Struct rustdds::Subscriber

source ·

pub struct Subscriber { /* private fields */ }

Expand description

DDS Subscriber

See overview at Publisher.

§Examples


let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();

let subscriber = domain_participant.create_subscriber(&qos);

Implementations§

source §

impl Subscriber

source

pub fn create_datareader<D, SA>( &self, topic: &Topic, qos: Option<QosPolicies>, ) -> CreateResult<WithKeyDataReader<D, SA>>
where D: 'static + Keyed, SA: DeserializerAdapter<D>,

Creates DDS DataReader for keyed Topics

§Arguments

topic - Reference to the DDS Topic this reader reads from
entity_id - Optional EntityId if necessary for DDS communication (random if None)
qos - Not in use

§Examples

use serde::Deserialize;
use rustdds::serialization::CDRDeserializerAdapter;

let subscriber = domain_participant.create_subscriber(&qos).unwrap();

#[derive(Deserialize)]
struct SomeType { a: i32 }
impl Keyed for SomeType {
  type K = i32;

  fn key(&self) -> Self::K {
    self.a
  }
}

let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::WithKey).unwrap();
let data_reader = subscriber.create_datareader::<SomeType, CDRDeserializerAdapter<_>>(&topic, None);

source

pub fn create_datareader_cdr<D>( &self, topic: &Topic, qos: Option<QosPolicies>, ) -> CreateResult<WithKeyDataReader<D, CDRDeserializerAdapter<D>>>
where D: 'static + DeserializeOwned + Keyed, for<'de> <D as Keyed>::K: Deserialize<'de>,

source

pub fn create_datareader_no_key<D, SA>( &self, topic: &Topic, qos: Option<QosPolicies>, ) -> CreateResult<NoKeyDataReader<D, SA>>
where D: 'static, SA: DeserializerAdapter<D>,

Create DDS DataReader for non keyed Topics

§Arguments

topic - Reference to the DDS Topic this reader reads from
entity_id - Optional EntityId if necessary for DDS communication (random if None)
qos - Not in use

§Examples

use serde::Deserialize;
use rustdds::serialization::CDRDeserializerAdapter;

let subscriber = domain_participant.create_subscriber(&qos).unwrap();

#[derive(Deserialize)]
struct SomeType {}

let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::NoKey).unwrap();
let data_reader = subscriber.create_datareader_no_key::<SomeType, CDRDeserializerAdapter<_>>(&topic, None);

source

pub fn create_simple_datareader_no_key<D, DA>( &self, topic: &Topic, qos: Option<QosPolicies>, ) -> CreateResult<SimpleDataReader<D, DA>>
where D: 'static, DA: 'static + DeserializerAdapter<D>,

source

pub fn create_datareader_no_key_cdr<D>( &self, topic: &Topic, qos: Option<QosPolicies>, ) -> CreateResult<NoKeyDataReader<D, CDRDeserializerAdapter<D>>>
where D: 'static + DeserializeOwned,

source

pub fn participant(&self) -> Option<DomainParticipant>

Returns DomainParticipant if it is sill alive.

§Example

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();

let subscriber = domain_participant.create_subscriber(&qos).unwrap();
assert_eq!(domain_participant, subscriber.participant().unwrap());