zerodds-flatdata 1.0.0-rc.3.1

FlatStruct trait for zero-copy same-host pub/sub (zerodds-flatdata-1.0): SlotBackend trait, in-memory allocator, POSIX shm/mmap, Iceoryx2 bridge.
Documentation

zerodds-flatdata

License: Apache-2.0 docs.rs

Zero-copy same-host pub/sub for the ZeroDDS stack: FlatStruct trait, slot layout per spec, three production SlotBackend implementations (in-memory + POSIX shm/mmap + Iceoryx2 bridge). Safety classification: STANDARD (localized with per-block SAFETY comments around the unsafe trait FlatStruct guarantees).

Spec mapping

Spec Section
ZeroDDS-flatdata 1.0 §1 (FlatStruct + derive), §2 (slot layout), §4 (wire path), §5 (lifetime + refcount), §6 (schema versioning), §7 (security), §8/§9 (writer/reader API)
ADR-0003 Three-backend architecture (in-memory / POSIX shm / Iceoryx2)

What's inside

  • FlatStruct trait — unsafe trait with Copy + 'static + Send + Sync and a TYPE_HASH constant. Guarantees layout stability so that as_bytes() and from_bytes_unchecked() are safe by layout.
  • SlotHeader + slot layout — 16-byte header (sequence_number, sample_size, reader_mask, reserved) + payload (spec §2).
  • SlotBackend trait — abstracts the backend; readers/writers are generic.
  • InMemorySlotAllocator — default backend for tests + single-process pub/sub.
  • PosixSlotAllocator (feature posix-mmap, on by default) — shm_open + mmap, cross-process same-host. Owner/consumer model with a flink file.
  • Iceoryx2Publisher<T> / Iceoryx2Subscriber<T> (feature iceoryx2-bridge) — separate pub/sub API against Eclipse iceoryx2 v0.8. Maps to loan_slice_uninit + send / receive. Type-hash cross-validation via service-name composition.
  • FlatWriter<T> + FlatSlot<T> — spec §8.1/§8.2: write + loan_slot + commit / Drop-discard.
  • FlatReader<T> + FlatSampleRef<T> — spec §9.1: read with type-hash cross-validation (spec §6.1) + last_sn re-read suppression.
  • ShmLocator + is_same_host + FNV-1a helper — discovery vendor-PID helpers.

Layer position

Layer 4 — Core Services. No ZeroDDS crate deps; the only external dep is shared_memory (optional, behind the posix-mmap feature).

Quickstart

use std::sync::Arc;
use zerodds_flatdata::{FlatStruct, FlatWriter, FlatReader, InMemorySlotAllocator};

#[derive(Copy, Clone, Debug, PartialEq)]
#[repr(C)]
struct Pose { x: f64, y: f64, z: f64 }

unsafe impl FlatStruct for Pose {
    const TYPE_HASH: [u8; 16] = [0xAA; 16];
}

let alloc = Arc::new(InMemorySlotAllocator::new(0, 4, Pose::WIRE_SIZE));
let writer = FlatWriter::<Pose>::new(Arc::clone(&alloc), 0b1);
let reader = FlatReader::<Pose>::new(Arc::clone(&alloc), 0);

writer.write(&Pose { x: 1.0, y: 2.0, z: 3.0 }).unwrap();
let got = reader.read().unwrap().unwrap();
assert_eq!(got, Pose { x: 1.0, y: 2.0, z: 3.0 });

Feature flags

Feature Default Purpose
std ✅ Standard library + Mutex + threads.
alloc ✅ (via std) Vec/Arc.
posix-mmap ✅ PosixSlotAllocator (POSIX shm_open + mmap). Depends on shared_memory.
iceoryx2-bridge ❌ Iceoryx2 adapter skeleton (bridge to iceoryx2 service).

Stability

All pub items are stable as of 1.0.0. The unsafe trait FlatStruct is API-stable; implementers must guarantee the layout properties via unsafe impl.

Tests

cargo test -p zerodds-flatdata

License

Apache-2.0. See LICENSE.

See also