Struct Ros2DdsFormatter 

pub struct Ros2DdsFormatter;

zenoh-plugin-ros2dds compatible formatter.

Trait Implementations

impl KeyExprFormatter for Ros2DdsFormatter

const ESCAPE_CHAR: char = SLASH_REPLACEMENT_CHAR

ros2dds uses ‘§’ (U+00A7) to escape slashes

const ADMIN_SPACE: &'static str = "@ros2_lv"

Admin space prefix for ros2dds liveliness tokens

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

Encode QoS in ros2dds format.

Format: <keyless>:<reliability>:<durability>:<history_kind>,<depth>[:<user_data>]

• keyless: ‘K’ if not keyless, empty if keyless
• reliability: 0=BEST_EFFORT, 1=RELIABLE, empty=default
• durability: 0=VOLATILE, 1=TRANSIENT_LOCAL, empty=default
• history: <kind>,<depth> where kind is 0=KEEP_LAST, 1=KEEP_ALL

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

Decode QoS from ros2dds format.

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

Generate topic key expression for data publication/subscription.

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

Generate liveliness token for endpoint entity discovery.

fn node_liveliness_key_expr(_entity: &NodeEntity) -> Result<LivelinessKE>

Generate liveliness token for node entity discovery.

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

Parse liveliness token back to entity.

fn mangle_name(name: &str) -> String

Mangle a name (replace slashes with escape char).

fn demangle_name(name: &str) -> String

Demangle a name (restore slashes from escape char).