`zerodds-zenoh-bridge`

Bidirektionale Bridge zwischen ZeroDDS-DCPS und Eclipse-Zenoh. Pure-Rust-Mapping-Layer (Topic-Namen ↔ Zenoh-Key-Expressions, QoS- Translation) ohne externe Deps; optionaler voll-funktionaler Live- Bridge-Pfad ueber Feature zenoh-runtime. Safety classification: STANDARD.

Architektur

 DDS-Topic  ────────►  ZeroDDS DataReader
    │                       │
    │                       ▼ on_data
    │                  Bridge::forward
    │                       │
    │                       ▼ zenoh::publisher::put
    │                  Zenoh KeyExpr
    │                       │
    │  ◄────────────────────┤  Zenoh Subscriber
    │                       │
    │                  Bridge::reverse
    │                       │
    │                       ▼ DataWriter::write
    ▼
 DDS-Topic

QoS-Mapping (DDS → Zenoh)

DDS-QoS	Zenoh-Aequivalent
`Reliability::Reliable`	`Reliability::Reliable` (Zenoh)
`Reliability::BestEffort`	`Reliability::BestEffort`
`Durability::TransientLocal`	`CongestionControl::Block` + `Priority::DataHigh`
`Durability::Volatile` (Default)	`CongestionControl::Drop`
`History::KeepLast(n)`	(Zenoh hat kein History-Cache; n>1 ignoriert)
`Partition`	KeyExpr-Praefix (`<partition>/<topic>`)

Was ist drin

Pure-Rust-Layer (default, ohne zenoh-Dep):

TopicMap — bidirektionale Topic↔KeyExpr-Mapping-Datenstruktur.
key_expr_for_topic(name, partition) — DDS-Topic → Zenoh-KeyExpr- Mapping (mit optionalem Partition-Praefix).
dds_qos_to_zenoh(dds_qos) — QoS-Tabelle wie oben.

Live-Runtime (Feature zenoh-runtime):

ZenohBridge / ZenohBridgeBuilder / BridgeError — Async-Bridge- Lifecycle (start / shutdown / forward / reverse).

Schichten-Position

Layer 5 — Bridges (Tier-C). Sitzt auf zerodds-dcps (DCPS-API) und zerodds-qos (QoS-Policies). Live-Runtime nutzt zenoh = 1

tokio.

Quickstart

Pure-Rust-Mapping (default):

use zerodds_zenoh_bridge::{TopicMap, key_expr_for_topic};

let mut map = TopicMap::new();
map.add("VehicleTracking.TrackUpdate".into(), "fleet/tracking".into());

assert_eq!(
    key_expr_for_topic("VehicleTracking.TrackUpdate", None),
    "VehicleTracking/TrackUpdate"
);
assert_eq!(
    key_expr_for_topic("VehicleTracking.TrackUpdate", Some("fleet")),
    "fleet/VehicleTracking/TrackUpdate"
);

Live-Runtime (Feature zenoh-runtime):

[dependencies]
zerodds-zenoh-bridge = { version = "1.0.0-rc.1", features = ["zenoh-runtime"] }

use zerodds_zenoh_bridge::{ZenohBridge, ZenohBridgeBuilder};

let bridge = ZenohBridgeBuilder::new()
    .with_zenoh_config(zenoh::config::default())
    .build()
    .await?;

bridge.forward_topic("VehicleTracking.TrackUpdate").await?;

Feature-Flags

Feature	Default	Zweck
`std`	✅	`std`-Aufruf.
`zenoh-runtime`	❌	Live-Bridge-Pfad mit `zenoh = 1` + `tokio` (ggf. höhere MSRV als ZeroDDS-Default).

Stabilitaet

1.0.0-rc.1. Public-API + Mapping-Logik sind RC1-stabil. Live- Runtime-API folgt zenoh = 1.x und kann sich mit Zenoh-Major-Bumps aendern.

Tests

cargo test -p zerodds-zenoh-bridge

6 Tests grün (5 unit + 1 doc).

Lizenz

Apache-2.0. Siehe LICENSE.

Siehe auch

docs/release/rc1-reviews/zenoh-bridge.md — RC1-Review.
Eclipse Zenoh — Upstream-Projekt.

zerodds-zenoh-bridge 1.0.0-rc.1

zerodds-zenoh-bridge