dust_dds 0.15.0

Data Distribution Service (DDS) implementation
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122

/// This example demonstrates how to capture the tracing generated by the Dust DDS library
use dust_dds::{
    domain::domain_participant_factory::DomainParticipantFactory,
    infrastructure::{
        qos::{DataReaderQos, DataWriterQos, QosKind},
        qos_policy::{ReliabilityQosPolicy, ReliabilityQosPolicyKind},
        sample_info::{ANY_INSTANCE_STATE, ANY_SAMPLE_STATE, ANY_VIEW_STATE},
        status::{NO_STATUS, StatusKind},
        time::{Duration, DurationKind},
        type_support::DdsType,
    },
    listener::NO_LISTENER,
    wait_set::{Condition, WaitSet},
};
use tracing::Level;
use tracing_subscriber::{FmtSubscriber, fmt::format::FmtSpan};

#[derive(Debug, Clone, PartialEq, DdsType)]
struct Data {
    #[dust_dds(key)]
    id: u8,
    value: Vec<u8>,
}

fn main() {
    let subscriber = FmtSubscriber::builder()
        // all spans/events with a level higher than TRACE (e.g, debug, info, warn, etc.)
        // will be written to stdout.
        .with_max_level(Level::DEBUG)
        .with_span_events(FmtSpan::ACTIVE)
        // completes the builder.
        .finish();

    tracing::subscriber::set_global_default(subscriber).expect("setting default subscriber failed");

    let domain_id = 0;

    let participant = DomainParticipantFactory::get_instance()
        .create_participant(domain_id, QosKind::Default, NO_LISTENER, NO_STATUS)
        .unwrap();

    let topic = participant
        .create_topic::<Data>(
            "DataTopic",
            "Data",
            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::BestEffort,
            max_blocking_time: 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::BestEffort,
            max_blocking_time: DurationKind::Finite(Duration::new(1, 0)),
        },
        ..Default::default()
    };
    let reader = subscriber
        .create_datareader::<Data>(
            &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 data = Data {
        id: 1,
        value: vec![8; 15000],
    };

    writer.write(data.clone(), None).unwrap();

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

    let samples = reader
        .take(3, ANY_SAMPLE_STATE, ANY_VIEW_STATE, ANY_INSTANCE_STATE)
        .unwrap();

    assert_eq!(samples.len(), 1);
    assert_eq!(samples[0].data.as_ref().unwrap(), &data);
}