Struct BootConfig 

pub struct BootConfig<'a> {
    pub node_name: Option<&'a str>,
    pub locator: Option<&'a str>,
    pub domain_id: Option<u32>,
    pub namespace: Option<&'a str>,
    pub rmw: Option<&'a str>,
}

Session-identity subset a caller supplies to ExecutorConfig::resolve.

None on a field means “not specified — fall through to the next precedence level”. The precedence model (A) resolved by ExecutorConfig::resolve is:

env rung (a Some field on the [`EnvRung`] the caller supplies)
  > baked (a Some field here)
    > compiled default

Fields are resolved independently: an env locator and a baked node_name can both apply in the same call.

Note: mode (session mode) is not configurable through BootConfig. Session mode comes from the env rung, defaulting to SessionMode::Client.

Fields

node_name: Option<&'a str>

Node name override. Maps to ExecutorConfig::node_name.

locator: Option<&'a str>

Middleware locator override. Maps to ExecutorConfig::locator.

domain_id: Option<u32>

ROS 2 domain ID override. Maps to ExecutorConfig::domain_id.

namespace: Option<&'a str>

Node namespace override. Maps to ExecutorConfig::namespace.

rmw: Option<&'a str>

RMW backend selector. Maps to ExecutorConfig::rmw, the name nros_rmw_cffi::resolve_backend looks up.

Issue 1050 defect (3) — this rung did not exist. Every other field of ExecutorConfig resolved env > baked > compiled default; rmw resolved from the environment ALONE, so $NROS_RMW was the only way in the tree to name a backend. An image that knows perfectly well which backend it wants — a PX4 module declaring BACKENDS uorb, a C entry built against one RMW, any embedded target with no environment to read — could not say so, and got whichever backend registered first.

The environment still wins, because a deployment overriding a build is the whole point of precedence model A. What changed is that there is now something for it to override.

Implementations

impl<'a> BootConfig<'a>

pub fn from_baked(baked: &'a BakedBootConfig) -> BootConfig<'a>

Read a baked config into the plain-field BootConfig the resolver consumes.

Returns all-None (→ resolver uses compiled defaults) if magic/version don’t match — defensive against a corrupt or zero-initialised section.

Each Option is Some iff its set_flags bit is set; string values are the bytes up to the first NUL (or full buffer if no NUL). Invalid UTF-8 in a set field is treated as unset for that field.

Trait Implementations

impl<'a> Clone for BootConfig<'a>

fn clone(&self) -> BootConfig<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Copy for BootConfig<'a>

impl<'a> Debug for BootConfig<'a>

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

Formats the value using the given formatter.

impl<'a> Default for BootConfig<'a>

fn default() -> BootConfig<'a>

Returns the “default value” for a type.