Rust API Surface

What the astutedds crate exports today. The complete documented surface is also available via cargo doc --open.

Crate items

Item	Kind
astutedds::DomainParticipant	struct
astutedds::Topic<'a>	struct
astutedds::Publisher<'a>	struct
astutedds::Subscriber<'a>	struct
astutedds::DataWriter<'t>	struct
astutedds::DataReader<'t>	struct
astutedds::DataWriterQos	struct (Copy)
astutedds::DataReaderQos	struct (Copy)
astutedds::Reliability	enum (re-export from astutedds-sys)
astutedds::HistoryKind	enum (re-export from astutedds-sys)
astutedds::Durability	enum (re-export from astutedds-sys)
astutedds::Error	enum
astutedds::Result<T>	type alias for std::result::Result<T, Error>

Entity API

DomainParticipant

Method	Signature
new	fn new(domain_id: u32) -> Result<Self>
create_topic	fn create_topic(&self, name: &str, type_name: &str) -> Result<Topic<'_>>
create_publisher	fn create_publisher(&self) -> Result<Publisher<'_>>
create_subscriber	fn create_subscriber(&self) -> Result<Subscriber<'_>>

Deletes the participant on Drop. Marked Send + Sync.

Topic<'a>

Method	Signature
name	fn name(&self) -> &str
type_name	fn type_name(&self) -> &str

Publisher<'a>

Method	Signature
create_datawriter	fn create_datawriter<'t>(&self, topic: &'t Topic<'_>, qos: DataWriterQos) -> Result<DataWriter<'t>>

Subscriber<'a>

Method	Signature
create_datareader	fn create_datareader<'t>(&self, topic: &'t Topic<'_>, qos: DataReaderQos) -> Result<DataReader<'t>>

DataWriter<'t>

Method	Signature
write	fn write(&self, data: &[u8]) -> Result<()>

DataReader<'t>

Method	Signature
take_next	fn take_next(&self) -> Result<Vec<u8>> (returns Err(Error::NoData) when the cache is empty)
unread_count	fn unread_count(&self) -> usize

QoS types

pub struct DataWriterQos {
    pub reliability:   Reliability,
    pub history_kind:  HistoryKind,
    pub history_depth: i32,
    pub durability:    Durability,
}

pub struct DataReaderQos {
    pub reliability:   Reliability,
    pub history_kind:  HistoryKind,
    pub history_depth: i32,
    pub durability:    Durability,
}

Defaults: RELIABLE + KEEP_LAST + depth 1 + VOLATILE.

QoS enums

Enum	Variants
Reliability	ASTUTEDDS_BEST_EFFORT, ASTUTEDDS_RELIABLE
HistoryKind	ASTUTEDDS_KEEP_LAST, ASTUTEDDS_KEEP_ALL
Durability	ASTUTEDDS_VOLATILE, ASTUTEDDS_TRANSIENT_LOCAL, ASTUTEDDS_TRANSIENT, ASTUTEDDS_PERSISTENT

Errors

pub enum Error {
    ReturnCode(astutedds_sys::AstuteDDS_ReturnCode),
    NullPointer,
    NulByte(std::ffi::NulError),
    NoData,
    Timeout,
}

Error implements std::error::Error + Display + Clone + PartialEq + Eq. From<std::ffi::NulError> is provided so ? works on CString::new(...).

Lifetime model

The borrow checker enforces parent-before-child destruction:

DomainParticipant
 ├── Topic<'a>           (a = lifetime of DomainParticipant)
 ├── Publisher<'a>
 │    └── DataWriter<'t> (t = lifetime of Topic)
 └── Subscriber<'a>
      └── DataReader<'t> (t = lifetime of Topic)

Dropping a parent before its children fails to compile.

Thread safety

All wrappers are Send + Sync. Wrap any entity in Arc<…> to share it across threads.

Raw FFI escape hatch

If you need a C API call that is not yet wrapped, depend on astutedds-sys directly and use unsafe extern functions matching include/astutedds/c/astutedds.h.