Struct ExecutorConfig 

pub struct ExecutorConfig<'a> {
    pub locator: &'a str,
    pub mode: SessionMode,
    pub domain_id: u32,
    pub node_name: &'a str,
    pub namespace: &'a str,
    pub clock_us: Option<fn() -> u64>,
    pub epoch_us: Option<fn() -> u64>,
    pub rmw: Option<&'a str>,
}

Configuration for opening an embedded executor session.

Provides a backend-agnostic builder for configuring the middleware connection. The active Cargo feature (rmw-zenoh, rmw-xrce, or rmw-cffi) determines which backend is used.

Example

use nros::prelude::*;

let config = ExecutorConfig::new("tcp/127.0.0.1:7447")
    .node_name("talker")
    .domain_id(0);
let mut executor: Executor = Executor::open(&config)?;

Fields

locator: &'a str

Middleware-specific connection string.

mode: SessionMode

Session mode (client or peer).

domain_id: u32

ROS 2 domain ID.

node_name: &'a str

Node name.

namespace: &'a str

Node namespace.

clock_us: Option<fn() -> u64>

Monotonic microsecond clock for the executor’s timer accounting.

phase-359 W10 — was no_std-only, because the std build read an Instant instead and had nothing to override. There is one clock now, so the override applies to every flavour: a hosted caller that wants simulated or externally-driven time can supply it here rather than being told that is an embedded-only capability.

epoch_us: Option<fn() -> u64>

RFC-0052 / phase-296 W3b.2 — wall-clock µs since the UNIX epoch, for now - header.stamp age monitors. Distinct from the monotonic clock_us: header.stamp is ROS (wall) time. None = no epoch source on this target — a baked max_age_ms contract with no epoch source is a BAKE-time error (fail-loud, never a silently-dead monitor). On std targets the executor falls back to SystemTime::now() when unset.

rmw: Option<&'a str>

The RMW backend the caller selected, by the cffi registry’s canonical name (zenoh, cyclonedds, xrce, uorb). None = no selection: Executor::open then takes the unique registered backend, and reports Ambiguous when there is more than one.

issue 0687 — this used to be read from $NROS_RMW INSIDE Executor::open, which is why the core crate needed a process environment at all. A backend selection is a decision the hosted edge makes and hands down, exactly like the locator beside it; nros::ExecutorConfigEnvExt::from_env and nros::env::resolve_hosted fill this from $NROS_RMW, and an embedded image bakes it or leaves it None.

Implementations

impl<'a> ExecutorConfig<'a>

pub const fn new(locator: &'a str) -> ExecutorConfig<'a>

Create a new configuration with the given locator.

Defaults: Client mode, domain 0, node name "node", empty namespace.

pub const fn default_const() -> ExecutorConfig<'a>

Phase 104.C.3.3.b — Default-style constructor with an empty locator. Most users want ExecutorConfig::from_env() to pick up ZENOH_LOCATOR / ROS_DOMAIN_ID; this is the rclcpp-NodeOptions{} shape for callers that set every field explicitly via the chaining setters.

impl<'a> ExecutorConfig<'a>

pub const fn domain_id(self, id: u32) -> ExecutorConfig<'a>

Set the ROS 2 domain ID.

pub const fn node_name(self, name: &'a str) -> ExecutorConfig<'a>

Set the node name.

pub const fn namespace(self, ns: &'a str) -> ExecutorConfig<'a>

Set the node namespace.

pub const fn mode(self, mode: SessionMode) -> ExecutorConfig<'a>

Set the session mode.

pub const fn epoch_us(self, epoch: fn() -> u64) -> ExecutorConfig<'a>

RFC-0052 W3b.2 — set the wall-clock (epoch µs) source.

pub const fn clock_us(self, clock: fn() -> u64) -> ExecutorConfig<'a>

Set the monotonic microsecond clock for the executor’s timers.

pub const fn rmw(self, rmw: &'a str) -> ExecutorConfig<'a>

issue 0687 — select the RMW backend by its canonical registry name.

impl<'a> ExecutorConfig<'a>

pub fn resolve(baked: BootConfig<'a>) -> ExecutorConfig<'a>

Resolve boot config under precedence model A (RFC-0045), with no environment rung: baked > compiled default.

Panics on invalid identity input — fail-loud (repo rule): a bad domain id at boot is a configuration error, never a silent domain-0 node. FFI shims that need an error code call try_resolve.

pub fn resolve_with( baked: BootConfig<'a>, env: Option<EnvRung<'a>>, ) -> ExecutorConfig<'a>

resolve with an environment rung on top.

Hosted callers reach this through nros::env::resolve_hosted, which fills the rung from the process environment.

pub fn try_resolve( baked: BootConfig<'a>, ) -> Result<ExecutorConfig<'a>, BootConfigError>

RFC-0045 / issue #206 — fallible resolve.

pub fn try_resolve_with( baked: BootConfig<'a>, env: Option<EnvRung<'a>>, ) -> Result<ExecutorConfig<'a>, BootConfigError>

RFC-0045 / issue #206 — fallible resolve with an environment rung. Returns BootConfigError instead of panicking on out-of-range identity input, so the C / C++ FFI shims can surface a return code. Validation is uniform across languages: any resolved domain id > DOMAIN_ID_MAX is BootConfigError::DomainIdRange, INCLUDING a baked one (the DDS backend would only fail later).

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

Trait Implementations

impl Default for ExecutorConfig<'_>

fn default() -> ExecutorConfig<'_>

Returns the “default value” for a type.

impl ExecutorConfigEnvExt for ExecutorConfig<'static>

fn from_env() -> ExecutorConfig<'static>

Create a configuration from environment variables.