Enum KeyExprFormat 

#[non_exhaustive]
pub enum KeyExprFormat {
    RmwZenoh,
    Ros2Dds,
}

Key expression format selector.

Determines which key expression format to use for ROS 2 <-> Zenoh mapping.

Variants (Non-exhaustive)

Non-exhaustive enums could have additional variants added in future. Therefore, when matching against variants of non-exhaustive enums, an extra wildcard arm must be added to account for any future variants.

RmwZenoh

rmw_zenoh_cpp compatible format (default).

• Topic key expressions use strip_slashes() (preserve internal slashes)
• Liveliness tokens use mangling (replace / with %)
• Format: <domain>/<topic>/<type>/<hash>

Ros2Dds

zenoh-plugin-ros2dds compatible format.

Different key expression structure for DDS bridge compatibility.

Implementations

impl KeyExprFormat

pub fn topic_key_expr(&self, entity: &EndpointEntity) -> Result<TopicKE>

Generate topic key expression for data publication/subscription.

pub fn liveliness_key_expr( &self, entity: &EndpointEntity, zid: &ZenohId, ) -> Result<LivelinessKE>

Generate liveliness token for endpoint entity discovery.

pub fn node_liveliness_key_expr( &self, entity: &NodeEntity, ) -> Result<LivelinessKE>

Generate liveliness token for node entity discovery.

pub fn parse_liveliness(&self, ke: &KeyExpr<'_>) -> Result<Entity>

Parse liveliness token back to entity.

pub fn encode_qos(&self, qos: &QosProfile, keyless: bool) -> String

Encode QoS for liveliness token.

pub fn decode_qos(&self, s: &str) -> Result<(bool, QosProfile)>

Decode QoS from liveliness token.

Trait Implementations

impl Clone for KeyExprFormat

fn clone(&self) -> KeyExprFormat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for KeyExprFormat

impl Debug for KeyExprFormat

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

Formats the value using the given formatter.

impl Default for KeyExprFormat

fn default() -> KeyExprFormat

Returns the “default value” for a type.

impl Eq for KeyExprFormat

impl PartialEq for KeyExprFormat

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for KeyExprFormat