Struct RawServiceServer 

pub struct RawServiceServer<const REQ_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }, const RESP_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }> { /* private fields */ }

Typeless service-server handle. L1 counterpart of EmbeddedServiceServer for callers that own their own scheduler (RTIC, embassy, FreeRTOS-task-per-entity) and the C / C++ FFI shims.

Holds the transport handle plus an inline request buffer. The caller polls try_recv_request_raw and sends replies via send_reply_raw with raw CDR bytes.

Implementations

impl<const REQ_BUF: usize, const RESP_BUF: usize> RawServiceServer<REQ_BUF, RESP_BUF>

pub fn register_waker(&self, waker: &Waker)

Phase 122.3.c.6.e — register a Waker that fires when a new request arrives. Mirror of the existing subscriber / service-client wake plumbing. No-op on backends that don’t support waking — caller falls back to polling.

pub fn new(handle: RmwServiceServer) -> Self

Construct a RawServiceServer from a backend-allocated RmwServiceServer handle. Public so external crates and the C / C++ FFI shims can wrap a handle obtained directly from [crate::Node::session_mut].

pub fn try_recv_request_raw( &mut self, ) -> Result<Option<(usize, i64)>, NodeError>

Try to receive a service request (non-blocking).

Returns Ok(Some((len, sequence_number))) when a request is available — the raw CDR bytes live in req_buffer at &req_buffer()[..len] until the next call. The sequence number is required by send_reply_raw.

pub fn req_buffer(&self) -> &[u8]

Borrow the inline request buffer. Valid after a successful try_recv_request_raw call.

pub fn send_reply_raw( &mut self, sequence_number: i64, data: &[u8], ) -> Result<(), NodeError>

Send a reply with raw CDR bytes. sequence_number must match the value returned by the most recent try_recv_request_raw.