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).

Schichten-Position

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

Public API (Stand 1.0.0-rc.1)

• DomainParticipantFactory — Singleton-Factory; create_participant spawnt eine Live-Runtime mit UDP/SPDP/SEDP/WLP, create_participant_offline baut einen in-process-Skeleton ohne Netzwerk fuer Unit-Tests.
• DomainParticipant — Top-Level-Entity; erzeugt Publishers/Subscribers/Topics, fuehrt Built-in-Type-Registry, exponiert TypeLookup-Hooks und Ignore-Filter.
• Publisher / DataWriter — typed Writer<T> mit DdsType- Bound; integriert RTPS-ReliableWriter (Live) bzw. In-Memory-Queue (Offline) plus Durability-Backend (DDS 1.4 §2.2.3.5).
• Subscriber / DataReader — typed Reader<T> mit take/read/Conditions, Sample-Cache und InstanceState-Tracker (DDS 1.4 §2.2.2.5).
• Topic / ContentFilteredTopic / MultiTopic — Topic- Hierarchie inkl. SQL-Filter (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-Familien: DomainParticipantQos, PublisherQos, SubscriberQos, TopicQos, DataWriterQos, DataReaderQos.

Beispiel

use zerodds_dcps::*;
let factory = DomainParticipantFactory::instance();
// Offline-Mode fuer Doctest (kein UDP-Multicast noetig).
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

Builtin-Subscriber — vorinstallierter Subscriber mit den 4 Builtin-Topic-Readern (DDS 1.4 §2.2.2.2.1.7 get_builtin_subscriber).

builtin_topics

Builtin-Topic-Datentypen — DCPS-API-Sicht (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-Hierarchie + WaitSet (DDS DCPS 1.4 §2.2.2.1.6).

dds_type

DdsType — der Trait, den User-Typen erfuellen muessen, um ueber DDS verschickt zu werden.

durability_service

Durability-Service Storage-Backend (Spec §2.2.3.5 + §2.2.3.4 TRANSIENT/PERSISTENT-Pfad).

entity

Entity-Lifecycle (DDS DCPS 1.4 §2.2.2.1) — gemeinsame Basis fuer DomainParticipant, Publisher, Subscriber, Topic, DataWriter, DataReader.

error

DCPS-Fehlertypen. An OMG DDS 1.4 §2.2.2.1 ReturnCode_t angelehnt, aber als Rust-Result<T, DdsError> — deutlich angenehmer als sprayed-error-codes.

factory

DomainParticipantFactory — Singleton fuer das Anlegen von Participants (Spec OMG DDS 1.4 §2.2.2.2.1).

instance_handle

InstanceHandle — opaker, lokaler Identifier fuer Entities und Sample-Instanzen (DDS DCPS 1.4 §2.3.3 IDL-PSM, §2.2.2.5.1 SampleInfo.instance_handle).

instance_tracker

InstanceTracker — die zentrale Buchhaltung fuer keyed Topic- Instanzen, sowohl auf der Writer- als auch auf der Reader-Seite.

interop

Interop-Test-Typen fuer Cross-Vendor-Nachweis.

listener

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

listener_dispatch

Bubble-Up-Dispatcher fuer DCPS-Listener (Spec §2.2.4.2.3).

metrics

Hot-Path-Hook-Points fuer zerodds-monitor (zerodds-monitor-1.0 §2.3).

participant

DomainParticipant — die “Wurzel”-Entity eines DDS-Programms.

psm_constants

IDL-PSM-Konstanten aus DDS-DCPS 1.4 §2.3.3 (Spec).

publisher

Publisher + DataWriter — das Sende-Ende der DCPS-API.

qos

DCPS-QoS — komplette 22-Policy-Sets fuer DataWriter/DataReader/Topic/ Publisher/Subscriber/DomainParticipant gemaess DDS 1.4 §2.2.3.

runtime

DcpsRuntime — Event-Loop + UDP-Sockets pro DomainParticipant.

sample

Sample<T> — Daten + SampleInfo zusammen.

sample_info

SampleInfo — Metadaten pro Sample, die DataReader::read/take mit jedem Sample mitliefern.

status

Communication-Status-Strukturen (DDS DCPS 1.4 §2.2.4.1, Tab. 2.10).

subscriber

Subscriber + DataReader — das Empfangs-Ende der DCPS-API.

time

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

topic

Topic — der typed rendezvous-point zwischen DataWriter und DataReader.

wlp

Writer-Liveliness-Protocol (WLP) — DCPS-Runtime-Wiring.