm>`__.
+Logging can be configured as explained in `Configuring Logging via XML <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/Configuring_Logging_via_XML1.htm>`__.
 
 For example, to increase the logging verbosity from the default (ERROR) to
 WARNING, define a ``qos_profile`` with the attribute

diff --git a/docs/connector.rst b/docs/connector.rst
@@ -22,7 +22,7 @@ To create a new :class:`Connector`, pass an XML file and a configuration name:
    connector = rti.Connector("MyParticipantLibrary::MyParticipant", "ShapeExample.xml");
 
 The XML file defines your types, QoS profiles, and DDS Entities. *Connector*
-uses the XML schema of `RTI's XML-Based Application Creation <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/xml_application_creation/html_files/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted/index.htm#XMLBasedAppCreation/UnderstandingPrototyper/XMLTagsConfigEntities.htm%3FTocPath%3D5.%2520Understanding%2520XML-Based%2520Application%2520Creation%7C5.5%2520XML%2520Tags%2520for%2520Configuring%2520Entities%7C_____0>`__.
+uses the XML schema of `RTI's XML-Based Application Creation <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/xml_application_creation/index.htm#xml_based_app_creation_guide/UnderstandingXMLBased/XMLTagsConfigEntities.htm>`__.
 
 The previous code loads the ``<domain_participant>`` named *MyParticipant* in 
 the ``<domain_participant_library>`` named *MyParticipantLibrary*, which is defined in the
@@ -40,7 +40,7 @@ When you create a :class:`Connector`, the DDS *DomainParticipant* that you selec
 and all its contained entities (*Topics*, *Subscribers*, *DataReaders*,
 *Publishers*, *DataWriters*) are created.
 
-For more information about the DDS entities, see `Part 2 - Core Concepts <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/PartCoreConcepts.htm#partcoreconcepts_4109331811_915546%3FTocPath%3DPart%25202%253A%2520Core%2520Concepts%7C_____0>`__
+For more information about the DDS entities, see `Core Concepts <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/users_manual/index.htm#users_manual/PartCoreConcepts.htm>`__
 in the *RTI Connext DDS Core Libraries User's Manual*.
 
 .. note::

diff --git a/docs/copyright_license.rst b/docs/copyright_license.rst
@@ -6,10 +6,10 @@
 Copyrights and License
 **********************
 
-© 2019 Real-Time Innovations, Inc. |br|
+© 2021 Real-Time Innovations, Inc. |br|
 All rights reserved.  |br|
 Printed in U.S.A. First printing.  |br|
-November 2019. |br|
+April 2021. |br|
 
 
 .. rubric:: License
@@ -43,7 +43,10 @@ This is an independent publication and is neither affiliated with, nor
 authorized, sponsored, or approved by, Microsoft Corporation.
 
 The security features of this product include software developed by the
-OpenSSL Project for use in the OpenSSL Toolkit (http://www.openssl.org/).
+OpenSSL Project for use in the OpenSSL Toolkit (http://www.openssl.org/). 
+This product includes cryptographic software written by Eric Young 
+(eay@cryptsoft.com). This product includes software written by Tim Hudson 
+(tjh@cryptsoft.com).
 
 Technical Support |br|
 Real-Time Innovations, Inc. |br|
@@ -53,4 +56,63 @@ Phone: (408) 990-7444 |br|
 Email: support@rti.com |br|
 Website: https://support.rti.com/ |br|
 
-© 2019 RTI
+© 2021 RTI
+
+.. rubric:: External Third-Party Software Used in Connector
+
+**Lua**
+  * The source code of this software is used to build the native libraries
+    provided by *RTI Connector*.
+
+  * License (https://www.lua.org/license.html):
+    Copyright © 1994–2021 Lua.org, PUC-Rio.
+
+    Permission is hereby granted, free of charge, to any person obtaining a 
+    copy of this software and associated documentation files (the "Software"), 
+    to deal in the Software without restriction, including without limitation 
+    the rights to use, copy, modify, merge, publish, distribute, sublicense, 
+    and/or sell copies of the Software, and to permit persons to whom the 
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included 
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 
+    OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 
+    THE SOFTWARE.
+
+**json-parser**
+  * The source code of this software (from https://github.com/udp/json-parser) 
+    is used to build the native libraries provided by *RTI Connector*.
+
+  * License:
+
+    Copyright (C) 2012, 2013, 2014 James McLaughlin et al.  All rights reserved.
+    https://github.com/udp/json-parser
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions
+    are met:
+
+    1. Redistributions of source code must retain the above copyright
+       notice, this list of conditions and the following disclaimer.
+
+    2. Redistributions in binary form must reproduce the above copyright
+       notice, this list of conditions and the following disclaimer in the
+       documentation and/or other materials provided with the distribution.
+
+    THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+    ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+    ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+    FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+    DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+    OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+    HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+    LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+    OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+    SUCH DAMAGE.
diff --git a/docs/data.rst b/docs/data.rst
@@ -411,7 +411,7 @@ To clear a member, set it to ``None`` explicitly::
 
 For more information about optional members in DDS, see the *Getting Started Guide
 Addendum for Extensible Types*, 
-`Section 3.2 Optional Members <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/getting_started_extras/html_files/RTI_ConnextDDS_CoreLibraries_GettingStarted_ExtensibleAddendum/index.htm#ExtensibleTypesAddendum/Optional_Members.htm>`__.
+`Optional Members <https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/extensible_types_guide/index.htm#extensible_types/Optional_Members.htm>`__.
 
 Accessing unions
 ^^^^^^^^^^^^^^^^
@@ -448,3 +448,53 @@ The type returned by the operator is a dict for unions.
 The same limitations described in
 :ref:`Accessing basic members (numbers, strings and booleans)`
 about using ``__getitem__`` apply here.
+
+Accessing key values of disposed samples
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Using :meth:`Output.write`, an :class:`Output` can write data, or dispose or 
+unregister an instance.
+Depending on which of these operations is performed, the ``instance_state`` of the
+received sample will be ``'ALIVE'``, ``'NOT_ALIVE_NO_WRITERS'`` or ``'NOT_ALIVE_DISPOSED'``.
+If the instance was disposed, this ``instance_state`` will be ``'NOT_ALIVE_DISPOSED'``.
+In this state, it is possible to access the key fields of the instance that was disposed.
+
+.. note::
+    :attr:`SampleInfo.valid_data` will be false when the :attr:`SampleInfo.instance_state`
+    is ``'NOT_ALIVE_DISPOSED'``. In this situation it's possible to access the
+    key fields in the received sample.
+
+The key fields can be accessed as follows:
+
+.. testcode::
+
+    # The output and input are using the following type:
+    # struct ShapeType {
+    #     @key string<128> color;
+    #     long x;
+    #     long y;
+    #     long shapesize;
+    # }
+
+    output.instance["x"] = 4
+    output.instance["color"] = "Green"
+    # Assume that some data associated with this instance has already been sent
+    output.write(action="dispose")
+    input.wait()
+    input.take()
+    sample = input.samples[0]
+
+    if sample.info["instance_state"] == "NOT_ALIVE_DISPOSED":
+        # sample.info.get('valid_data') will be false in this situation
+        # Only the key-fields should be accessed
+        color = sample["color"] # 'Green'
+        # The fields 'x','y' and 'shapesize' cannot be retrieved because they're
+        # not part of the key
+        # You can also call get_dictionary() to get all of the key fields.
+        # Again, only the key fields returned within the dictionary should
+        # be accessed.
+        key_values = sample.get_dictionary() # { "color": "Green", "x": 0, "y": 0, "shapesize": 0 }
+
+.. warning::
+    When the sample has an instance state of ``'NOT_ALIVE_DISPOSED'`` only the
+    key fields should be accessed.
diff --git a/docs/errors.rst b/docs/errors.rst
@@ -1,4 +1,4 @@
-Error Handling
+Error handling
 ===============
 
 .. py:currentmodule:: rticonnextdds_connector
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		LICENSE.pdf filter=lfs diff=lfs merge=lfs -text
		* text=auto