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use std::{ time::{Duration}, }; use serde::Serialize; use crate::{ serialization::CDRSerializerAdapter, structure::time::Timestamp, }; use crate::structure::entity::{RTPSEntity}; use crate::dds::pubsub::Publisher; use crate::dds::topic::Topic; use crate::dds::values::result::Result; use crate::dds::data_types::*; use crate::dds::traits::dds_entity::DDSEntity; use crate::dds::traits::serde_adapters::SerializerAdapter; use crate::dds::qos::{HasQoSPolicy, QosPolicies}; use crate::{ discovery::data_types::topic_data::SubscriptionBuiltinTopicData, dds::with_key::datawriter as datawriter_with_key, }; use super::wrappers::{NoKeyWrapper, SAWrapper}; /// DDS DataWriter for no key topics /// /// # Examples /// /// ``` /// use serde::{Serialize, Deserialize}; /// use rustdds::dds::DomainParticipant; /// use rustdds::dds::qos::QosPolicyBuilder; /// use rustdds::dds::data_types::TopicKind; /// use rustdds::dds::No_Key_DataWriter as DataWriter; /// use rustdds::serialization::CDRSerializerAdapter; /// /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// #[derive(Serialize, Deserialize)] /// struct SomeType {} /// /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None); /// ``` pub struct DataWriter<D: Serialize, SA: SerializerAdapter<D> = CDRSerializerAdapter<D>> { keyed_datawriter: datawriter_with_key::DataWriter<NoKeyWrapper<D>, SAWrapper<SA>>, } impl<D, SA> DataWriter<D, SA> where D: Serialize, SA: SerializerAdapter<D>, { pub(crate) fn from_keyed( keyed: datawriter_with_key::DataWriter<NoKeyWrapper<D>, SAWrapper<SA>>, ) -> DataWriter<D, SA> { DataWriter { keyed_datawriter: keyed, } } /// Writes single data instance to a topic. /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// let some_data = SomeType {}; /// data_writer.write(some_data, None).unwrap(); /// ``` pub fn write(&self, data: D, source_timestamp: Option<Timestamp>) -> Result<()> { self .keyed_datawriter .write(NoKeyWrapper::<D> { d: data }, source_timestamp) } /// Waits for all acknowledgements to finish /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use std::time::Duration; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// data_writer.wait_for_acknowledgments(Duration::from_millis(100)); /// ``` pub fn wait_for_acknowledgments(&self, max_wait: Duration) -> Result<()> { self.keyed_datawriter.wait_for_acknowledgments(max_wait) } /* // status queries /// Unimplemented. <b>Do not use</b>. /// /// # Examples /// // TODO: enable run when implemented /// ```no_run /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// if let Ok(status) = data_writer.get_liveliness_lost_status() { /// // Do something /// } /// ``` pub fn get_liveliness_lost_status(&self) -> Result<LivelinessLostStatus> { self.keyed_datawriter.get_liveliness_lost_status() } /// Should get latest offered deadline missed status. <b>Do not use yet</b> use `get_status_lister` instead for the moment. /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use std::time::Duration; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// if let Ok(odl_status) = data_writer.get_offered_deadline_missed_status() { /// // Do something /// } /// ``` pub fn get_offered_deadline_missed_status(&self) -> Result<OfferedDeadlineMissedStatus> { self.keyed_datawriter.get_offered_deadline_missed_status() } /// Unimplemented. <b>Do not use</b>. /// /// # Examples /// // TODO: enable run when implemented /// ```no_run /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// if let Ok(status) = data_writer.get_offered_incompatible_qos_status() { /// // Do something /// } /// ``` pub fn get_offered_incompatible_qos_status(&self) -> Result<OfferedIncompatibleQosStatus> { self.keyed_datawriter.get_offered_incompatible_qos_status() } /// Unimplemented. <b>Do not use</b>. /// /// # Examples /// // TODO: enable run when implemented /// ```no_run /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// if let Ok(status) = data_writer.get_publication_matched_status() { /// // Do something /// } /// ``` pub fn get_publication_matched_status(&self) -> Result<PublicationMatchedStatus> { self.keyed_datawriter.get_publication_matched_status() } */ /// Topic this DataWriter is connected to. /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic.clone(), None).unwrap(); /// /// assert_eq!(&topic, data_writer.get_topic()); /// ``` pub fn get_topic(&self) -> &Topic { &self.keyed_datawriter.get_topic() } /// Publisher this DataWriter is connected to. /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// assert_eq!(&publisher, data_writer.get_publisher()); /// ``` pub fn get_publisher(&self) -> &Publisher { &self.keyed_datawriter.get_publisher() } /// Manually asserts liveliness if QoS agrees /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// data_writer.assert_liveliness(); /// ``` pub fn assert_liveliness(&self) -> Result<()> { self.keyed_datawriter.assert_liveliness() } /// Unimplemented. <b>Do not use</b>. /// /// # Examples /// // TODO: enable run when implemented /// ```no_run /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// for sub in data_writer.get_matched_subscriptions().iter() { /// // handle subscriptions /// } /// ``` pub fn get_matched_subscriptions(&self) -> Vec<SubscriptionBuiltinTopicData> { self.keyed_datawriter.get_matched_subscriptions() } /* /// Gets mio receiver for all implemented Status changes /// /// # Examples /// /// ``` /// # use serde::{Serialize, Deserialize}; /// # use rustdds::dds::DomainParticipant; /// # use rustdds::dds::qos::QosPolicyBuilder; /// # use rustdds::dds::data_types::TopicKind; /// # use rustdds::dds::No_Key_DataWriter as DataWriter; /// # use rustdds::serialization::CDRSerializerAdapter; /// # /// let domain_participant = DomainParticipant::new(0); /// let qos = QosPolicyBuilder::new().build(); /// let publisher = domain_participant.create_publisher(&qos).unwrap(); /// /// # #[derive(Serialize, Deserialize)] /// # struct SomeType {} /// # /// // NoKey is important /// let topic = domain_participant.create_topic("some_topic", "SomeType", &qos, TopicKind::NoKey).unwrap(); /// let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(None, topic, None).unwrap(); /// /// // Some status has changed /// /// if let Ok(status) = data_writer.get_status_listener().try_recv() { /// // handle status change /// } /// ``` pub fn get_status_listener(&self) -> &Receiver<DataWriterStatus> { self.keyed_datawriter.get_status_listener() } */ } impl<D: Serialize, SA: SerializerAdapter<D>> RTPSEntity for DataWriter<D, SA> { fn get_guid(&self) -> GUID { self.keyed_datawriter.get_guid() } } impl<D: Serialize, SA: SerializerAdapter<D>> HasQoSPolicy for DataWriter<D, SA> { // fn set_qos(&mut self, policy: &QosPolicies) -> Result<()> { // self.keyed_datawriter.set_qos(policy) // } fn get_qos(&self) -> QosPolicies { self.keyed_datawriter.get_qos() } } impl<D: Serialize, SA: SerializerAdapter<D>> DDSEntity for DataWriter<D, SA> {} #[cfg(test)] mod tests { use super::*; use crate::dds::{participant::DomainParticipant, topic::TopicKind}; use crate::test::random_data::*; use crate::serialization::cdr_serializer::*; use byteorder::LittleEndian; #[test] fn dw_write_test() { let domain_participant = DomainParticipant::new(0); let qos = QosPolicies::qos_none(); let _default_dw_qos = QosPolicies::qos_none(); let publisher = domain_participant .create_publisher(&qos) .expect("Failed to create publisher"); let topic = domain_participant .create_topic("Aasii", "Huh?", &qos, TopicKind::NoKey) .expect("Failed to create topic"); let data_writer: DataWriter<RandomData, CDRSerializerAdapter<RandomData, LittleEndian>> = publisher .create_datawriter_no_key(None, topic, None) .expect("Failed to create datawriter"); let mut data = RandomData { a: 4, b: "Fobar".to_string(), }; data_writer .write(data.clone(), None) .expect("Unable to write data"); data.a = 5; let timestamp: Timestamp = Timestamp::now(); data_writer .write(data, Some(timestamp)) .expect("Unable to write data with timestamp"); // TODO: verify that data is sent/writtent correctly // TODO: write also with timestamp } #[test] fn dw_wait_for_ack_test() { let domain_participant = DomainParticipant::new(0); let qos = QosPolicies::qos_none(); let publisher = domain_participant .create_publisher(&qos) .expect("Failed to create publisher"); let topic = domain_participant .create_topic("Aasii", "Huh?", &qos, TopicKind::NoKey) .expect("Failed to create topic"); let data_writer: DataWriter<RandomData, CDRSerializerAdapter<RandomData, LittleEndian>> = publisher .create_datawriter_no_key(None, topic, None) .expect("Failed to create datawriter"); let data = RandomData { a: 4, b: "Fobar".to_string(), }; data_writer.write(data, None).expect("Unable to write data"); let res = data_writer .wait_for_acknowledgments(Duration::from_secs(5)) .unwrap(); assert_eq!(res, ()); } }