5-Minuten-Quickstart

libzerodds als Native-Dep, NuGet-Package, ~20 Zeilen C#.

1 · Native-Lib + C#-Binding installieren

ZeroDDS ist auf NuGet — dotnet add package ZeroDDS. Alternativ aus dem Source: Heute geht der C#-Binding-Pfad nur aus Source.

Schritt 1a: libzerodds Runtime holen — pre-built oder Source:

# Ubuntu/Debian
wget https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.3/zerodds-dev_1.0.0-rc.3_amd64.deb
sudo dpkg -i zerodds-dev_1.0.0-rc.3_amd64.deb

# Fedora/RHEL
sudo dnf install https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.3/zerodds-devel-1.0.0-0.rc1.fc40.x86_64.rpm

# Windows: zerodds-1.0.0-x64.msi  (Doppelklick oder msiexec /i)
# macOS: brew tap zero-objects/zerodds && brew install zerodds
# Arch:  yay -S zerodds-bin
# Docker: docker pull fishermen21/zerodds-cli

# Aus Source (Entwicklung):
git clone https://github.com/zero-objects/zero-dds.git
cd zero-dds && cargo build --release -p zerodds-c-api

Schritt 1b: C#-Binding aus Source (RC3-Plan: dotnet add package ZeroDDS):

cd zero-dds/crates/cs
dotnet pack -c Release
# Resultierendes nupkg lokal als Source nutzen, oder direkt:
#   dotnet add reference path/to/zerodds-cs.csproj

2 · Pub/Sub-Roundtrip (Program.cs)

using ZeroDDS;

var factory = DomainParticipantFactory.Instance;
var participant = factory.CreateParticipant(0);

var topic = participant.CreateBytesTopic("Chatter");
var publisher = participant.CreatePublisher();
var subscriber = participant.CreateSubscriber();

using var writer = publisher.CreateBytesWriter(topic);
using var reader = subscriber.CreateBytesReader(topic);

writer.WaitForMatchedSubscription(1, TimeSpan.FromSeconds(5));
reader.WaitForMatchedPublication(1, TimeSpan.FromSeconds(5));

writer.Write("hello"u8.ToArray());
reader.WaitForData(TimeSpan.FromSeconds(3));
foreach (var payload in reader.Take())
{
    Console.WriteLine($"got: {System.Text.Encoding.UTF8.GetString(payload)}");
}

▶ Runnable example: csharp-quickstart

3 · Laufen

dotnet run
# got: hello

Installation

Über NuGet

dotnet add package ZeroDDS --prerelease
dotnet add package ZeroDDS.Cdr --prerelease    # für IDL-Typen

Über Source

git clone https://github.com/zero-objects/zero-dds.git
cd zero-dds/crates/cs
dotnet build ZeroDDS/ZeroDDS.csproj -c Release
# DLL in target-Verzeichnis

Native-Lib finden

libzerodds.{so,dylib,dll} muss zur Laufzeit auffindbar sein. Drei Optionen:

• System-Install (/usr/lib/libzerodds.so via DEB/RPM)
• LD_LIBRARY_PATH=/path/to/lib dotnet run
• Neben das Binary kopieren (bin/Release/net8.0/libzerodds.so)

Typisierte Topics — idlc csharp

IDL (temperature.idl)

module sensor_msgs {
    module msg {
        struct Temperature {
            long celsius;
            string sensor_id;
        };
    };
};

Codegen + Use

idlc csharp temperature.idl -o Gen/
# erzeugt Gen/SensorMsgs/Msg/Temperature.cs + TypeSupport.cs

# Nutzen
var topic = participant.CreateTypedTopic<Temperature>("Temp");
var writer = publisher.CreateTypedWriter<Temperature>(topic);
writer.Write(new Temperature { Celsius = 23, SensorId = "A7" });

▶ Runnable example: csharp-typed

Der Codec nutzt C#-Source-Generators (ZeroDDS.Cdr.SourceGenerators) — zero-allocation Encode/Decode auf dem Hot-Path.

async/await

await writer.WriteAsync(payload, ct);
await reader.WaitForDataAsync(TimeSpan.FromSeconds(3), ct);
await foreach (var sample in reader.TakeAsync(ct))
{
    Console.WriteLine(sample);
}

▶ Runnable example: csharp-async

Cancellation-Token wird durchgereicht; OperationCanceledException beim Cancel.

NativeAOT

Ab .NET 8 voll AOT-kompatibel. PublishAot=true in der .csproj, dotnet publish -c Release. Erzeugt ein single-binary ohne JIT-Runtime — schnelleres Cold-Start, kleineres Image.

<PropertyGroup>
  <PublishAot>true</PublishAot>
  <TrimMode>link</TrimMode>
</PropertyGroup>

ZeroDDS hat keine Reflection-Calls auf dem Hot-Path; CDR-Codec via Source-Generators ist AOT-friendly.

5-minute quickstart

libzerodds as a native dep, the NuGet package, ~20 lines of C#.

1 · Install the native lib + C# binding

ZeroDDS is on NuGet — dotnet add package ZeroDDS. Or build from source: Today the C# binding path works only from source.

Step 1a: get the libzerodds runtime — pre-built or source:

# Ubuntu/Debian
wget https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.3/zerodds-dev_1.0.0-rc.3_amd64.deb
sudo dpkg -i zerodds-dev_1.0.0-rc.3_amd64.deb

# Fedora/RHEL
sudo dnf install https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.3/zerodds-devel-1.0.0-0.rc1.fc40.x86_64.rpm

# Windows: zerodds-1.0.0-x64.msi  (double-click or msiexec /i)
# macOS: brew tap zero-objects/zerodds && brew install zerodds
# Arch:  yay -S zerodds-bin
# Docker: docker pull fishermen21/zerodds-cli

# From source (development):
git clone https://github.com/zero-objects/zero-dds.git
cd zero-dds && cargo build --release -p zerodds-c-api

Step 1b: the C# binding from source (RC3 plan: dotnet add package ZeroDDS):

cd zero-dds/crates/cs
dotnet pack -c Release
# use the resulting nupkg locally as a source, or directly:
#   dotnet add reference path/to/zerodds-cs.csproj

2 · Pub/sub roundtrip (Program.cs)

using ZeroDDS;

var factory = DomainParticipantFactory.Instance;
var participant = factory.CreateParticipant(0);

var topic = participant.CreateBytesTopic("Chatter");
var publisher = participant.CreatePublisher();
var subscriber = participant.CreateSubscriber();

using var writer = publisher.CreateBytesWriter(topic);
using var reader = subscriber.CreateBytesReader(topic);

writer.WaitForMatchedSubscription(1, TimeSpan.FromSeconds(5));
reader.WaitForMatchedPublication(1, TimeSpan.FromSeconds(5));

writer.Write("hello"u8.ToArray());
reader.WaitForData(TimeSpan.FromSeconds(3));
foreach (var payload in reader.Take())
{
    Console.WriteLine($"got: {System.Text.Encoding.UTF8.GetString(payload)}");
}

▶ Runnable example: csharp-quickstart

3 · Run

dotnet run
# got: hello

Installation

Via NuGet

dotnet add package ZeroDDS --prerelease
dotnet add package ZeroDDS.Cdr --prerelease    # for IDL types

Via source

git clone https://github.com/zero-objects/zero-dds.git
cd zero-dds/crates/cs
dotnet build ZeroDDS/ZeroDDS.csproj -c Release
# DLL in the target directory

Finding the native lib

libzerodds.{so,dylib,dll} must be discoverable at runtime. Three options:

• System install (/usr/lib/libzerodds.so via DEB/RPM)
• LD_LIBRARY_PATH=/path/to/lib dotnet run
• copy it next to the binary (bin/Release/net8.0/libzerodds.so)

Typed topics — idlc csharp

IDL (temperature.idl)

module sensor_msgs {
    module msg {
        struct Temperature {
            long celsius;
            string sensor_id;
        };
    };
};

Codegen + use

idlc csharp temperature.idl -o Gen/
# produces Gen/SensorMsgs/Msg/Temperature.cs + TypeSupport.cs

# use it
var topic = participant.CreateTypedTopic<Temperature>("Temp");
var writer = publisher.CreateTypedWriter<Temperature>(topic);
writer.Write(new Temperature { Celsius = 23, SensorId = "A7" });

▶ Runnable example: csharp-typed

The codec uses C# source generators (ZeroDDS.Cdr.SourceGenerators) — zero-allocation encode/decode on the hot path.

async/await

await writer.WriteAsync(payload, ct);
await reader.WaitForDataAsync(TimeSpan.FromSeconds(3), ct);
await foreach (var sample in reader.TakeAsync(ct))
{
    Console.WriteLine(sample);
}

▶ Runnable example: csharp-async

The cancellation token is threaded through; OperationCanceledException on cancel.

NativeAOT

Fully AOT-compatible from .NET 8. PublishAot=true in the .csproj, dotnet publish -c Release. Produces a single binary with no JIT runtime — faster cold start, a smaller image.

<PropertyGroup>
  <PublishAot>true</PublishAot>
  <TrimMode>link</TrimMode>
</PropertyGroup>

ZeroDDS has no reflection calls on the hot path; the CDR codec via source generators is AOT-friendly.