Trait communication_layer_pub_sub::Publisher

pub trait Publisher: Send + Sync {
    // Required methods
    fn prepare(
        &self,
        len: usize
    ) -> Result<Box<dyn PublishSample<'_> + '_>, Box<dyn Error + Send + Sync + 'static>>;
    fn dyn_clone(&self) -> Box<dyn Publisher>;

    // Provided method
    fn publish(
        &self,
        data: &[u8]
    ) -> Result<(), Box<dyn Error + Send + Sync + 'static>> { ... }
}

Allows publishing messages to subscribers.

The messages is published to the topic that was used to create the publisher (see CommunicationLayer::publisher).

Required Methods

fn prepare( &self, len: usize ) -> Result<Box<dyn PublishSample<'_> + '_>, Box<dyn Error + Send + Sync + 'static>>

Prepare memory for publishing a message with the given length.

This function makes it possible to construct messages without any additional copying. The returned [Sample] is initialized with zeros.

fn dyn_clone(&self) -> Box<dyn Publisher>

Clone this publisher, returning the clone as a trait object.

Provided Methods

fn publish( &self, data: &[u8] ) -> Result<(), Box<dyn Error + Send + Sync + 'static>>

Publishes the gives message to subscribers.

Depending on the backend, this method might need to copy the data, which can decrease performance. To avoid this, the prepare function can be used to construct the message in-place.

Implementors