CON-382: Simplify concurrency guarantees

Cargo.toml

@@ -43,6 +43,7 @@ zip = "5.1"
 [dev-dependencies]
 # std::assert_matches is still unstable
 assert_matches = "1.5"
+static_assertions = "1.1"
 clap = { version = "4.5", features = ["derive"] }
 regex = "1.11"
 serde = { version = "*", features = ["derive"] }

docs/guide/connector.md

@@ -41,8 +41,8 @@ loads a `<domain_participant>` from a `<domain_participant_library>`. For exampl
 
 See a complete example in `examples/MyApplication.xml`.
 
-> **Note:** Operations on the same `Connector` or its contained entities are not
-> protected for multi-threaded access. See
+> **Note:** Operations on the same `Connector` or its contained entities on
+> different threads incur some caveats. See
 > [Threading and ownership](crate::guide::threading) for guidance.
 
 ## Closing a connector

docs/guide/getting_started.md

@@ -35,8 +35,8 @@ fn main() -> rtiddsconnector::ConnectorFallible {
     let _globals = GlobalsDropGuard;
 
     let connector = Connector::new("MyLibrary::MyParticipant", "/path/to/App.xml")?;
-    let mut output: Output<'_> = connector.get_output("MyPublisher::MyWriter")?;
-    let mut input: Input<'_> = connector.get_input("MySubscriber::MyReader")?;
+    let mut output: Output = connector.get_output("MyPublisher::MyWriter")?;
+    let mut input: Input = connector.get_input("MySubscriber::MyReader")?;
 
     let mut instance = output.instance();
     instance.set_number("x", 100.0)?;

docs/guide/input.md

@@ -10,7 +10,7 @@ To read or take samples, first get a reference to the input:
 ```rust
 use rtiddsconnector::{Connector, Input};
 
-fn get_input(connector: &Connector) -> rtiddsconnector::ConnectorResult<Input<'_>> {
+fn get_input(connector: &Connector) -> rtiddsconnector::ConnectorResult<Input> {
     connector.get_input("MySubscriber::MyReader")
 }
 ```

docs/guide/output.md

@@ -10,7 +10,7 @@ To write a data sample, first look up an output:
 ```rust
 use rtiddsconnector::{Connector, Output};
 
-fn get_output(connector: &Connector) -> rtiddsconnector::ConnectorResult<Output<'_>> {
+fn get_output(connector: &Connector) -> rtiddsconnector::ConnectorResult<Output> {
     connector.get_output("MyPublisher::MyWriter")
 }
 ```

docs/guide/threading.md

@@ -22,4 +22,6 @@ channels with the rest of your application.
 While the connector uses internal locks for native access, this is not a
 guarantee of safe concurrent access to the same `Input` or `Output`. Treat the
 API as single-threaded unless you control synchronization at the application
-level.
+level. If you truly need to share an `Input` or `Output` across threads,
+you can wrap these on top of `Arc<Mutex<T>>` to manage concurrency on the
+application.

docs/lib.md

@@ -37,7 +37,7 @@ the _RTI Connector_ API:
 [omg-dds-xml]: https://www.omg.org/spec/DDS-XML/ "OMG DDS XML Specification"
 [gh-connector]: https://github.com/rticommunity/rticonnextdds-connector "RTI Connector on Github"
 
-# User Guide
+## User Guide
 
 Start here for a tour of the crate:
 
@@ -50,4 +50,3 @@ Start here for a tour of the crate:
 * [Error handling](crate::guide::errors)
 * [Threading and ownership](crate::guide::threading)
 * [Advanced operations](crate::guide::advanced)
-

snippets/output/using_instance.rs

@@ -1,6 +1,6 @@
 use rtiddsconnector::{self, Output};
 
-fn using_instance(output: &Output<'_>) -> rtiddsconnector::ConnectorFallible {
+fn using_instance(output: &Output) -> rtiddsconnector::ConnectorFallible {
     let mut instance = output.instance();
 
     instance.set_number("x", 10.0)?;

snippets/quickstart.rs

@@ -36,7 +36,7 @@ fn start_using_connector() -> rtiddsconnector::ConnectorFallible {
     let connector = Connector::new(XML_PARTICIPANT, XML_PATH)?;
 
     // Fetch the Output associated with the Connector instance
-    let mut output: Output<'_> = connector.get_output(XML_OUTPUT)?;
+    let mut output: Output = connector.get_output(XML_OUTPUT)?;
 
     // Modifies the data contained by the Output instance
     let mut instance = output.instance();
@@ -49,7 +49,7 @@ fn start_using_connector() -> rtiddsconnector::ConnectorFallible {
     output.write()?;
 
     // Fetch the Input associated with the Connector instance
-    let mut input: Input<'_> = connector.get_input(XML_INPUT)?;
+    let mut input: Input = connector.get_input(XML_INPUT)?;
 
     // Wait for the data to be available before actually retrieving the samples
     input.wait_with_timeout(std::time::Duration::from_secs(5))?;