Struct Replier 

pub struct Replier<TReq, TRep>
where
    TReq: RequestReply,
    TRep: RequestReply,
{ /* private fields */ }

A DDS Replier that receives requests and sends replies.

Creates two topics internally:

• {service_name}Request — for subscribing to requests
• {service_name}Reply — for publishing replies

Example

use cyclonedds::*;
use std::time::Duration;

#[derive(DdsTypeDerive, Clone)]
struct AddRequest { correlation_id: u64, a: i32, b: i32 }
#[derive(DdsTypeDerive, Clone)]
struct AddReply { correlation_id: u64, result: i32 }
impl RequestReply for AddRequest {
    fn correlation_id(&self) -> u64 { self.correlation_id }
    fn set_correlation_id(&mut self, id: u64) { self.correlation_id = id; }
}
impl RequestReply for AddReply {
    fn correlation_id(&self) -> u64 { self.correlation_id }
    fn set_correlation_id(&mut self, id: u64) { self.correlation_id = id; }
}

let participant = DomainParticipant::new(0).unwrap();
let replier = Replier::<AddRequest, AddReply>::new(
    &participant, "CalcService", None, None,
).unwrap();

loop {
    if let Some(req) = replier.receive_request(Duration::from_secs(1)).unwrap() {
        let reply = AddReply {
            correlation_id: req.correlation_id(),
            result: req.a + req.b,
        };
        replier.send_reply(reply).unwrap();
    }
}

Implementations

impl<TReq, TRep> Replier<TReq, TRep>

where TReq: RequestReply, TRep: RequestReply,

pub fn new( participant: &DomainParticipant, service_name: &str, request_qos: Option<&Qos>, reply_qos: Option<&Qos>, ) -> DdsResult<Self>

pub fn receive_request(&self, timeout: Duration) -> DdsResult<Option<TReq>>

Block until a request arrives or timeout.

pub fn send_reply(&self, data: TRep) -> DdsResult<()>

Send a reply with the matching correlation_id.