Struct Requester 

pub struct Requester<TIn: DdsType, TOut: DdsType> { /* private fields */ }

Client side of a DDS-RPC service.

TIn is the user request payload type (e.g. Calculator_AddRequest), TOut the user reply payload type. Both must implement DdsType — encoding/decoding goes through DdsType::encode and DdsType::decode.

Implementations

impl<TIn: DdsType + Send + 'static, TOut: DdsType + Send + 'static> Requester<TIn, TOut>

pub fn new( participant: &DomainParticipant, service_name: &str, qos: &RpcQos, ) -> RpcResult<Self>

Creates a new requester against service_name.

Produces two topics — <service>_Request (writer) and <service>_Reply (reader) — and a Publisher/Subscriber pair. instance_name="" means “default instance, no PID_SERVICE_INSTANCE_NAME”.

Errors

• RpcError::InvalidServiceName if the name is empty/illegal.
• RpcError::Dcps on topic/writer/reader creation errors.
• RpcError::DuplicateInstanceName if a requester/replier with the same (service, instance) pair already runs on the same participant.

pub fn with_instance( participant: &DomainParticipant, service_name: &str, instance_name: &str, qos: &RpcQos, ) -> RpcResult<Self>

Like Self::new, but with an explicit service_instance_name (Spec §7.8.2 PID 0x0080).

Errors

See Self::new.

pub fn service_name(&self) -> &str

Service name this requester works against.

pub fn instance_name(&self) -> &str

Service instance name ("" if default instance).

pub fn pending_count(&self) -> usize

Number of outstanding requests.

pub fn default_timeout(&self) -> Duration

Current default-timeout configuration.

pub fn send_request_async( &self, payload: &TIn, ) -> RpcResult<(SampleIdentity, Receiver<ReplyOutcome>)>

Sends a request without waiting for a reply. Returns an mpsc::Receiver through which the caller later picks up the reply with mpsc::Receiver::recv (or a self-driven tick() loop).

Errors

RpcError::Dcps on encoder or writer errors.

pub fn send_oneway(&self, payload: &TIn) -> RpcResult<SampleIdentity>

Sends a oneway request — no reply expected, no pending slot.

Errors

RpcError::Dcps on encoder or writer errors.

pub fn send_request_blocking( &self, payload: &TIn, timeout: Option<Duration>, ) -> RpcResult<TOut>

Sends a request and blocks until reply or timeout.

timeout=None uses RpcQos::request_timeout; override explicitly via Some(...).

Errors

• RpcError::Timeout if no reply arrived during timeout.
• RpcError::RemoteException(code) if the server side reported a RemoteExceptionCode != Ok.
• RpcError::Dcps on encode/decode/writer errors.

pub fn tick(&self)

Reads new replies from the reader, correlates via related_request_id, and fires the associated mpsc::Sender. Idempotent (no reply ⇒ no-op).

Trait Implementations

impl<TIn: DdsType, TOut: DdsType> Debug for Requester<TIn, TOut>

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

Formats the value using the given formatter.