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use std::{fmt::Debug, sync::Arc};
use crate::{
dds::{
participant::{DomainParticipant, DomainParticipantWeak},
qos::{HasQoSPolicy, QosPolicies},
typedesc::TypeDesc,
},
discovery::sedp_messages::TopicBuiltinTopicData,
};
pub use crate::structure::topic_kind::TopicKind;
/// Trait approximation of DDS 2.2.2.3.1 TopicDescription Class
///
/// Now it is utterly useless, but if we ever add ContentFilteredTopic or
/// MultiTopic, then it may turn out to be useful.
pub trait TopicDescription {
fn participant(&self) -> Option<DomainParticipant>;
fn get_type(&self) -> TypeDesc; // This replaces type_name() from spec
fn name(&self) -> String;
}
/// This is a more usable version of TopicBuiltinTopicData from Discovery.
///
/// It is used for describing discovered topics.
#[derive(Debug, Clone)]
pub struct TopicData {
pub name: String,
pub type_name: String,
pub qos: QosPolicies,
}
impl From<&TopicBuiltinTopicData> for TopicData {
fn from(tbtd: &TopicBuiltinTopicData) -> Self {
TopicData {
name: tbtd.name.clone(),
type_name: tbtd.type_name.clone(),
qos: tbtd.qos(),
}
}
}
/// DDS Topic
///
/// DDS Specification, Section 2.2.1.2 Conceptual outline:
/// > Topic objects conceptually fit between publications and subscriptions.
/// > Publications must be known in such a way that
/// > subscriptions can refer to them unambiguously. A Topic is meant to fulfill
/// > that purpose: it associates a name (unique in the domain), a data-type,
/// > and QoS related to the data itself.
///
/// Topics can be created (or found) using a [`DomainParticipant`].
///
/// # Examples
///
/// ```
/// use rustdds::*;
///
/// 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)
/// .unwrap();
/// ```
#[derive(Clone)]
pub struct Topic {
// TODO: Do we really need set_qos operation?
// Maybe not. Let's make Topic immutable.
inner: Arc<InnerTopic>,
}
impl Topic {
pub(crate) fn new(
my_domain_participant: &DomainParticipantWeak,
my_name: String,
my_typedesc: TypeDesc,
my_qos_policies: &QosPolicies,
topic_kind: TopicKind,
) -> Self {
Self {
inner: Arc::new(InnerTopic::new(
my_domain_participant,
my_name,
my_typedesc,
my_qos_policies,
topic_kind,
)),
}
}
// This is private, because it is made public via the TopicDescription trait
fn participant(&self) -> Option<DomainParticipant> {
self.inner.participant()
}
// This is private, because it is made public via the TopicDescription trait
fn get_type(&self) -> TypeDesc {
self.inner.get_type()
}
// This is private, because it is made public via the TopicDescription trait
fn name(&self) -> String {
self.inner.name()
}
/// Gets Topics TopicKind
///
/// # Examples
///
/// ```
/// # use rustdds::*;
///
/// # 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)
/// .unwrap();
/// assert_eq!(topic.kind(), TopicKind::WithKey);
/// ```
pub fn kind(&self) -> TopicKind {
self.inner.kind()
}
/*
// DDS spec 2.2.2.3.2 Topic Class
// specifies only method get_inconsistent_topic_status
// TODO: implement
pub(crate) fn get_inconsistent_topic_status() -> Result<InconsistentTopicStatus> {
unimplemented!()
}
*/
}
impl PartialEq for Topic {
fn eq(&self, other: &Self) -> bool {
self.inner == other.inner
}
}
impl Debug for Topic {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
self.inner.fmt(f)
}
}
/// Implements some default topic interfaces functions defined in DDS spec
impl TopicDescription for Topic {
/// Gets [DomainParticipant](struct.DomainParticipant.html) if it is still
/// alive.
fn participant(&self) -> Option<DomainParticipant> {
self.participant()
}
/// Gets type description of this Topic
fn get_type(&self) -> TypeDesc {
self.get_type()
}
/// Gets name of this topic
fn name(&self) -> String {
self.name()
}
}
impl HasQoSPolicy for Topic {
fn qos(&self) -> QosPolicies {
self.inner.qos()
}
}
// impl DDSEntity for Topic {}
// -------------------------------- InnerTopic -----------------------------
#[derive(Clone)]
pub struct InnerTopic {
my_domain_participant: DomainParticipantWeak,
my_name: String,
my_typedesc: TypeDesc,
my_qos_policies: QosPolicies,
topic_kind: TopicKind, // WITH_KEY or NO_KEY
}
impl InnerTopic {
// visibility pub(crate), because only DomainParticipant should be able to
// create new Topic objects from an application point of view.
fn new(
my_domain_participant: &DomainParticipantWeak,
my_name: String,
my_typedesc: TypeDesc,
my_qos_policies: &QosPolicies,
topic_kind: TopicKind,
) -> Self {
Self {
my_domain_participant: my_domain_participant.clone(),
my_name,
my_typedesc,
my_qos_policies: my_qos_policies.clone(),
topic_kind,
}
}
fn participant(&self) -> Option<DomainParticipant> {
self.my_domain_participant.clone().upgrade()
}
fn get_type(&self) -> TypeDesc {
self.my_typedesc.clone()
}
fn name(&self) -> String {
self.my_name.to_string()
}
pub fn kind(&self) -> TopicKind {
self.topic_kind
}
/*
pub(crate) fn get_inconsistent_topic_status() -> Result<TopicStatus> {
unimplemented!()
} */
}
impl PartialEq for InnerTopic {
fn eq(&self, other: &Self) -> bool {
self.participant() == other.participant()
&& self.get_type() == other.get_type()
&& self.name() == other.name()
&& self.qos() == other.qos()
&& self.topic_kind == other.topic_kind
}
}
impl Debug for InnerTopic {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
f.write_fmt(format_args!("{:?}", self.participant()))?;
f.write_fmt(format_args!("Topic name: {}", self.name()))?;
f.write_fmt(format_args!("Topic type: {:?}", self.get_type()))?;
f.write_fmt(format_args!("Topic QoS: {:?} ", self.qos()))
}
}
/// Implements some default topic interfaces functions defined in DDS spec
impl TopicDescription for InnerTopic {
/// Gets [DomainParticipant](struct.DomainParticipant.html) if it is still
/// alive.
fn participant(&self) -> Option<DomainParticipant> {
self.participant()
}
/// Gets type description of this Topic
fn get_type(&self) -> TypeDesc {
self.get_type()
}
/// Gets name of this topic
fn name(&self) -> String {
self.name()
}
}
impl HasQoSPolicy for InnerTopic {
fn qos(&self) -> QosPolicies {
self.my_qos_policies.clone()
}
}