Struct rustdds::dds::DomainParticipant

pub struct DomainParticipant { /* fields omitted */ }

DDS DomainParticipant generally only one per domain per machine should be active

Implementations

impl DomainParticipant

pub fn new(domain_id: u16) -> Result<DomainParticipant>

Examples

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

pub fn create_publisher(&self, qos: &QosPolicies) -> Result<Publisher>

Creates DDS Publisher

Arguments

• qos - Takes qos policies for publisher and given to DataWriter as default.

Examples

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

pub fn create_subscriber(&self, qos: &QosPolicies) -> Result<Subscriber>

Creates DDS Subscriber

Arguments

• qos - Takes qos policies for subscriber and given to DataReader as default.

Examples

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

pub fn create_topic(
    &self,
    name: &str,
    type_desc: &str,
    qos: &QosPolicies,
    topic_kind: TopicKind
) -> Result<Topic>

Create DDS Topic

Arguments

• name - Name of the topic.
• type_desc - Name of the type this topic is supposed to deliver.
• qos - Takes qos policies that are distributed to DataReaders and DataWriters.

Examples

use rustdds::dds::data_types::TopicKind;

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::WithKey);

pub fn find_topic(&self, name: &str, timeout: Duration) -> Result<Option<Topic>>

pub fn domain_id(&self) -> u16

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let domain_id = domain_participant.domain_id();

pub fn participant_id(&self) -> u16

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let participant_id = domain_participant.participant_id();

pub fn get_discovered_topics(&self) -> Vec<DiscoveredTopicData>

Gets all DiscoveredTopics from DDS network

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let discovered_topics = domain_participant.get_discovered_topics();
for dtopic in discovered_topics.iter() {
  // do something
}

pub fn assert_liveliness(self) -> Result<()>

Manually asserts liveliness, affecting all writers with LIVELINESS QoS of MANUAL_BY_PARTICIPANT created by this particular participant.

Example

let domain_participant = DomainParticipant::new(0).expect("Failed to create participant");
domain_participant.assert_liveliness();

Trait Implementations

impl Clone for DomainParticipant

fn clone(&self) -> DomainParticipant

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DomainParticipant

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

Formats the value using the given formatter.

impl PartialEq<DomainParticipant> for DomainParticipant

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

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

fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl RTPSEntity for DomainParticipant

fn get_guid(&self) -> GUID

fn get_entity_id(&self) -> EntityId

fn get_guid_prefix(&self) -> GuidPrefix