Struct rustdds::Publisher

pub struct Publisher { /* private fields */ }

DDS Publisher

The Publisher and Subscriber structures are collections of DataWriters and, respectively, DataReaders. They can contain DataWriters or DataReaders of different types, and attacehd to different Topics.

They can act as a domain of sample ordering or atomicity, if such QoS policies are used. For example, DDS participants could agree via QoS policies that data samples must be presented to readers in the same order as writers have written them, and the ordering applies also between several writers/readers, but within one publisher/subscriber. Analogous arrangement can be set up w.r.t. coherency: All the samples in a transaction are delivered to the readers, or none are. The transaction can span several readers, writers, and topics in a single publisher/subscriber.

Examples

use rustdds::dds::Publisher;

let domain_participant = DomainParticipant::new(0).unwrap();
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).unwrap();
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 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_writer = publisher.create_datawriter::<SomeType, CDRSerializerAdapter<_>>(&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).unwrap();
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".to_string(), "SomeType".to_string(), &qos, TopicKind::WithKey).unwrap();
let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(&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 wait_for_acknowledgments(&self, max_wait: Duration) -> Result<()>

Wait for all matched reliable DataReaders acknowledge data written so far, or timeout. /Not implemeted/

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

Gets DomainParticipant if it has not disappeared from all scopes.

Example

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

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

pub fn get_default_datawriter_qos(&self) -> QosPolicies

Returns default DataWriter qos.

Example

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

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

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

pub fn set_default_datawriter_qos(&mut self, q: &QosPolicies)

Sets default DataWriter qos.

Example

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

let mut publisher = domain_participant.create_publisher(&qos).unwrap();
let qos2 =
QosPolicyBuilder::new().durability(Durability::Transient).build();
publisher.set_default_datawriter_qos(&qos2);

assert_ne!(qos, publisher.get_default_datawriter_qos());
assert_eq!(qos2, publisher.get_default_datawriter_qos());

Trait Implementations

impl Clone for Publisher

fn clone(&self) -> Publisher

Returns a copy of the value.

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 ==.

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

This method tests for !=.