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use crate::{ dds::qos::{ QosPolicies, policy::Deadline, policy::DestinationOrder, policy::Durability, policy::History, policy::LatencyBudget, policy::Lifespan, policy::Liveliness, policy::Ownership, policy::Reliability, }, structure::duration::Duration, }; pub struct ROSDiscoveryTopic {} impl ROSDiscoveryTopic { const QOS: QosPolicies = QosPolicies { durability: Some(Durability::TransientLocal), presentation: None, deadline: Some(Deadline(Duration::DURATION_INFINITE)), latency_budget: Some(LatencyBudget { duration: Duration::DURATION_ZERO, }), ownership: Some(Ownership::Shared), liveliness: Some(Liveliness::Automatic { lease_duration: Duration::DURATION_INFINITE, }), time_based_filter: None, reliability: Some(Reliability::Reliable { max_blocking_time: Duration::DURATION_ZERO, }), destination_order: Some(DestinationOrder::ByReceptionTimestamp), history: Some(History::KeepLast { depth: 1 }), resource_limits: None, lifespan: Some(Lifespan { duration: Duration::DURATION_INFINITE, }), }; const TOPIC_NAME: &'static str = "ros_discovery_info"; const TYPE_NAME: &'static str = "rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_"; pub fn topic_name() -> &'static str { ROSDiscoveryTopic::TOPIC_NAME } pub fn type_name() -> &'static str { ROSDiscoveryTopic::TYPE_NAME } pub const fn get_qos() -> QosPolicies { ROSDiscoveryTopic::QOS } } pub struct ParameterEventsTopic {} impl ParameterEventsTopic { const QOS: QosPolicies = QosPolicies { durability: Some(Durability::TransientLocal), presentation: None, deadline: None, latency_budget: None, ownership: None, liveliness: None, time_based_filter: None, reliability: Some(Reliability::Reliable { max_blocking_time: Duration::DURATION_ZERO, }), destination_order: None, history: Some(History::KeepLast { depth: 1 }), resource_limits: None, lifespan: None, }; const TOPIC_NAME: &'static str = "rt/parameter_events"; const TYPE_NAME: &'static str = "rcl_interfaces::msg::dds_::ParameterEvent_"; pub fn topic_name() -> &'static str { ParameterEventsTopic::TOPIC_NAME } pub fn type_name() -> &'static str { ParameterEventsTopic::TYPE_NAME } pub fn get_qos() -> QosPolicies { ParameterEventsTopic::QOS } } pub struct RosOutTopic {} impl RosOutTopic { const QOS: QosPolicies = QosPolicies { durability: Some(Durability::TransientLocal), presentation: None, deadline: Some(Deadline(Duration::DURATION_INFINITE)), latency_budget: Some(LatencyBudget { duration: Duration::DURATION_ZERO, }), ownership: Some(Ownership::Shared), liveliness: Some(Liveliness::Automatic { lease_duration: Duration::DURATION_INFINITE, }), time_based_filter: None, reliability: Some(Reliability::Reliable { max_blocking_time: Duration::DURATION_ZERO, }), destination_order: Some(DestinationOrder::ByReceptionTimestamp), history: Some(History::KeepLast { depth: 1 }), resource_limits: None, lifespan: Some(Lifespan { duration: Duration::from_secs(10), }), }; const TOPIC_NAME: &'static str = "rt/rosout"; const TYPE_NAME: &'static str = "rcl_interfaces::msg::dds_::Log_"; pub fn topic_name() -> &'static str { RosOutTopic::TOPIC_NAME } pub fn type_name() -> &'static str { RosOutTopic::TYPE_NAME } pub fn get_qos() -> QosPolicies { RosOutTopic::QOS } }