Struct rustdds::dds::DomainParticipant [−][src]
pub struct DomainParticipant { /* fields omitted */ }
Expand description
DDS DomainParticipant
It is recommended that only one DomainParticipant per OS process is created, as it allocates network sockets, creates background threads, and allocates some memory for object caches.
If you need to communicate to many DDS domains,
then you must create a separate DomainParticipant for each of them.
See DDS Spec v1.4 Section “2.2.1.2.2 Overall Conceptual Model” and
“2.2.2.2.1 DomainParticipant Class” for a definition of a (DDS) domain.
Domains are identified by a domain identifier, which is, in Rust terms, a
u16
. Domain identifier values are application-specific, but 0
is usually
the default.
Implementations
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
Creates DDS Publisher
Arguments
qos
- Takes qos policies for publisher and given to DataWriter as default.
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let publisher = domain_participant.create_publisher(&qos);
Creates DDS Subscriber
Arguments
qos
- Takes qos policies for subscriber and given to DataReader as default.
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let subscriber = domain_participant.create_subscriber(&qos);
pub fn create_topic(
&self,
name: String,
type_desc: String,
qos: &QosPolicies,
topic_kind: TopicKind
) -> Result<Topic>
pub fn create_topic(
&self,
name: String,
type_desc: String,
qos: &QosPolicies,
topic_kind: TopicKind
) -> Result<Topic>
Create DDS Topic
Arguments
name
- Name of the topic.type_desc
- Name of the type this topic is supposed to deliver.qos
- Takes qos policies that are distributed to DataReaders and DataWriters.
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
let qos = QosPolicyBuilder::new().build();
let topic = domain_participant.create_topic("some_topic".to_string(), "SomeType".to_string(), &qos, TopicKind::WithKey);
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
let domain_id = domain_participant.domain_id();
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
let participant_id = domain_participant.participant_id();
Gets all DiscoveredTopics from DDS network
Examples
let domain_participant = DomainParticipant::new(0).unwrap();
let discovered_topics = domain_participant.discovered_topics();
for dtopic in discovered_topics.iter() {
// do something
}
Manually asserts liveliness, affecting all writers with LIVELINESS QoS of MANUAL_BY_PARTICIPANT created by this particular participant.
Example
let domain_participant = DomainParticipant::new(0).expect("Failed to create participant");
domain_participant.assert_liveliness();
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for DomainParticipant
impl Send for DomainParticipant
impl Sync for DomainParticipant
impl Unpin for DomainParticipant
impl UnwindSafe for DomainParticipant
Blanket Implementations
Mutably borrows from an owned value. Read more