Struct DdsAdapter

pub struct DdsAdapter {
    id: AdapterId,
    config: DdsConfig,
}

DDS participant that bridges configured topics both ways.

Inbound samples are stamped with oag.origin_adapter so outbound writes can refuse the echo when DdsConfig::suppress_echo is on. The rustdds provider also drops samples whose writer shares this participant’s GUID prefix, because rustdds delivers local writes.

Fields

id: AdapterId

config: DdsConfig

Implementations

impl DdsAdapter

pub fn new(id: impl Into<AdapterId>, config: DdsConfig) -> Self

Builds an adapter that has not yet joined a domain.

pub fn id(&self) -> &AdapterId

pub fn config(&self) -> &DdsConfig

pub async fn serve( self: Arc<Self>, engine: Arc<Engine>, shutdown: CancellationToken, ) -> Result<(), AdapterError>

Joins the domain, creates topics, and bridges until shutdown.

Errors

Returns AdapterError::Failed if the provider cannot join or a topic cannot be created.

async fn drive( &self, session: &mut dyn DdsSession, engine: Arc<Engine>, eng_rx: &mut Receiver<Delivery>, shutdown: &CancellationToken, ) -> Result<(), AdapterError>

fn forward_outbound( &self, session: &mut dyn DdsSession, delivery: Delivery, ) -> Result<(), String>

async fn poll_inbound( &self, session: &mut dyn DdsSession, engine: &Arc<Engine>, ) -> Result<(), String>

Trait Implementations

impl Adapter for DdsAdapter

fn run<'async_trait>( self: Arc<Self>, engine: Arc<Engine>, shutdown: CancellationToken, ) -> Pin<Box<dyn Future<Output = Result<(), AdapterError>> + Send + 'async_trait>>

where Self: 'async_trait,

Joins the domain and bridges until shutdown, retrying a failed or panicked session per DdsConfig::on_panic and DdsConfig::reconnect.

Each attempt runs on its own child task, so a panic while joined is a join error here rather than an unwind that would otherwise take the retry loop down with it.

Errors

Returns AdapterError::Failed if the provider cannot join or a topic cannot be created, and DdsConfig::reconnect is off.

fn id(&self) -> &AdapterId

Stable id for this adapter instance.