Struct Node

pub struct Node { /* private fields */ }

Node abstraction for Zenobuf

A Node is the main entry point for using Zenobuf. It provides methods for creating publishers, subscribers, services, and clients.

Implementations

impl Node

pub async fn new(name: &str) -> Result<Self>

Creates a new Node with the given name

pub fn with_transport(name: &str, transport: ZenohTransport) -> Result<Self>

Creates a new Node with the given name and transport

pub fn name(&self) -> &str

Returns the name of the node

pub async fn create_publisher<M: Message>( &self, topic: &str, _qos: QosProfile, ) -> Result<Arc<Publisher<M>>>

Creates a publisher for the given topic

pub async fn create_subscriber<M: Message, F>( &self, topic: &str, _qos: QosProfile, callback: F, ) -> Result<Arc<Subscriber>>

where F: Fn(M) + Send + Sync + 'static,

Creates a subscriber for the given topic with a callback

pub async fn create_service<Req: Message, Res: Message, F>( &self, service_name: &str, handler: F, ) -> Result<Arc<Service>>

where F: Fn(Req) -> Result<Res> + Send + Sync + 'static,

Creates a service for the given name with a handler

pub fn create_client<Req: Message, Res: Message>( &self, service_name: &str, ) -> Result<Arc<Client<Req, Res>>>

Creates a client for the given service name

pub fn set_parameter<T: Serialize + DeserializeOwned + Clone + Send + Sync + 'static>( &self, name: &str, value: T, ) -> Result<()>

Sets a parameter

pub fn get_parameter<T: DeserializeOwned + Clone + Send + Sync + 'static>( &self, name: &str, ) -> Result<T>

Gets a parameter

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

Spins the node once, processing all pending callbacks

pub async fn spin(&self) -> Result<()>

Spins the node, processing callbacks until the node is shutdown

pub fn publisher<M: Message>(&self, topic: &str) -> PublisherBuilder<'_, M>

Creates a publisher builder for the given topic

pub fn subscriber<M: Message>(&self, topic: &str) -> SubscriberBuilder<'_, M>

Creates a subscriber builder for the given topic

pub fn service<Req: Message, Res: Message>( &self, name: &str, ) -> ServiceBuilder<'_, Req, Res>

Creates a service builder for the given service name

pub fn client<Req: Message, Res: Message>( &self, name: &str, ) -> ClientBuilder<'_, Req, Res>

Creates a client builder for the given service name

pub async fn publish<M: Message>( &self, topic: &str, ) -> Result<Arc<Publisher<M>>>

Creates a publisher with default QoS

pub async fn subscribe<M: Message, F>( &self, topic: &str, callback: F, ) -> Result<Arc<Subscriber>>

where F: Fn(M) + Send + Sync + 'static,

Creates a subscriber with default QoS and a callback