zerodds-rtc

Layer 8 — CORBA stack (Tier A). OMG RTC 1.0 (formal/2008-04-04).

zerodds-rtc implements the local-PSM layer of OMG RTC 1.0: ReturnCode_t, lifecycle state machine, ExecutionContext, periodic/ stimulus/mode profiles, resource introspection. Spec §1.3 point 1 (“components on the same network node, direct object refs without CORBA-mediated middleware”) is ZeroDDS-conformant. no_std + alloc, forbid(unsafe_code).

Spec anchors

  • OMG RTC 1.0 §5.2.1 (ReturnCode_t), §5.2.2.2 (LightweightRTObject), §5.2.2.3-§5.2.2.4 (LifeCycle + Component-Action), §5.2.2.5-§5.2.2.6 (ExecutionContext), §5.2.2.7-§5.2.2.8 (ExecutionKind + Handle), §5.3 Execution Semantics, §5.4 Resource Data Model, §6.3 Local PSM.

Consumers

  • External RTC frameworks like OpenRTM-aist consume the component-action traits via plugin bindings.
  • DDS4RTC bridge code (caller layer).

Status

  • 47 unit tests + 1 doc test green.
  • forbid(unsafe_code), no_std + alloc, clippy --tests -D warnings clean.
  • §6.4 LwCCM PSM and §6.5 CORBA PSM n/a (require container/ORB hosting).
  • §5.4 discovery wire aspect partial (data model present).

zerodds-rtc

Layer 8 — CORBA-Stack (Tier-A). OMG RTC 1.0 (formal/2008-04-04).

zerodds-rtc implementiert die Local-PSM-Schicht von OMG RTC 1.0: ReturnCode_t, Lifecycle-State-Machine, ExecutionContext, Periodic-/ Stimulus-/Mode-Profiles, Resource-Introspection. Spec §1.3 Punkt 1 (“Components on same network node, direct object refs without CORBA-mediated middleware”) ist ZeroDDS-konform. no_std + alloc, forbid(unsafe_code).

Spec-Anker

  • OMG RTC 1.0 §5.2.1 (ReturnCode_t), §5.2.2.2 (LightweightRTObject), §5.2.2.3-§5.2.2.4 (LifeCycle + Component-Action), §5.2.2.5-§5.2.2.6 (ExecutionContext), §5.2.2.7-§5.2.2.8 (ExecutionKind + Handle), §5.3 Execution- Semantics, §5.4 Resource Data Model, §6.3 Local PSM.

Konsumenten

  • Externe RTC-Frameworks wie OpenRTM-aist konsumieren die Component-Action-Traits ueber Plugin-Bindings.
  • DDS4RTC-Bridge-Code (Caller-Layer).

Status

  • 47 Unit-Tests + 1 Doc-Test gruen.
  • forbid(unsafe_code), no_std + alloc, clippy --tests -D warnings clean.
  • §6.4 LwCCM PSM und §6.5 CORBA PSM n/a (verlangen Container/ORB- Hosting).
  • §5.4 Discovery-Wire-Aspekt partial (Datenmodell vorhanden).