Struct PrimitiveOptions 

pub struct PrimitiveOptions<'a> {
    pub name: &'a str,
    pub history: Option<QoSHistoryPolicy>,
    pub depth: Option<u32>,
    pub reliability: Option<QoSReliabilityPolicy>,
    pub durability: Option<QoSDurabilityPolicy>,
    pub deadline_ms: Option<u32>,
    pub lifespan_ms: Option<u32>,
    pub liveliness: Option<QoSLivelinessPolicy>,
    pub liveliness_lease_ms: Option<u32>,
    pub avoid_ros_namespace_conventions: Option<bool>,
}

phase-515 R1 – rclrs’s per-entity options and IntoPrimitiveOptions. rclrs’s PrimitiveOptions: an entity’s name plus the QoS policies its create site stated.

ADOPT-BOUNDED against rclrs: the duration-valued policies hold whole milliseconds (the unit QoSProfile records, 0 = infinite) where rclrs holds a QoSDuration enum, so deadline / lifespan / liveliness_lease take a core::time::Duration and the infinite case is no_deadline / infinite_lifespan. History and depth are two fields because QoSProfile keeps them apart.

Fields

name: &'a str

The entity’s (source) name: topic or service.

history: Option<QoSHistoryPolicy>

History policy, if stated.

depth: Option<u32>

Queue depth, if stated (keep_last(n) states both).

reliability: Option<QoSReliabilityPolicy>

Reliability policy, if stated.

durability: Option<QoSDurabilityPolicy>

Durability policy, if stated.

deadline_ms: Option<u32>

Deadline in milliseconds (0 = none), if stated.

lifespan_ms: Option<u32>

Lifespan in milliseconds (0 = infinite), if stated.

liveliness: Option<QoSLivelinessPolicy>

Liveliness policy, if stated.

liveliness_lease_ms: Option<u32>

Liveliness lease in milliseconds (0 = infinite), if stated.

avoid_ros_namespace_conventions: Option<bool>

Skip the ROS topic-name prefix, if stated.

Implementations

impl<'a> PrimitiveOptions<'a>

pub const fn new(name: &'a str) -> Self

Options naming name and stating no policy.

pub fn apply_to(&self, qos: &mut QoSProfile)

rclrs’s apply_to: overwrite each policy this value states, leave the rest of qos as it is.

pub fn resolve(&self, default: QoSProfile) -> QoSProfile

default with this value’s stated policies applied — what a create site resolves.

Trait Implementations

impl<'a> Clone for PrimitiveOptions<'a>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Copy for PrimitiveOptions<'a>

impl<'a> Debug for PrimitiveOptions<'a>

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

Formats the value using the given formatter.

impl<'a> Eq for PrimitiveOptions<'a>

impl<'a> IntoPrimitiveOptions<'a> for PrimitiveOptions<'a>

fn into_primitive_options(self) -> PrimitiveOptions<'a>

Convert to the full options value.

fn qos(self, profile: QoSProfile) -> PrimitiveOptions<'a>

State every policy of profile.

fn topics_qos(self) -> PrimitiveOptions<'a>

qos with QoSProfile::topics_default.

fn sensor_data_qos(self) -> PrimitiveOptions<'a>

qos with QoSProfile::sensor_data_default.

fn services_qos(self) -> PrimitiveOptions<'a>

qos with QoSProfile::services_default.

fn system_qos(self) -> PrimitiveOptions<'a>

qos with QoSProfile::system_default.

fn history(self, history: QoSHistoryPolicy) -> PrimitiveOptions<'a>

State the history policy.

fn keep_last(self, depth: u32) -> PrimitiveOptions<'a>

Keep the last depth samples.

fn keep_all(self) -> PrimitiveOptions<'a>

Keep every sample.

fn reliability(self, reliability: QoSReliabilityPolicy) -> PrimitiveOptions<'a>

State the reliability policy.

fn reliable(self) -> PrimitiveOptions<'a>

Reliable delivery.

fn best_effort(self) -> PrimitiveOptions<'a>

Best-effort delivery.

fn durability(self, durability: QoSDurabilityPolicy) -> PrimitiveOptions<'a>

State the durability policy.

fn volatile(self) -> PrimitiveOptions<'a>

Volatile durability.

fn transient_local(self) -> PrimitiveOptions<'a>

Transient-local durability.

fn lifespan(self, lifespan: Duration) -> PrimitiveOptions<'a>

The lifespan. ADOPT-BOUNDED: a Duration, not rclrs’s QoSDuration.

fn lifespan_duration(self, duration: Duration) -> PrimitiveOptions<'a>

rclrs’s lifespan_duration, the same as lifespan.

fn infinite_lifespan(self) -> PrimitiveOptions<'a>

Samples never expire.

fn deadline(self, deadline: Duration) -> PrimitiveOptions<'a>

The deadline. ADOPT-BOUNDED: a Duration, not rclrs’s QoSDuration.

fn deadline_duration(self, duration: Duration) -> PrimitiveOptions<'a>

rclrs’s deadline_duration, the same as deadline.

fn no_deadline(self) -> PrimitiveOptions<'a>

No deadline.

fn liveliness(self, liveliness: QoSLivelinessPolicy) -> PrimitiveOptions<'a>

State the liveliness policy.

fn liveliness_automatic(self) -> PrimitiveOptions<'a>

Automatic liveliness.

fn liveliness_manual(self) -> PrimitiveOptions<'a>

Manual-by-topic liveliness, rclrs’s one manual kind.

fn liveliness_lease(self, lease: Duration) -> PrimitiveOptions<'a>

The liveliness lease. ADOPT-BOUNDED: a Duration, not rclrs’s QoSDuration.

fn liveliness_lease_duration(self, duration: Duration) -> PrimitiveOptions<'a>

rclrs’s liveliness_lease_duration, the same as liveliness_lease.

fn avoid_ros_namespace_conventions(self) -> PrimitiveOptions<'a>

Skip the ROS topic-name prefix.

impl<'a> PartialEq for PrimitiveOptions<'a>

fn eq(&self, other: &PrimitiveOptions<'a>) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl<'a> StructuralPartialEq for PrimitiveOptions<'a>