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Revert internal .md files
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‎docs/connector.md‎

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# Connector and related utilities
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The [`Connector`] type is the entry point to the RTI Connector for Rust API.
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It wraps a DDS `DomainParticipant` configured from an XML file and is used
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to acquire [`Input`] and [`Output`] handles for reading and writing data.
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## Typical flow
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1. Create a `Connector` with [`Connector::new`], passing a participant name and
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the path to an XML configuration file.
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2. Acquire an [`Input`] or [`Output`] with [`Connector::get_input`] and
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[`Connector::get_output`].
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3. Use the `Input`/`Output` APIs to read or write samples.
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```text
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let connector = Connector::new("MyLibrary::MyParticipant", "/path/to/App.xml")?;
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let input = connector.get_input("MySubscriber::MyReader")?;
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let output = connector.get_output("MyPublisher::MyWriter")?;
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```
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## Ownership and blocking acquisition
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`Connector` enforces thread-aware ownership for `Input` and `Output` instances.
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If a named entity is already in use, [`Connector::get_input`] and
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[`Connector::get_output`] will return an error. Use [`Connector::take_input`]
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or [`Connector::take_output`] to wait until the entity becomes available.
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## Waiting for data
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You can wait for any `Input` owned by the connector to receive data using
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[`Connector::wait_for_data`] or [`Connector::wait_for_data_with_timeout`].
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These calls do not read data; you still need to call [`Input::read`] or
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[`Input::take`] on the specific `Input` you want to process.
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This module contains everything related to the [`Connector`] abstraction,
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including methods to create [`Input`] and [`Output`] objects.

‎docs/input.md‎

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# Input, Sample, and related utilities
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# Input, Sample and related utilities
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The [`Input`] interface is used to read data samples from DDS topics. It wraps a
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`DataReader` configured in your XML file and provides a cached view of samples
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retrieved by [`Input::read`] or [`Input::take`].
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The [`Input`] interface is used to read data samples from DDS topics.
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## Reading data
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The [`Sample`] interface represents a data sample read from an [`Input`].
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Use [`Input::read`] to fill the local sample cache without removing samples from
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DDS, or [`Input::take`] to remove them from the reader. After either call, iterate
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samples using `for sample in input.into_iter()` or filter valid samples with
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[`ValidSampleIterator`]:
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```text
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input.take()?;
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for sample in input.into_iter().valid_only() {
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println!("Sample: {}", sample);
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}
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```
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If you call `take`, you can return the loan with [`Input::return_loan`] after you
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finish processing.
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## Waiting for data
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To block until data is available, use [`Input::wait`] or
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[`Input::wait_with_timeout`]. These calls do not read data; they only wait for
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availability. You still need to call `read` or `take` to populate the cache.
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## Accessing fields
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A [`Sample`] provides typed accessors like [`Sample::get_number`],
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[`Sample::get_string`], and [`Sample::get_boolean`]. For dynamic access, use
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[`Sample::get_value`] which returns a [`SelectedValue`], or get a JSON string
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using [`Sample::get_value_json`]. You can also access sample info fields via
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[`Sample::get_info`] and [`Sample::get_info_json`].
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## Matched publications
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Use [`Input::wait_for_publications`] or [`Input::wait_for_publications_with_timeout`]
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to wait for writers, and [`Input::display_matched_publications`] to retrieve the
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matched publications as JSON.
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The [`SampleIterator`] interface provides an iterator over valid samples
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read from an [`Input`].

‎docs/output.md‎

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# Output, Instance, and related utilities
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# Output, Instance and related utilities
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The [`Output`] interface is used to write data out to a DDS domain. It wraps a
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`DataWriter` configured in your XML file and exposes a single writable
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[`Instance`] that represents the next sample to be published.
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The [`Output`] interface is used to write data out to a DDS domain.
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## Writing data
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Modify the instance with `set_*` methods or JSON, then publish it using
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[`Output::write`]:
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```text
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let mut instance = output.instance();
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instance.set_string("color", "BLUE")?;
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instance.set_number("x", 100.0)?;
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instance.set_number("y", 150.0)?;
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output.write()?;
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```
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For typed data, use [`Instance::serialize`] to serialize a struct via Serde.
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## Write parameters
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Use [`Output::write_with_params`] and [`WriteParams`] to control actions like
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`dispose` or `unregister`, or to attach timestamps and identities.
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## Waiting and matching
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You can wait for acknowledgments with [`Output::wait`] or
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[`Output::wait_with_timeout`], and you can wait for subscriptions with
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[`Output::wait_for_subscriptions`] or [`Output::wait_for_subscriptions_with_timeout`].
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Use [`Output::display_matched_subscriptions`] to retrieve matched subscriptions
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as JSON.
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The [`Instance`] interface is used to manipulate the data to be sent,
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and can be accessed by means of [`Output::instance`].

‎docs/result.md‎

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# Result types for error handling
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# Result types for Error Handling
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The `rtiddsconnector` API uses a small set of result types:
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The [`ConnectorError`] enum represents possible errors that can occur
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when using the Connector API.
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* [`ConnectorResult<T>`]: the standard result type for fallible operations.
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* [`ConnectorFallible`]: a convenience alias for `Result<(), ConnectorError>`.
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* [`ConnectorError`]: the error type used throughout the crate.
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The [`ConnectorResult`] type alias is used throughout the crate
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to represent operations that can succeed or fail with a
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[`ConnectorError`].
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## Inspecting errors
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`ConnectorError` exposes helper methods to classify errors:
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* [`ConnectorError::is_timeout`]
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* [`ConnectorError::is_entity_not_found`]
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* [`ConnectorError::is_field_not_found`]
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* [`ConnectorError::is_native_error`]
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* [`ConnectorError::last_error_message`]
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These helpers allow you to handle common cases without depending on internal
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error kinds.
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The [`ConnectorFallible`] type alias is used for operations
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that can can fail with [`ConnectorError`] but that doesn't have a
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meaningful return value (it is `()`).

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