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

use crate::{
    dds_async::condition::StatusConditionAsync,
    infrastructure::{error::DdsResult, status::StatusKind},
    std_runtime::executor::block_on,
};
use alloc::vec::Vec;

/// A [`StatusCondition`] object is a specific Condition that is associated with each Entity.
/// The *trigger_value* of the [`StatusCondition`] depends on the communication status of that entity (e.g., arrival of data, loss of
/// information, etc.), 'filtered' by the set of *enabled_statuses* on the [`StatusCondition`].
pub struct StatusCondition {
    condition_async: StatusConditionAsync,
}

impl Clone for StatusCondition {
    fn clone(&self) -> Self {
        Self {
            condition_async: self.condition_async.clone(),
        }
    }
}

impl StatusCondition {
    pub(crate) fn new(condition_async: StatusConditionAsync) -> Self {
        Self { condition_async }
    }

    pub(crate) fn condition_async(&self) -> &StatusConditionAsync {
        &self.condition_async
    }
}

impl StatusCondition {
    /// This operation retrieves the list of communication statuses that are taken into account to determine the *trigger_value* of the
    /// [`StatusCondition`]. This operation returns the statuses that were explicitly set on the last call to [`StatusCondition::set_enabled_statuses`] or, if
    /// it was never called, the default list of enabled statuses which includes all the statuses.
    pub fn get_enabled_statuses(&self) -> DdsResult<Vec<StatusKind>> {
        block_on(self.condition_async.get_enabled_statuses())
    }

    /// This operation defines the list of communication statuses that are taken into account to determine the *trigger_value* of the
    /// [`StatusCondition`]. This operation may change the *trigger_value* of the [`StatusCondition`].
    /// [`WaitSet`](crate::infrastructure::wait_set::WaitSet) objects behavior depend on the changes of the *trigger_value* of their
    /// attached conditions. Therefore, any [`WaitSet`](crate::infrastructure::wait_set::WaitSet) to which the [`StatusCondition`] is attached is potentially affected by this operation.
    /// If this function is not invoked, the default list of enabled statuses includes all the statuses.
    pub fn set_enabled_statuses(&self, mask: &[StatusKind]) -> DdsResult<()> {
        block_on(self.condition_async.set_enabled_statuses(mask))
    }

    /// This operation returns the Entity associated with the [`StatusCondition`]. Note that there is exactly one Entity associated with
    /// each [`StatusCondition`].
    pub fn get_entity(&self) {
        block_on(self.condition_async.get_entity())
    }
}

/// This implementation block contains the Condition operations for the [`StatusCondition`].
impl StatusCondition {
    /// This operation retrieves the *trigger_value* of the [`StatusCondition`].
    pub fn get_trigger_value(&self) -> DdsResult<bool> {
        block_on(self.condition_async.get_trigger_value())
    }
}