Build the ShmProvider. Creates a POSIX shared memory provider with the configured size. # Errors Returns an error if the SHM provider cannot be cre

Get field by name.

Iterate over all fields with their names and values.

Build the node

Call `.build()` on the returned [`ZNodeBuilder`](crate::node::ZNodeBuilder) to produce the node. Requires `use hiroz::Builder;` in scope.

Close destroys the node. Owned callback subscribers are closed first so their Zenoh subscriptions are undeclared before the node handle is destroyed,

Create a node builder

Try to extract as a string reference.

Build creates the node

Build the message schema.

Number of messages currently in the cache.

Set field value by name. Supports dot notation for nested fields (e.g., "linear.x").

Error implements the error interface. Format: "hiroz error N: message"

Get the value of a parameter.

Push an item to the queue, dropping the OLDEST if at capacity. Returns `true` if an item was dropped, `false` otherwise.

Check if buffer is empty.

Convert type hash to RIHS01 string format

Check if a type is registered.

Get a reference to the graph for this node.

Set a parameter value. Must be validated first.

Get the endpoint string for this router

`true` if the cache holds no messages.

Read-only access to goal state.

Check implementation_identifier and return the appropriate error code. Returns RMW_RET_OK if it matches, RMW_RET_INVALID_ARGUMENT if NULL, or RMW_RET_

Convert C string to Rust &str safely

Number of registered schemas.

Calculate RIHS01 hash for a TypeDescriptionMsg This computes the SHA-256 hash of the JSON-serialized type description, following the ROS 2 RIHS01 spe

Apply a QoS profile to the underlying subscriber.

Create a hiroz context configured to connect to a specific endpoint

Receive with timeout. Returns `Some(item)` if an item was received within the timeout, `None` if the timeout expired.

Sends a goal to the action server. This method sends a goal to the action server and returns a `GoalHandle` that can be used to monitor the goal's pr

CreateNode creates a new node builder

newHirozError creates a new HirozError with the given code and message. This is an internal constructor; callers outside the package use errors.Is wit

Build a subscriber with a callback that processes deserialized messages directly. This method creates a subscriber that invokes the provided callback

Call the service and fail if no reply arrives before `timeout` elapses.

Convert to hiroz-protocol's QosProfile for key expression generation

Consumes the Active handle to prevent reuse. Waits for the goal to reach a terminal state, fetches the result, and cleans up the goal from the board.

Begin executing this goal and transition to the "Executing" state. This updates the server state to executing and publishes a status update.

Endpoint returns the router endpoint

Resolve a list of messages, calculating their type hashes and dependencies

Accept this goal and transition to the "Accepted" state. This sends an acceptance response to the client and updates the server state.

Access the goal manager for advanced use cases and testing. # Warning This is a low-level API that gives direct access to the goal state. Use with c

Helper to create a test context and node

Convenience method: connect to specific endpoints # Example ``` use hiroz::context::ZContextBuilder; use hiroz::Builder; let ctx = ZContextBuilder::

DisableMulticastScouting disables multicast scouting (useful in Docker/cloud)

WithConnectEndpoints sets Zenoh connect endpoints

Declare a parameter with a default value and descriptor. Returns the actual initial value (which may differ from `default` if an override was set via

Publish `msgs` from a separate pub context on `topic`, waiting for the cache to be ready first. Returns when all messages have been published.

Mark this goal as succeeded with the given result. This transitions the goal to a terminal state and consumes the handle.

Get the endpoint entity if this is an endpoint

Serialize the message to bytes using the specified format.

Serialize to CDR format.

Create a standalone lifecycle node (no router needed for unit-level tests).

Check if the registry is empty.

Code returns the FFI error code

Helper to create a QoS profile

Blocking receive - waits until an item is available.

startZenohRouter starts a Zenoh router on a random port. Uses zenohd if available, falls back to the project's zenoh_router example.