Crate communication_layer_pub_sub

Abstraction of various publisher/subscriber communication backends.

Provides a CommunicationLayer trait as an abstraction for different publisher/subscriber systems. The following set of backends are currently supported:

• Zenoh: The zenoh project implements a distributed publisher/subscriber system with automated routing. To use zenoh, use the ZenohCommunicationLayer struct.

Modules

zenohzenoh

Provides ZenohCommunicationLayer to communicate over zenoh.

Traits

CommunicationLayer

Abstraction trait for different publisher/subscriber implementations.

PublishSample

A prepared message constructed by Publisher::prepare.

Publisher

Allows publishing messages to subscribers.

ReceivedSample

A message received from the communication layer.

Subscriber

Allows receiving messages published on a topic.