Struct Topic 

pub struct Topic<T: DdsType> { /* private fields */ }

Typed topic handle.

Implementations

impl<T: DdsType> Topic<T>

pub fn new(name: String, qos: TopicQos, participant: DomainParticipant) -> Self

Creates a new topic handle. Normally called by DomainParticipant::create_topic<T>(name, qos).

pub fn new_orphan(name: String, qos: TopicQos) -> Self

Creates a topic handle without a participant — for builtin topics (DCPSParticipant/Topic/Publication/Subscription) that are created in the BuiltinSubscriber constructor before the DomainParticipant is ready (chicken-and-egg problem). get_participant() panics on an orphan topic — builtin readers avoid it.

pub fn name(&self) -> &str

Topic name.

pub fn type_name(&self) -> &'static str

Type name (from T::TYPE_NAME).

pub fn set_listener(&self, listener: Option<ArcTopicListener>, mask: StatusMask)

Sets the TopicListener + StatusMask. None clears the slot. Spec §2.2.2.3.2.x set_listener.

pub fn get_listener(&self) -> Option<ArcTopicListener>

Current listener clone, if any.

pub fn record_inconsistent_topic(&self)

Records an InconsistentTopic detection (e.g. when a remote topic with the same name but a different type name is discovered, or when create_topic is called with the same name but a different type). Spec §2.2.4.2.5.

pub fn inconsistent_topic_status(&self) -> InconsistentTopicStatus

Current InconsistentTopicStatus + trigger via bubble-up on a delta versus the last call.

pub fn qos(&self) -> TopicQos

Topic QoS (cloned). The inner mutex allows set_qos.

Trait Implementations

impl<T: DdsType> Clone for Topic<T>

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T: Debug + DdsType> Debug for Topic<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T: DdsType> Entity for Topic<T>

Available on crate feature std only.

fn set_qos(&self, qos: Self::Qos) -> Result<()>

TopicQos. Spec §2.2.3: all topic policies (TOPIC_DATA, DURABILITY, RELIABILITY, HISTORY, RESOURCE_LIMITS, …) are immutable after enable() — only TOPIC_DATA is Changeable=YES.

type Qos = TopicQos

QoS type for this entity (e.g. DomainParticipantQos, DataWriterQos, …).

fn get_qos(&self) -> Self::Qos

Returns the current QoS (clone). Spec §2.2.2.1.2 get_qos.

fn enable(&self) -> Result<()>

Enables the entity (idempotent). Spec §2.2.2.1.4 enable.

fn entity_state(&self) -> Arc<EntityState>

Internal accessor — each impl returns its Arc<EntityState>.

fn is_enabled(&self) -> bool

True if the entity is already enabled.

fn get_status_condition(&self) -> StatusCondition

StatusCondition of this entity. Spec §2.2.2.1.6 get_status_condition.

fn get_status_changes(&self) -> StatusMask

Bitmask of the status kinds changed since the last read. Spec §2.2.2.1.5 get_status_changes.

fn get_instance_handle(&self) -> InstanceHandle

Local 64-bit identifier. Spec §2.2.2.1.7 get_instance_handle.

impl<T: DdsType> TopicDescription for Topic<T>

fn get_participant(&self) -> &DomainParticipant

Returns the owning participant. Panics on builtin (orphan) topics constructed via Topic::new_orphan — builtin readers do not call get_participant().

fn get_type_name(&self) -> &str

Type name (e.g. "std_msgs::msg::String"). Spec §2.2.2.3.1 get_type_name.

fn get_name(&self) -> &str

Topic name (e.g. "ChatterTopic"). Spec §2.2.2.3.1 get_name.