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 take_request_raw and sends replies via send_response_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 NodeHandle::session_mut.

pub fn take_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_response_raw.

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

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

pub fn send_response_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 take_request_raw.

pub fn service_name(&self) -> &str

The service this server was created on — see EmbeddedPublisher::topic_name. phase-444.

pub fn request_subscription_actual_qos(&self) -> QoSProfile

The QoS the backend GRANTED this service’s REQUEST endpoint — issue 1437.

rmw_service_request_subscription_get_actual_qos. One create builds TWO endpoints that negotiate against different peers, so the two directions are two answers and neither stands for the other; a reliable reply path over a best-effort request path is a working service that drops calls.

A policy the backend could not report reads back as its Unknown variant, never as the request. A backend with no read-back at all answers QoSProfile::QOS_PROFILE_UNKNOWN, every field an absence.

Free: read once at create and retained, so this never re-enters the transport.

pub fn response_publisher_actual_qos(&self) -> QoSProfile

The QoS the backend GRANTED this service’s RESPONSE endpoint — issue 1437. See request_subscription_actual_qos.