Struct rustdds::dds::No_Key_DataWriter[−][src]

pub struct No_Key_DataWriter<D: Serialize, SA: SerializerAdapter<D> = CDRSerializerAdapter<D>> { /* fields omitted */ }

Expand description

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).unwrap();
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<_>>(topic, None);

Implementations

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impl<D, SA> DataWriter<D, SA> where
D: Serialize,
SA: SerializerAdapter<D>,

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pub fn write(&self, data: D, source_timestamp: Option<Timestamp>) -> Result<()>

Writes single data instance to a topic.

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos).unwrap();

// 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<_>>(topic, None).unwrap();

let some_data = SomeType {};
data_writer.write(some_data, None).unwrap();

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pub fn wait_for_acknowledgments(&self, max_wait: Duration) -> Result<bool>

Waits for all acknowledgements to finish

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos).unwrap();

// 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<_>>(topic, None).unwrap();

data_writer.wait_for_acknowledgments(Duration::from_millis(100));

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pub fn get_topic(&self) -> &Topic

Topic this DataWriter is connected to.

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos).unwrap();

// 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<_>>(topic.clone(), None).unwrap();

assert_eq!(&topic, data_writer.get_topic());

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pub fn get_publisher(&self) -> &Publisher

Publisher this DataWriter is connected to.

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos).unwrap();

// 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<_>>(topic, None).unwrap();

assert_eq!(&publisher, data_writer.get_publisher());

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pub fn assert_liveliness(&self) -> Result<()>

Manually asserts liveliness if QoS agrees

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos).unwrap();

// 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<_>>(topic, None).unwrap();

data_writer.assert_liveliness();

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pub fn get_matched_subscriptions(&self) -> Vec<SubscriptionBuiltinTopicData>

Unimplemented. Do not use.

Examples

let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos).unwrap();

// 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<_>>(topic, None).unwrap();

for sub in data_writer.get_matched_subscriptions().iter() {
  // handle subscriptions
}