Crate zerodds_rtc 

OMG RTC 1.0 — Robotic Technology Component.

Crate zerodds-rtc. Safety classification: STANDARD. Spec formal/2008-04-04 (docs/standards/cache/omg/rtc-1.0.pdf).

Scope

Implemented are: lightweight RTC, execution semantics (periodic / stimulus response / modes), local PSM (§5.2 + §5.3 + §6.3) as a Rust library. The local PSM is explicitly “Components on same network node, direct object refs without CORBA-mediated middleware” (spec §1.3 point 1, p. 2) and thus ZeroDDS-conformant.

What is not covered

• CORBA PSM (§6.5) — requires a CORBA ORB; ZeroDDS has none.
• Lightweight CCM PSM (§6.4) — requires an LwCCM container; see crates/ccm/ which provides the IDL-equivalent transformation but no container.
• Introspection §5.4 Resource Data Model — partial: the data model is in the crate, the discovery/wire aspect is not.

Modules

• return_code — ReturnCode_t (spec §5.2.1).
• lifecycle — LifeCycleState, ExecutionKind, ComponentAction trait + state-machine enforcement (spec §5.2.2.3 / §5.2.2.7 / §5.2.2.4).
• object — LightweightRTObject model (spec §5.2.2.2) + ExecutionContextHandle_t (spec §5.2.2.8).
• execution — ExecutionContext + ExecutionContextOperations (spec §5.2.2.5 / §5.2.2.6).
• semantics — execution-kind profiles (periodic/stimulus/modes, spec §5.3).

Example

use zerodds_rtc::ReturnCode;

// Spec §5.2.1.1: ReturnCode::Ok is the only OK code.
assert!(ReturnCode::Ok.is_ok());
assert!(!ReturnCode::PreconditionNotMet.is_ok());
assert_eq!(ReturnCode::Ok.into_result(), Ok(()));

Re-exports

pub use execution::ExecutionContext;

pub use execution::ExecutionContextOperations;

pub use lifecycle::ComponentAction;

pub use lifecycle::ExecutionKind;

pub use lifecycle::LifeCycleState;

pub use object::ExecutionContextHandle;

pub use object::LightweightRtObject;

pub use resource::ComponentProfile;

pub use resource::ConnectorProfile;

pub use resource::Introspection;

pub use resource::PortDirection;

pub use resource::PortProfile;

pub use resource::ProfileId;

pub use return_code::ReturnCode;

pub use semantics::DataFlowComponentAction;

pub use semantics::FsmComponentAction;

pub use semantics::ModeOfOperation;

pub use semantics::MultiModeComponentAction;

Modules

execution

ExecutionContext + ExecutionContextOperations — Spec §5.2.2.5 / §5.2.2.6.

lifecycle

Lifecycle model — spec §5.2.2.3 / §5.2.2.4 / §5.2.2.7.

object

LightweightRTObject + State-Machine — Spec §5.2.2.2.

resource

OMG RTC 1.0 §5.4 Resource Data Model + Introspection Interfaces.

return_code

ReturnCode_t — Spec §5.2.1.

semantics

Execution-Semantics-Profile — Spec §5.3.