Struct CffiPublisher 

pub struct CffiPublisher { /* private fields */ }

Publisher backed by a C vtable.

Implementations

impl CffiPublisher

pub fn topic_name(&self) -> &str

Topic name. Result is the null-terminated string written at publisher creation; never re-resolved from the backend.

pub fn type_name(&self) -> &str

Fully-qualified type name ("std_msgs/msg/Int32").

pub fn qos(&self) -> NrosRmwQos

QoS used to create this publisher.

pub fn can_loan_messages(&self) -> bool

true iff the backend exposes the publish loan primitive (Phase 99). Mirrors upstream rmw_publisher_t::can_loan_messages.

Trait Implementations

impl Drop for CffiPublisher

fn drop(&mut self)

Executes the destructor for this type.

impl Publisher for CffiPublisher

type Error = TransportError

Error type for publish operations

fn publish_raw(&self, data: &[u8]) -> Result<(), TransportError>

Publish a CDR-serialised message.

unsafe fn publish_streamed( &self, size_cb: unsafe extern "C" fn(out_total_len: *mut usize, user_ctx: *mut c_void), chunk_cb: unsafe extern "C" fn(out_buf: *mut u8, cap: usize, out_written: *mut usize, user_ctx: *mut c_void), user_ctx: *mut c_void, ) -> Result<(), TransportError>

Phase 124.E.1 — streamed publish.

fn buffer_error(&self) -> TransportError

Return a buffer-too-small error (implementation specific)

fn serialization_error(&self) -> TransportError

Return a serialization error (implementation specific)

fn unsupported_event_error(&self) -> TransportError

Phase 108 — backend’s error variant for “this event kind is not supported.” Default impl reuses serialization_error() since most backends share an Unsupported variant; backends override if they have a distinct Unsupported mapping.

unsafe fn register_event_callback( &mut self, kind: EventKind, deadline_ms: u32, cb: EventCallback, user_ctx: *mut c_void, ) -> Result<(), TransportError>

Phase 108 — register a callback fired when the named status event occurs. deadline_ms applies to EventKind::OfferedDeadlineMissed only; ignored otherwise. Default impl returns the backend’s “unsupported”-shaped error.

fn assert_liveliness(&self) -> Result<(), TransportError>

Phase 109 — assert this publisher’s liveliness manually. Required for publishers configured with QosLivelinessPolicy::ManualByTopic. No-op for other liveliness kinds. Default impl returns Ok(()) (no-op); backends override when they implement manual liveliness.

fn publish_raw_with_attachment( &self, data: &[u8], _attachment: &[u8], ) -> Result<(), Self::Error>

Phase 128.F.4 — publish with an opaque attachment block.

fn publish<M>(&self, msg: &M, buf: &mut [u8]) -> Result<(), Self::Error>

where M: RosMessage,

Publish a typed message (serializes automatically)

fn supports_event(&self, _kind: EventKind) -> bool

Phase 108 — true if the backend can generate this event for this publisher. Default returns false; backends override per supported event kind.