Struct safe_drive::context::Context

pub struct Context { /* private fields */ }

Context of ROS2.

Implementations

impl Context

pub fn new() -> Result<Arc<Self>, DynError>

Create a new context.

Example

use safe_drive::context::Context;

// Create a context.
let ctx = Context::new().unwrap();

pub fn create_node( self: &Arc<Self>, name: &str, namespace: Option<&str>, options: NodeOptions ) -> RCLResult<Arc<Node>>

Create a new node of ROS2.

Example

use safe_drive::context::Context;

// Create a context.
let ctx = Context::new().unwrap();

// Create a node.
let node = ctx
    .create_node("context_rs", None, Default::default())
    .unwrap();

Errors

• RCLError::AlreadyInit if the node has already be initialized, or
• RCLError::NotInit if the given context is invalid, or
• RCLError::InvalidArgument if any arguments are invalid, or
• RCLError::BadAlloc if allocating memory failed, or
• RCLError::NodeInvalidName if the name is invalid, or
• RCLError::NodeInvalidNamespace if the namespace_ is invalid, or
• RCLError::Error if an unspecified error occurs.

pub fn create_selector(self: &Arc<Self>) -> RCLResult<Selector>

Create a new selector. The selector is used to wait event and invoke callback for single threaded execution.

Example

use safe_drive::context::Context;

// Create a context.
let ctx = Context::new().unwrap();

// Create a selector.
let selector = ctx.create_selector().unwrap();

Errors

• RCLError::AlreadyInit if the wait set is not zero initialized, or
• RCLError::NotInit if the given context is invalid, or
• RCLError::InvalidArgument if any arguments are invalid, or
• RCLError::BadAlloc if allocating memory failed, or
• RCLError::WaitSetInvalid if the wait set is not destroyed properly, or
• RCLError::Error if an unspecified error occurs.

Trait Implementations

impl Drop for Context

fn drop(&mut self)

Executes the destructor for this type.

impl Send for Context

impl Sync for Context