Struct rustdds::dds::Publisher

pub struct Publisher { /* fields omitted */ }

DDS Publisher

Examples

use rustdds::dds::Publisher;

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

let publisher = domain_participant.create_publisher(&qos);

Implementations

impl Publisher

pub fn create_datawriter<D, SA>(
    &self,
    topic: Topic,
    qos: Option<QosPolicies>
) -> Result<WithKeyDataWriter<D, SA>> where
    D: Keyed + Serialize,
    <D as Keyed>::K: Key,
    SA: SerializerAdapter<D>, 

Creates DDS DataWriter for Keyed topic

Arguments

• entity_id - Custom entity id if necessary for the user to define it
• topic - Reference to DDS Topic this writer is created to
• qos - Not currently in use

Examples

use rustdds::dds::traits::Keyed;
use rustdds::serialization::CDRSerializerAdapter;
use serde::Serialize;

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

let publisher = domain_participant.create_publisher(&qos).unwrap();

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

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

let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::WithKey).unwrap();
let data_writer = publisher.create_datawriter::<SomeType, CDRSerializerAdapter<_>>(None, topic, None);

pub fn create_datawriter_CDR<D>(
    &self,
    topic: Topic,
    qos: Option<QosPolicies>
) -> Result<WithKeyDataWriter<D, CDRSerializerAdapter<D, LittleEndian>>> where
    D: Keyed + Serialize,
    <D as Keyed>::K: Key, 

Shorthand for crate_datawriter with Commaon Data Representation Little Endian

pub fn create_datawriter_no_key<D, SA>(
    &self,
    topic: Topic,
    qos: Option<QosPolicies>
) -> Result<NoKeyDataWriter<D, SA>> where
    D: Serialize,
    SA: SerializerAdapter<D>, 

Creates DDS DataWriter for Nokey Topic

Arguments

• entity_id - Custom entity id if necessary for the user to define it
• topic - Reference to DDS Topic this writer is created to
• qos - QoS policies for this DataWriter

Examples

use rustdds::serialization::CDRSerializerAdapter;
use serde::Serialize;

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

let publisher = domain_participant.create_publisher(&qos).unwrap();

#[derive(Serialize)]
struct SomeType {}

let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::WithKey).unwrap();
let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None);

pub fn create_datawriter_no_key_CDR<D>(
    &self,
    topic: Topic,
    qos: Option<QosPolicies>
) -> Result<NoKeyDataWriter<D, CDRSerializerAdapter<D, LittleEndian>>> where
    D: Serialize, 

pub fn suspend_publications(&self) -> Result<()>

Currently does nothing

pub fn resume_publications(&self) -> Result<()>

Currently does nothing

pub fn begin_coherent_changes(&self) -> Result<()>

Coherent set not implemented and currently does nothing

pub fn end_coherent_changes(&self) -> Result<()>

Coherent set not implemented and currently does nothing

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

Gets DomainParticipant if it has not disappeared from all scopes.

Example

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

let publisher = domain_participant.create_publisher(&qos).unwrap();
assert_eq!(domain_participant, publisher.get_participant().unwrap());

pub fn get_default_datawriter_qos(&self) -> QosPolicies

Returns default DataWriter qos. Currently default qos is not used.

Example

use rustdds::dds::qos::{QosPolicyBuilder};

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

let publisher = domain_participant.create_publisher(&qos).unwrap();
assert_eq!(qos, publisher.get_default_datawriter_qos());

Trait Implementations

impl Clone for Publisher

fn clone(&self) -> Publisher

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Publisher

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq<Publisher> for Publisher

fn eq(&self, other: &Self) -> bool

This method tests for self and other values to be equal, and is used by ==.

#[must_use]pub fn ne(&self, other: &Rhs) -> bool

This method tests for !=.