Crate zerodds_xrce 

DDS-XRCE Wire-Codec (OMG formal/2020-11-01).

Crate zerodds-xrce. Safety classification: SAFE. See docs/architecture/02_architecture.md §3 and docs/architecture/04_safety_by_architecture.md §2.

Scope (C6.2.A — wire-lite + UDP mapping)

• MessageHeader (§8.3.2): SessionId/StreamId/SequenceNr + optional ClientKey.
• SubmessageHeader (§8.3.4): SubmessageId, flags, length.
• 16 submessages (§8.3.5): CREATE_CLIENT, CREATE, GET_INFO, DELETE, STATUS_AGENT, STATUS, INFO, WRITE_DATA, READ_DATA, DATA, ACKNACK, HEARTBEAT, RESET, FRAGMENT, TIMESTAMP, TIMESTAMP_REPLY.
• SerialNumber16: RFC-1982 comparator (§8.3.2.3).
• XrceUdpSender / recv_message (§11.2): UDP transport mapping with the default port scheme 7400 + 4 * domainId + offset.

Scope (C6.2.B — object model + reliable stack)

• ObjectId / ObjectKind / ObjectVariant (§7.2 + §7.7).
• ObjectStore (§7.5): per-client BTreeMap<ObjectId, Instance> with CREATE reuse/replace semantics.
• ReliableStreamState (§8.4.10/§8.4.11): sender + receiver with HEARTBEAT tick and ACKNACK bitmap.
• FragmentAssembler (§8.4.13) with DoS caps + GC.
• ReadStream (§8.4.14): continuous read with a rate limiter.
• TransportLocator (§7.7.4): Small/Medium/Large/String.
• MulticastDiscovery (§11.2.4) on 239.255.0.2:7400.

Scope (C6.2.C — XML/file configuration)

• XrceConfig (§7.7.3 + §9.3): object hierarchy loader for <dds><participant>...</participant></dds> with type/QoS-profile reuse via zerodds-xml (DDS-XML loader).
• to_create_messages: generates the CREATE submessage sequence in topological order (type → participant → topic → pub/sub → DataWriter/DataReader) with a RepresentationByXmlString body.

Scope (C6.2.D — TCP/serial transports + TLS/DTLS)

• transport_tcp (§11.3): XrceTcpClient/XrceTcpServer with 2-byte length-prefix framing.
• transport_serial (Annex C): HDLC-like frame codec with byte stuffing + CRC-16-CCITT-FALSE; streaming reassembly via SerialFramer. Real serial IO is out of scope (no serialport crate dep).
• transport_tls: trait + skeleton for TLS-on-TCP (plug-in later).
• transport_dtls: DtlsLayer trait + DummyDtls pass-through; a real DTLS lib (e.g. webrtc-dtls) comes deployment-specific.
• TransportLocatorTcp + TransportLocatorSerial as additional locator variants (discriminator 0x04/0x05).

Deliberately not implemented

• Real serial port IO (no serialport crate dep).
• A real TLS/DTLS engine (plug-in later).
• ROS2 bridge.
• Live reload / hot swap of the XML config (stretch).

Re-exports

pub use error::XrceError;

pub use header::CLIENT_KEY_LEN;

pub use header::ClientKey;

pub use header::MessageHeader;

pub use header::SESSION_ID_NONE_WITH_CLIENT_KEY;

pub use header::SESSION_ID_NONE_WITHOUT_CLIENT_KEY;

pub use header::SessionId;

pub use header::StreamId;

pub use serial_number::SerialNumber16;

pub use submessages::DOSC_MAX_PAYLOAD_SIZE;

pub use submessages::DOSC_MAX_SUBMESSAGES;

pub use submessages::FLAG_E_LITTLE_ENDIAN;

pub use submessages::Message;

pub use submessages::Submessage;

pub use submessages::SubmessageHeader;

pub use submessages::SubmessageId;

pub use transport_udp::XrceUdpSender;

pub use transport_udp::agent_default_port;

pub use transport_udp::client_default_port;

pub use transport_udp::recv_message;

pub use transport_udp::send_message;

pub use continuous_read::DeliveryControl;

pub use continuous_read::PendingSample;

pub use continuous_read::ReadStream;

pub use discovery::MulticastDiscovery;

pub use discovery::XRCE_DISCOVERY_GROUP;

pub use discovery::XRCE_DISCOVERY_PORT;

pub use fragment::AssemblerKey;

pub use fragment::FragmentAssembler;

pub use fragment::MAX_FRAGMENTS_PER_STREAM;

pub use fragment::MAX_PENDING_STREAMS;

pub use fragment::MAX_TOTAL_PAYLOAD;

pub use object_id::KIND_MASK_BIT;

pub use object_id::OBJECTID_AGENT;

pub use object_id::OBJECTID_CLIENT;

pub use object_id::OBJECTID_INVALID;

pub use object_id::ObjectId;

pub use object_kind::OBJK_AGENT;

pub use object_kind::OBJK_APPLICATION;

pub use object_kind::OBJK_CLIENT;

pub use object_kind::OBJK_DATAREADER;

pub use object_kind::OBJK_DATAWRITER;

pub use object_kind::OBJK_DOMAIN;

pub use object_kind::OBJK_INVALID;

pub use object_kind::OBJK_PARTICIPANT;

pub use object_kind::OBJK_PUBLISHER;

pub use object_kind::OBJK_QOSPROFILE;

pub use object_kind::OBJK_SUBSCRIBER;

pub use object_kind::OBJK_TOPIC;

pub use object_kind::OBJK_TYPE;

pub use object_kind::ObjectKind;

pub use object_repr::ObjectVariant;

pub use object_repr::REPR_MAX_INLINE_BYTES;

pub use object_store::CreateOutcome;

pub use object_store::CreationMode;

pub use object_store::ObjectInstance;

pub use object_store::ObjectStore;

pub use reliable::DEFAULT_HEARTBEAT_PERIOD;

pub use reliable::RECEIVER_BUFFER_CAP;

pub use reliable::RELIABLE_MAX_PAYLOAD;

pub use reliable::ReliableConfig;

pub use reliable::ReliableStreamState;

pub use reliable::SENDER_WINDOW_CAP;

pub use transport_dtls::DtlsError;

pub use transport_dtls::DtlsLayer;

pub use transport_dtls::DummyDtls;

pub use transport_locator::TRANSPORT_LOCATOR_SERIAL_DEVICE_MAX;

pub use transport_locator::TRANSPORT_LOCATOR_STRING_MAX;

pub use transport_locator::TransportLocator;

pub use transport_locator::TransportLocatorLarge;

pub use transport_locator::TransportLocatorMedium;

pub use transport_locator::TransportLocatorSerial;

pub use transport_locator::TransportLocatorSmall;

pub use transport_locator::TransportLocatorTcp;

pub use transport_serial::ESCAPE_BYTE;

pub use transport_serial::FLAG_BYTE;

pub use transport_serial::STUFF_XOR;

pub use transport_serial::SerialError;

pub use transport_serial::SerialFramer;

pub use transport_serial::crc16_ccitt_false;

pub use transport_serial::decode_frame as serial_decode_frame;

pub use transport_serial::decode_frame_inner as serial_decode_frame_inner;

pub use transport_serial::encode_message as serial_encode_message;

pub use transport_serial::encode_payload as serial_encode_payload;

pub use transport_tcp::TCP_LENGTH_PREFIX_SIZE;

pub use transport_tcp::XrceTcpClient;

pub use transport_tcp::XrceTcpServer;

pub use transport_tls::XrceTlsClient;

pub use transport_tls::XrceTlsServer;

pub use transport_tls::XrceTlsStream;

pub use xml_config::load_xrce_config_from_file;

pub use xml_config::CreateMessage;

pub use xml_config::DataReaderConfig;

pub use xml_config::DataWriterConfig;

pub use xml_config::InMemoryQosResolver;

pub use xml_config::MAX_HIERARCHY_DEPTH;

pub use xml_config::MAX_TYPES_PER_FILE;

pub use xml_config::ParticipantConfig;

pub use xml_config::PublisherConfig;

pub use xml_config::QosProfileResolver;

pub use xml_config::SubscriberConfig;

pub use xml_config::TopicConfig;

pub use xml_config::TypeConfig;

pub use xml_config::XrceConfig;

pub use xml_config::XrceXmlError;

pub use xml_config::load_xrce_config;

Modules

continuous_read

Continuous-Read-Mode (Spec §8.4.14).

discovery

XRCE Multicast-Discovery (Spec §11.2.4).

encoding

Endianness helpers for XRCE submessage bodies.

error

XRCE wire format errors.

fragment

XRCE FRAGMENT-Reassembler (Spec §8.4.13).

header

XRCE Message-Header (Spec §8.3.2).

object_id

ObjectId (Spec §7.2.1).

object_info

XRCE object-repr types from Spec §7.7.7 - §7.7.13.

object_kind

XRCE-Object-Kinds (Spec §7.2 Table 4).

object_repr

ObjectVariant-Representations (Spec §7.7).

object_store

ObjectStore — per-client object lifecycle (Spec §7.5).

reliable

XRCE Reliable-Stream-State-Machine (Spec §8.4.10/§8.4.11).

serial_number

RFC-1982 serial number arithmetic for XRCE sequence numbers (Spec §8.3.2.3).

submessages

XRCE-Submessage-Wire-Format (Spec §8.3.4 + §8.3.5).

transport_dtls

XRCE DTLS wrapper for UDP (Spec §11.5).

transport_locator

TransportLocator-Wire-Encoding (Spec §7.7.4).

transport_serial

XRCE Serial-Transport-Framer (Spec Annex C, RFC 1662 PPP/HDLC-Framing).

transport_tcp

XRCE TCP-Transport-Mapping (Spec §11.3).

transport_tls

XRCE TLS wrapper for TCP (Spec §11.3 + §11.4).

transport_udp

XRCE UDP-Transport-Mapping (Spec §11.2).

xml_config

XRCE XML file configuration (Spec §7.7.3 + §9.3).