Dust DDS

S2E Software Systems implementation of the OMG Data Distribution Services (DDS) and Real-time Publisher-Subscriber (RTPS) protocols using the Rust programming language.

DDS is a middleware protocol and API standard for data-centric connectivity. The main goal of DDS is to share the right data at the right place at the right time, even between time-decoupled publishers and consumers.

This crate provide a high-quality Rust implementation of the minimum DDS profile. For high-quality it is meant that the implementation is done using stable Rust and without unsafe code and with large unit test code coverage.

Example

A basic example on how to use Dust DDS. The publisher side can be implemented as:

```rust use dustdds::{ domain::domainparticipantfactory::DomainParticipantFactory, infrastructure::{qos::QosKind, status::NOSTATUS}, topicdefinition::typesupport::{DdsSerde, DdsType}, };

use serde::{Deserialize, Serialize};

#[derive(Deserialize, Serialize, DdsType, DdsSerde)]
struct HelloWorldType {
    #[key]
    id: u8,
    msg: String,
}

fn main() {
    let domain_id = 0;
    let participant_factory = DomainParticipantFactory::get_instance();

    let participant = participant_factory
        .create_participant(domain_id, QosKind::Default, None, NO_STATUS)
        .unwrap();

    let topic = participant
        .create_topic::<HelloWorldType>("HelloWorld", QosKind::Default, None, NO_STATUS)
        .unwrap();

    let publisher = participant
        .create_publisher(QosKind::Default, None, NO_STATUS)
        .unwrap();

    let writer = publisher
        .create_datawriter(&topic, QosKind::Default, None, NO_STATUS)
        .unwrap();

    let hello_world = HelloWorldType {
        id: 8,
        msg: "Hello world!".to_string(),
    };
    writer.write(&hello_world, None).unwrap();
}

```

The subscriber side can be implemented as:

```rust use dustdds::{ domain::domainparticipantfactory::DomainParticipantFactory, infrastructure::{qos::QosKind, status::NOSTATUS}, subscription::sampleinfo::{ANYINSTANCESTATE, ANYSAMPLESTATE, ANYVIEWSTATE}, topicdefinition::type_support::{DdsSerde, DdsType}, };

use serde::{Deserialize, Serialize};

#[derive(Debug, Deserialize, Serialize, DdsType, DdsSerde)]
struct HelloWorldType {
    #[key]
    id: u8,
    msg: String,
}

fn main() {
    let domain_id = 0;
    let participant_factory = DomainParticipantFactory::get_instance();

    let participant = participant_factory
        .create_participant(domain_id, QosKind::Default, None, NO_STATUS)
        .unwrap();

    let topic = participant
        .create_topic::<HelloWorldType>("HelloWorld", QosKind::Default, None, NO_STATUS)
        .unwrap();

    let subscriber = participant
        .create_subscriber(QosKind::Default, None, NO_STATUS)
        .unwrap();

    let reader = subscriber
        .create_datareader(&topic, QosKind::Default, None, NO_STATUS)
        .unwrap();

    let samples = reader
        .read(1, ANY_SAMPLE_STATE, ANY_VIEW_STATE, ANY_INSTANCE_STATE);

    if let Ok(hello_world_samples) = samples {
        println!("Received: {:?}", hello_world_samples[0].data.as_ref().unwrap());
    }
}

```

Release schedule

Dust DDS doesn't follow a fixed release schedule but we will make releases as new features are implemented. Until we are out of the experimental phase we will not provide separate bugfix versions.

License

This project is licensed under the Apache License Version 2.0.