zerodds-dcps 1.0.0-rc.3.1

DCPS public API (OMG DDS 1.4 §2.2.2): DomainParticipant, Publisher, Subscriber, Topic, DataWriter, DataReader. Live runtime with SPDP/SEDP/WLP, built-in topics, TypeLookup service, durability backend.
Documentation

zerodds-dcps

License: Apache-2.0 docs.rs

DCPS public API (OMG DDS 1.4 §2.2.2) for the ZeroDDS stack. Live runtime with SPDP/SEDP/WLP, built-in topics, TypeLookup service, durability backend, conditions and WaitSet. Safety classification: STANDARD.

Spec mapping

Spec Section
OMG DDS 1.4 §2.2 (DCPS module)
DDSI-RTPS 2.5 §8.5 (discovery), §8.4.13 (WLP), §9.6.4.8 (inline QoS)
OMG XTypes 1.3 §7.6.3.3 (TypeLookup service), §7.6.3.7 (type consistency)

What's inside

  • Entity hierarchy — DomainParticipantFactory as a singleton, DomainParticipant as the root, below it Publisher/DataWriter and Subscriber/DataReader.
  • Typed writer/reader — DataWriter<T> / DataReader<T> with a DdsType bound. End users implement DdsType by hand or via zerodds-idl-rust codegen.
  • Topics — Topic<T> plus ContentFilteredTopic (SQL92 filter) and MultiTopic (hash join).
  • Built-in topics — DCPSParticipant, DCPSTopic, DCPSPublication, DCPSSubscription (DDS 1.4 §2.2.5).
  • Full QoS coverage — all 22 spec policies, including the exclusive-ownership filter in the sample delivery path and the time-based filter.
  • Discovery + TypeLookup — the live runtime spawns SPDP/SEDP/WLP/ TypeLookup endpoints; cross-vendor interop verified against Cyclone DDS and Fast-DDS.
  • Durability — transient in-memory and persistent on-disk backends with a sequence-ordered replay list.
  • Conditions/WaitSet — ReadCondition, QueryCondition, GuardCondition, StatusCondition and WaitSet.
  • Security hook — the opt-in security feature stretches the SharedSecurityGate over the UDP hot path (DDS-Security 1.2).

Layer position

Layer 4 — core services. Built on layer 1 (zerodds-foundation, -cdr, -qos, -types, -time-service), layer 2 (-rtps, -discovery, -transport-*) and layer 3 (-idl, -idl-rust, -xml).

Quickstart

use zerodds_dcps::*;

let factory = DomainParticipantFactory::instance();
// Live mode: spawns the runtime, binds UDP sockets, runs SPDP/SEDP.
// (Here `_offline` for doctest reproducibility.)
let participant = factory.create_participant_offline(0, DomainParticipantQos::default());
let topic = participant
    .create_topic::<RawBytes>("Chatter", TopicQos::default())
    .expect("create_topic");

let publisher = participant.create_publisher(PublisherQos::default());
let writer = publisher
    .create_datawriter::<RawBytes>(&topic, DataWriterQos::default())
    .expect("create_datawriter");

writer.write(&RawBytes::new(vec![1, 2, 3])).expect("write");

Feature flags

Feature Default Purpose
std ✅ Enables the live runtime, threads, UDP sockets, conditions/WaitSet, durability backends. Implies alloc.
alloc ✅ (via std) Mandatory: Vec/String/BTreeMap.
safety ❌ Reserved for future safety build constraints.
security ❌ Enables the SharedSecurityGate in the UDP hot path (DDS-Security 1.2).
live-interop ❌ Enables Cyclone DDS / Fast-DDS live tests against lab hosts.
flatdata-integration ❌ ADR-0005: opt-in dual-stack write/read path via FlatStruct.
inspect ❌ Embargoed: PDE Reality-Inspector tap hooks. Removed in the public mirror.

Stability

All pub items are stable from 1.0.0 onward; breaking changes require a major-version bump. The doc-hidden __push_raw/__drain_pending hooks are internal test API and not stable.

Tests

cargo test -p zerodds-dcps

License

Apache-2.0. See LICENSE.

See also