dust_dds 0.15.0

Data Distribution Service (DDS) implementation
Documentation 
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mod utils;
use dust_dds::{
    domain::domain_participant_factory::DomainParticipantFactory,
    infrastructure::{
        qos::{DataReaderQos, DataWriterQos, QosKind},
        qos_policy::{DeadlineQosPolicy, ReliabilityQosPolicy, ReliabilityQosPolicyKind},
        status::{NO_STATUS, StatusKind},
        time::{Duration, DurationKind},
        type_support::DdsType,
    },
    listener::NO_LISTENER,
    wait_set::{Condition, WaitSet},
};

use crate::utils::domain_id_generator::TEST_DOMAIN_ID_GENERATOR;

#[derive(Debug, PartialEq, DdsType)]
struct MyData {
    #[dust_dds(key)]
    id: u8,
    value: u8,
}

#[test]
fn writer_offered_deadline_missed_waitset() {
    let domain_id = TEST_DOMAIN_ID_GENERATOR.generate_unique_domain_id();

    let participant = DomainParticipantFactory::get_instance()
        .create_participant(domain_id, QosKind::Default, NO_LISTENER, NO_STATUS)
        .unwrap();
    let topic = participant
        .create_topic::<MyData>(
            "MyTopic",
            "MyData",
            QosKind::Default,
            NO_LISTENER,
            NO_STATUS,
        )
        .unwrap();

    let publisher = participant
        .create_publisher(QosKind::Default, NO_LISTENER, NO_STATUS)
        .unwrap();
    let writer_qos = DataWriterQos {
        reliability: ReliabilityQosPolicy {
            kind: ReliabilityQosPolicyKind::Reliable,
            max_blocking_time: DurationKind::Finite(Duration::new(1, 0)),
        },
        deadline: DeadlineQosPolicy {
            period: DurationKind::Finite(Duration::new(1, 0)),
        },
        ..Default::default()
    };
    let writer = publisher
        .create_datawriter(
            &topic,
            QosKind::Specific(writer_qos),
            NO_LISTENER,
            NO_STATUS,
        )
        .unwrap();

    let subscriber = participant
        .create_subscriber(QosKind::Default, NO_LISTENER, NO_STATUS)
        .unwrap();
    let reader_qos = DataReaderQos {
        reliability: ReliabilityQosPolicy {
            kind: ReliabilityQosPolicyKind::Reliable,
            max_blocking_time: DurationKind::Finite(Duration::new(1, 0)),
        },
        deadline: DeadlineQosPolicy {
            period: DurationKind::Finite(Duration::new(1, 0)),
        },
        ..Default::default()
    };

    let _reader = subscriber
        .create_datareader::<MyData>(
            &topic,
            QosKind::Specific(reader_qos),
            NO_LISTENER,
            NO_STATUS,
        )
        .unwrap();

    let cond = writer.get_statuscondition();
    cond.set_enabled_statuses(&[StatusKind::PublicationMatched])
        .unwrap();

    let mut wait_set = WaitSet::new();
    wait_set
        .attach_condition(Condition::StatusCondition(cond))
        .unwrap();
    wait_set.wait(Duration::new(10, 0)).unwrap();

    let data1 = MyData { id: 1, value: 1 };
    writer.write(data1, None).unwrap();

    writer
        .wait_for_acknowledgments(Duration::new(10, 0))
        .unwrap();

    let cond = writer.get_statuscondition();
    cond.set_enabled_statuses(&[StatusKind::OfferedDeadlineMissed])
        .unwrap();
    let mut wait_set = WaitSet::new();
    wait_set
        .attach_condition(Condition::StatusCondition(cond))
        .unwrap();
    wait_set.wait(Duration::new(10, 0)).unwrap();

    let status = writer.get_offered_deadline_missed_status().unwrap();
    assert_eq!(status.total_count, 1);
    assert_eq!(status.total_count_change, 1);
}