Struct rustdds::DomainParticipant

pub struct DomainParticipant { /* private fields */ }

DDS DomainParticipant

It is recommended that only one DomainParticipant per OS process is created, as it allocates network sockets, creates background threads, and allocates some memory for object caches.

If you need to communicate to many DDS domains, then you must create a separate DomainParticipant for each of them. See DDS Spec v1.4 Section “2.2.1.2.2 Overall Conceptual Model” and “2.2.2.2.1 DomainParticipant Class” for a definition of a (DDS) domain. Domains are identified by a domain identifier, which is, in Rust terms, a u16. Domain identifier values are application-specific, but 0 is usually the default.

Implementations

impl DomainParticipant

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

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: String,
    type_desc: String,
    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

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &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 discovered_topics(&self) -> Vec<DiscoveredTopicData>

Gets all DiscoveredTopics from DDS network

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let discovered_topics = domain_participant.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 guid(&self) -> GUID

fn entity_id(&self) -> EntityId

fn guid_prefix(&self) -> GuidPrefix