Crate zerodds_dcps 

Crate zerodds-dcps. Safety classification: STANDARD.

DCPS Public API (OMG DDS 1.4 §2.2.2): DomainParticipant, Publisher, Subscriber, Topic, DataWriter, DataReader.

Spec: OMG DDS 1.4 §2.2 (Data-Centric Publish-Subscribe Module) + DDSI-RTPS 2.5 §8.5 (Discovery + WLP) + XTypes 1.3 §7.6.3 (TypeLookup service wiring).

Layer position

Layer 4 — Core Services. Built on Layer 1 (foundation/cdr/qos/types/time-service), Layer 2 (rtps/discovery/transport-*), Layer 3 (idl/idl-rust/xml).

Public API (as of 1.0.0-rc.1)

• DomainParticipantFactory — singleton factory; create_participant spawns a live runtime with UDP/SPDP/SEDP/WLP, create_participant_offline builds an in-process skeleton without networking for unit tests.
• DomainParticipant — top-level entity; creates publishers/subscribers/topics, maintains the built-in type registry, exposes TypeLookup hooks and ignore filters.
• Publisher / DataWriter — typed Writer<T> with a DdsType bound; integrates the RTPS ReliableWriter (live) or an in-memory queue (offline) plus the durability backend (DDS 1.4 §2.2.3.5).
• Subscriber / DataReader — typed Reader<T> with take/read/conditions, sample cache and InstanceState tracker (DDS 1.4 §2.2.2.5).
• Topic / ContentFilteredTopic / MultiTopic — the topic hierarchy incl. SQL filters (DDS 1.4 §2.2.2.3).
• Builtin topics: BuiltinSubscriber + DcpsParticipantBuiltinTopicData / DcpsPublicationBuiltinTopicData / DcpsSubscriptionBuiltinTopicData / DcpsTopicBuiltinTopicData (DDS 1.4 §2.2.5).
• Conditions/WaitSet: Condition / ReadCondition / QueryCondition / GuardCondition / WaitSet.
• QoS families: DomainParticipantQos, PublisherQos, SubscriberQos, TopicQos, DataWriterQos, DataReaderQos.

Example

use zerodds_dcps::*;
let factory = DomainParticipantFactory::instance();
// Offline mode for the doctest (no UDP multicast needed).
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");

Re-exports

pub use builtin_subscriber::BuiltinSinks;

pub use builtin_subscriber::BuiltinSubscriber;

pub use builtin_subscriber::BuiltinTopic;

pub use builtin_subscriber::builtin_reader_qos;

pub use builtin_topics::ParticipantBuiltinTopicData as DcpsParticipantBuiltinTopicData;

pub use builtin_topics::PublicationBuiltinTopicData as DcpsPublicationBuiltinTopicData;

pub use builtin_topics::SubscriptionBuiltinTopicData as DcpsSubscriptionBuiltinTopicData;

pub use builtin_topics::TOPIC_NAME_DCPS_PARTICIPANT;

pub use builtin_topics::TOPIC_NAME_DCPS_PUBLICATION;

pub use builtin_topics::TOPIC_NAME_DCPS_SUBSCRIPTION;

pub use builtin_topics::TOPIC_NAME_DCPS_TOPIC;

pub use builtin_topics::TopicBuiltinTopicData as DcpsTopicBuiltinTopicData;

pub use dds_type::DdsType;

pub use dds_type::DdsTypeRow;

pub use dds_type::DecodeError;

pub use dds_type::EncodeError;

pub use dds_type::Extensibility;

pub use dds_type::ExtensibilityKind;

pub use dds_type::RawBytes;

pub use entity::Entity;

pub use entity::EntityState;

pub use entity::StatusCondition;

pub use entity::StatusMask;

pub use entity::immutable_if_enabled;

pub use coherent_set::CoherentScope;

pub use coherent_set::CoherentSetMarker;

pub use coherent_set::GroupAccessScope;

pub use condition::Condition;

pub use condition::GuardCondition;

pub use condition::QueryCondition;

pub use condition::ReadCondition;

pub use condition::WaitSet;

pub use error::DdsError;

pub use error::Result;

pub use factory::DomainParticipantFactory;

pub use instance_handle::HANDLE_NIL;

pub use instance_handle::InstanceHandle;

pub use instance_handle::InstanceHandleAllocator;

pub use instance_tracker::InstanceState;

pub use instance_tracker::InstanceTracker;

pub use instance_tracker::KeyHash;

pub use participant::IgnoreFilter;

pub use participant::DomainId;

pub use participant::DomainParticipant;

pub use publisher::DataWriter;

pub use publisher::Publisher;

pub use qos::DataReaderQos;

pub use qos::DataWriterQos;

pub use qos::DomainParticipantQos;

pub use qos::PublisherQos;

pub use qos::SubscriberQos;

pub use qos::TopicQos;

pub use sample::Sample;

pub use sample_info::InstanceStateKind;

pub use sample_info::SampleInfo;

pub use sample_info::SampleStateKind;

pub use sample_info::ViewStateKind;

pub use sample_info::instance_state_mask;

pub use sample_info::sample_state_mask;

pub use sample_info::view_state_mask;

pub use subscriber::DataReader;

pub use subscriber::Subscriber;

pub use time::Duration;

pub use time::Time;

pub use time::get_current_time;

pub use topic::hash_join_two;

pub use topic::ContentFilteredTopic;

pub use topic::JoinedRow;

pub use topic::MultiTopic;

pub use topic::Topic;

pub use topic::TopicDescription;

pub use topic::TopicDescriptionHandle;

Modules

builtin_subscriber

Built-in subscriber — preinstalled subscriber with the 4 built-in-topic readers (DDS 1.4 §2.2.2.2.1.7 get_builtin_subscriber).

builtin_topics

Built-in-topic data types — DCPS API view (DDS 1.4 §2.2.5).

coherent_set

Coherent sets + group access (DDS DCPS 1.4 §2.2.2.4.1.8-11, §2.2.2.5.2.8-11, §2.2.2.5.3.32; DDSI-RTPS 2.5 §9.6.4.2/3/4).

condition

Condition hierarchy + WaitSet (DDS DCPS 1.4 §2.2.2.1.6).

dds_type

DdsType — the trait that user types must implement to be sent over DDS.

durability_service

Durability-service storage backend (Spec §2.2.3.5 + §2.2.3.4 TRANSIENT/PERSISTENT path).

entity

Entity lifecycle (DDS DCPS 1.4 §2.2.2.1) — common base for DomainParticipant, Publisher, Subscriber, Topic, DataWriter, DataReader.

error

DCPS error types. Modeled on OMG DDS 1.4 §2.2.2.1 ReturnCode_t, but as a Rust Result<T, DdsError> — considerably nicer than sprayed error codes.

factory

DomainParticipantFactory — singleton for creating participants (Spec OMG DDS 1.4 §2.2.2.2.1).

instance_handle

InstanceHandle — opaque, local identifier for entities and sample instances (DDS DCPS 1.4 §2.3.3 IDL-PSM, §2.2.2.5.1 SampleInfo.instance_handle).

instance_tracker

InstanceTracker — the central bookkeeping for keyed topic instances, on both the writer and the reader side.

interop

Interop test types for cross-vendor verification.

layered_transport

Preference-ordered multi-transport for user traffic (SHM + UDP fallback). LayeredUserTransport — a preference-ordered multi-transport for user traffic.

listener

Listener hierarchy (DDS DCPS 1.4 §2.2.4.2 + §2.2.2.*.3 set_listener).

listener_dispatch

Bubble-up dispatcher for DCPS listeners (Spec §2.2.4.2.3).

metrics

Hot-path hook points for zerodds-monitor (zerodds-monitor-1.1 §2.3).

participant

DomainParticipant — the “root” entity of a DDS program.

psm_constants

IDL-PSM constants from DDS-DCPS 1.4 §2.3.3 (Spec).

publisher

Publisher + DataWriter — the send end of the DCPS API.

qos

DCPS QoS — complete 22-policy sets for DataWriter/DataReader/Topic/ Publisher/Subscriber/DomainParticipant per DDS 1.4 §2.2.3.

runtime

DcpsRuntime — event loop + UDP sockets per DomainParticipant.

same_host

Same-host tracker for Wave 4 of the zero-copy roadmap (Spec docs/specs/zerodds-zero-copy-1.0.md §6 Wave 3).

sample

Sample<T> — data + SampleInfo together.

sample_bytes

SampleBytes — zero-copy byte container for reader-path samples.

sample_info

SampleInfo — per-sample metadata that DataReader::read/take deliver alongside each sample.

scheduler

D.5e Phase 3 — deadline-heap scheduler (event-driven replacement for the fixed-period tick poll). Std-only (mpsc channel + Instant park). D.5e Phase 3 — deadline-heap scheduler.

status

Communication status structures (DDS DCPS 1.4 §2.2.4.1, Table 2.10).

subscriber

Subscriber + DataReader — the receive end of the DCPS API.

time

Time_t and Duration_t (DDS-DCPS 1.4 §2.3.3 IDL PSM).

topic

Topic — the typed rendezvous point between DataWriter and DataReader.

wlp

Writer Liveliness Protocol (WLP) — DCPS runtime wiring.