Struct rustdds::dds::Subscriber

pub struct Subscriber { /* fields omitted */ }

DDS Subscriber

Examples

use rustdds::dds::Subscriber;

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

let subscriber = domain_participant.create_subscriber(&qos);

Implementations

impl Subscriber

pub fn create_datareader<D: 'static, SA>(
    &self,
    topic: Topic,
    qos: Option<QosPolicies>
) -> Result<WithKeyDataReader<D, SA>> where
    D: DeserializeOwned + Keyed,
    <D as Keyed>::K: Key,
    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;
use rustdds::dds::data_types::TopicKind;
use rustdds::dds::traits::Keyed;

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

#[derive(Deserialize)]
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_reader = subscriber.create_datareader::<SomeType, CDRDeserializerAdapter<_>>(topic, None, None);

pub fn create_datareader_CDR<D: 'static>(
    &self,
    topic: Topic,
    qos: Option<QosPolicies>
) -> Result<WithKeyDataReader<D, CDRDeserializerAdapter<D>>> where
    D: DeserializeOwned + Keyed,
    <D as Keyed>::K: Key, 

pub fn create_datareader_no_key<D: 'static, SA>(
    &self,
    topic: Topic,
    entity_id: Option<EntityId>,
    qos: Option<QosPolicies>
) -> Result<NoKeyDataReader<D, SA>> where
    D: DeserializeOwned,
    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;
use rustdds::dds::data_types::TopicKind;

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

#[derive(Deserialize)]
struct SomeType {}

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

pub fn create_datareader_no_key_CDR<D: 'static>(
    &self,
    topic: Topic,
    entity_id: Option<EntityId>,
    qos: Option<QosPolicies>
) -> Result<NoKeyDataReader<D, CDRDeserializerAdapter<D>>> where
    D: DeserializeOwned, 

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

Returns DomainParticipant if it is sill alive.

Example

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

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

Trait Implementations

impl Clone for Subscriber

fn clone(&self) -> Subscriber

Returns a copy of the value.

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

Performs copy-assignment from source.