pub struct DataWriter<D: Serialize, SA: SerializerAdapter<D> = CDRSerializerAdapter<D>> { /* private fields */ }
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::no_key::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".to_string(), "SomeType".to_string(), &qos, TopicKind::NoKey).unwrap();
let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(&topic, None);
Implementations
sourceimpl<D, SA> DataWriter<D, SA> where
D: Serialize,
SA: SerializerAdapter<D>,
impl<D, SA> DataWriter<D, SA> where
D: Serialize,
SA: SerializerAdapter<D>,
sourcepub fn write(&self, data: D, source_timestamp: Option<Timestamp>) -> Result<()>
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".to_string(), "SomeType".to_string(), &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();
pub fn write_with_options(
&self,
data: D,
write_options: WriteOptions
) -> Result<SampleIdentity>
sourcepub fn wait_for_acknowledgments(&self, max_wait: Duration) -> Result<bool>
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".to_string(), "SomeType".to_string(), &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));
sourcepub fn topic(&self) -> &Topic
pub fn 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".to_string(), "SomeType".to_string(), &qos, TopicKind::NoKey).unwrap();
let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(&topic, None).unwrap();
assert_eq!(&topic, data_writer.topic());
sourcepub fn publisher(&self) -> &Publisher
pub fn 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".to_string(), "SomeType".to_string(), &qos, TopicKind::NoKey).unwrap();
let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(&topic, None).unwrap();
assert_eq!(&publisher, data_writer.publisher());
sourcepub fn assert_liveliness(&self) -> Result<()>
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".to_string(), "SomeType".to_string(), &qos, TopicKind::NoKey).unwrap();
let data_writer = publisher.create_datawriter_no_key::<SomeType, CDRSerializerAdapter<_>>(&topic, None).unwrap();
data_writer.assert_liveliness();
sourcepub fn get_matched_subscriptions(&self) -> Vec<SubscriptionBuiltinTopicData>
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".to_string(), "SomeType".to_string(), &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
}
Trait Implementations
sourceimpl<D: Serialize, SA: SerializerAdapter<D>> HasQoSPolicy for DataWriter<D, SA>
impl<D: Serialize, SA: SerializerAdapter<D>> HasQoSPolicy for DataWriter<D, SA>
fn qos(&self) -> QosPolicies
sourceimpl<D: Serialize, SA: SerializerAdapter<D>> RTPSEntity for DataWriter<D, SA>
impl<D: Serialize, SA: SerializerAdapter<D>> RTPSEntity for DataWriter<D, SA>
impl<D: Serialize, SA: SerializerAdapter<D>> DDSEntity for DataWriter<D, SA>
Auto Trait Implementations
impl<D, SA = CDRSerializerAdapter<D, LittleEndian>> !RefUnwindSafe for DataWriter<D, SA>
impl<D, SA> Send for DataWriter<D, SA> where
D: Send,
SA: Send,
impl<D, SA = CDRSerializerAdapter<D, LittleEndian>> !Sync for DataWriter<D, SA>
impl<D, SA> Unpin for DataWriter<D, SA> where
D: Unpin,
SA: Unpin,
impl<D, SA = CDRSerializerAdapter<D, LittleEndian>> !UnwindSafe for DataWriter<D, SA>
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcepub fn borrow_mut(&mut self) -> &mut T
pub fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more