zerodds-iceoryx-cyclone

ZeroDDS ↔ Cyclone DDS same-host zero-copy bridge over the iceoryx C++ (POSH) shared-memory transport — the SHM stack Cyclone uses through its iox_psmx plugin (with the iox-roudi daemon), as opposed to the iceoryx2-Rust stack zerodds-flatdata bridges to natively.

The crate FFI-binds the stable libiceoryx_binding_c C ABI (no C++ name mangling) and speaks Cyclone's PSMX chunk convention directly, so a ZeroDDS process reads Cyclone-published samples and writes ones a Cyclone reader consumes — proven bidirectionally on a live Cyclone + iceoryx + RouDi stack.

API

use zerodds_iceoryx_cyclone::{CycloneIoxReader, CycloneIoxWriter, DdsPsmxMetadata, iox_event_name};

// READ a Cyclone publication:
let (svc, inst, ev) = CycloneIoxReader::discover_by_instance("app", "IoxOracle::Sample", 50).unwrap();
let r = CycloneIoxReader::new("app", &svc, &inst, &ev);
if let Some((meta, payload)) = r.take() { /* meta.is_raw(), payload bytes */ }

// WRITE a sample a Cyclone reader consumes:
let w = CycloneIoxWriter::new("app", "DDS_CYCLONE", "IoxOracle::Sample", &iox_event_name("", "IoxOracleTopic"));
w.write_raw(&DdsPsmxMetadata::raw(payload.len() as u32, guid), &payload);

Wire facts

Reverse-engineered + live-verified (see docs/interop/cyclone-iceoryx-shm-ground-truth.md):

• iceoryx ServiceDescription { <INSTANCE_NAME, e.g. "DDS_CYCLONE">, <type-name>, ".<topic>" };
• each chunk's iceoryx user-header is a [DdsPsmxMetadata] (instance_id is u32), the user payload the sample (raw native struct for a self-contained type, RAW_DATA);
• for Cyclone to accept a non-discovered writer (the ZeroDDS writer is a raw iceoryx publisher), its PSMX needs ALLOW_NONDISCOVERED_WRITERS=true — which also makes Cyclone's own writers iox-ineligible, so the read/write proofs use separate Cyclone configs.

Building / proving

posh is off by default: the FFI links libiceoryx_binding_c and needs a Linux host with the iceoryx POSH stack. Without it the crate still builds anywhere (exposing only [DdsPsmxMetadata]).

cargo build -p zerodds-iceoryx-cyclone --features posh   # Linux + iceoryx POSH
./crates/iceoryx-cyclone/proofs/run.sh                   # bidirectional live proof

run.sh builds the crate + a Cyclone publisher/subscriber, starts iox-roudi, and asserts both READER OK (ZeroDDS reads Cyclone) and CYCLONE OK (Cyclone reads ZeroDDS). Verified on the Linux test host (Cyclone 0.11 / iceoryx POSH 2.0.6).