DDS DCPS 1.4 — Spec Coverage

Spec: OMG DDS 1.4 — formal/2015-04-10 (180 pages) →

Context: DCPS is spread across two crates:

crates/dcps/ · docs.rs — DCPS core, live with ~25 files + ~300 tests
crates/qos/ · docs.rs — QoS policies, ~125 tests

Tests: —

Status: n/a (informative) — the section only declares the scope separation between the DCPS spec and the DDSI-RTPS spec; no normative requirement on the DCPS implementation.

§2.1 Summary

2.1.1 The DDS spec consists of PIM (UML) + IDL PSM

Spec: §2.1, p. 3 — “PIM + IDL PSM.”

Repo: —

Tests: —

Status: n/a (informative) — describes the structure of the spec itself (the OMG PIM+PSM convention), not a requirement to implement.

2.1.2 DCPS layer for typed pub/sub data

Spec: §2.1, p. 3.

Repo: crates/dcps/src/lib.rs.

Tests: crate-wide.

Status: done

2.1.3 DLRL layer

Spec: §2.1, p. 3 — optional Data-Local-Reconstruction Layer with an object cache + identity tracking + relationship resolver (1:1/1:N/N:M) over DCPS.

2.2.1.2.1 Publisher/DataWriter send-side, Subscriber/DataReader receive-side

Spec: §2.2.1.2, p. 5-6.

Repo: crates/dcps/src/{publisher,subscriber}.rs.

Tests: crate-wide.

Status: done

2.2.1.2.2 Topic connects publication and subscription via name+type

Spec: §2.2.1.2 — “Topic name+type.”

Repo: crates/dcps/src/topic.rs::Topic<T>.

Tests: topic tests.

Status: done

2.2.1.2.3 Coherent set via Publisher (begin/end_coherent_changes)

Spec: §2.2.1.2.

2.2.2.2.1 DomainParticipant class

Spec: §2.2.2.2.1, p. 21-30 — container for Pub/Sub/Topic/MultiTopic; factory methods; admin ops (ignore_); get_discovered_; etc.

Repo: crates/dcps/src/participant.rs::DomainParticipant with: - create_publisher / create_subscriber / create_topic (factory methods, each operation tracks the InstanceHandle of the created entity in inner.publishers / inner.subscribers / inner.topics for contains_entity and delete_contained_entities). - lookup_topicdescription(name) -> Option<TopicDescriptionHandle> (spec §2.2.2.2.1.12) — immediate local lookup without a discovery wait. - find_topic(name, timeout) -> Result<TopicDescriptionHandle> (spec §2.2.2.2.1.11) — local + SEDP cache poll until timeout. - instance_handle() (spec §2.2.2.1.1) — InstanceHandle of the participant. - contains_entity(handle) -> bool (spec §2.2.2.2.1.10) — checks self, all topics, all pub/sub children. - ignore_* / get_discovered_* / delete_contained_entities already wired in WP 2.7.

Tests: crates/dcps/src/participant.rs::tests: lookup_topicdescription_returns_local_topics, lookup_topicdescription_none_for_unknown, find_topic_returns_immediately_for_local, contains_entity_returns_true_for_self_handle, contains_entity_returns_true_for_local_topic, contains_entity_returns_true_for_local_publisher, contains_entity_returns_true_for_local_subscriber, contains_entity_returns_false_for_unknown_handle, contains_entity_returns_false_for_topic_after_delete.

Recursive path: contains_entity additionally recognizes DataWriter/DataReader handles via pub/sub children. PublisherInner + SubscriberInner track DW/DR handles (datawriters / datareaders mutex); via a weak backref they also propagate into ParticipantInner.datawriters / datareaders for fast top-down lookup. Per pub/sub there is also contains_writer / contains_reader as a targeted sub-lookup.

Tests (in addition to the 6 above): contains_entity_recursive_finds_local_datawriter, contains_entity_recursive_finds_local_datareader, contains_entity_recursive_does_not_find_foreign_datawriter.

Status: done

2.2.2.2.2 DomainParticipantFactory class (singleton)

Spec: §2.2.2.2.2, p. 31-33.

Repo: crates/dcps/src/factory.rs::DomainParticipantFactory with: - instance() -> &'static Self (spec §2.2.2.2.2.1 get_instance, singleton via OnceLock). - create_participant / create_participant_with_config / create_participant_offline (spec §2.2.2.2.2.2; all variants track the participant in the internal registry). - lookup_participant(domain_id) -> Option<DomainParticipant> (spec §2.2.2.2.2.4). - delete_participant(&p) -> Result<()> (spec §2.2.2.2.2.3 — removes from the registry + calls delete_contained_entities; delivers PreconditionNotMet if not registered). - set_default_participant_qos / get_default_participant_qos (spec §2.2.2.2.2.5). - set_qos / get_qos with a DomainParticipantFactoryQos struct (spec §2.2.2.2.2.6, default autoenable_created_entities = true).

Tests: crates/dcps/src/factory.rs::tests: factory_is_singleton, factory_creates_participant_with_correct_domain_id, lookup_participant_finds_registered_offline_participant, lookup_participant_returns_none_for_unknown_domain, delete_participant_removes_from_registry, delete_participant_unknown_returns_precondition_not_met, default_participant_qos_roundtrips, factory_qos_default_is_autoenable_true, factory_set_get_qos_roundtrip.

Status: done

2.2.2.2.3 DomainParticipantListener interface

Spec: §2.2.2.2.3, p. 33-34.

Spec: §2.2.2.3.4, p. 38-39 — combines multiple topics via an SQL subscription expression. Spec-explicit optional.

Repo: crates/dcps/src/topic.rs::MultiTopic<T> with subscription_expression (read-only), expression_parameters (get/set per RwLock), related_topic_names: Vec<String>, get_related_topic_names. TopicDescription trait impl with a user-defined type_name. DomainParticipant factory: create_multitopic (spec §2.2.2.2.1.15) + delete_multitopic (spec §2.2.2.2.1.16) with participant-match validation and a full BadParameter negative path.

Tests: crates/dcps/src/topic.rs::tests: multitopic_compiles_and_implements_topic_description, multitopic_set_expression_parameters_roundtrip, multitopic_rejects_empty_name (negative), multitopic_rejects_empty_type_name (negative), multitopic_rejects_empty_related_topics (negative), multitopic_rejects_invalid_expression (negative), multitopic_rejects_param_index_out_of_range (negative), multitopic_set_params_validates_index_range (negative), multitopic_clone_shares_params, delete_multitopic_rejects_foreign_participant (negative).

Cross-topic sample routing: hash-join operator crates/dcps/src/topic.rs::hash_join_two with an O(n+m) build/probe phase + Cartesian match for duplicate keys. JoinedRow<'a> dispatches dotted paths <topic>.<field> to the right topic source. MultiTopic::evaluate_joined(row) evaluates the subscription_expression against the combined rows. Tests: joined_row_dispatches_dotted_paths_by_topic_prefix, joined_row_undotted_falls_back_to_first_match, multitopic_evaluate_joined_uses_dotted_paths, hash_join_two_combines_matching_rows, hash_join_two_returns_empty_when_no_keys_match (negative), hash_join_two_emits_cartesian_for_duplicate_keys, hash_join_two_predicate_can_filter_pairs.

Status: done

2.2.2.3.5 TopicListener interface (on_inconsistent_topic)

Spec: §2.2.2.3.5, p. 40.

Repo: listener.rs::TopicListener trait.

Tests: —

Status: done

2.2.2.3.6 TypeSupport interface

Spec: §2.2.2.3.6, p. 40-41.

Repo: dds_type.rs::DdsType trait.

Tests: —

Status: done

2.2.2.3.7 Derived classes per application class (FooDataReader/Writer/TypeSupport)

Spec: §2.2.2.3.7, p. 41.

2.2.3.9 OWNERSHIP QosPolicy (SHARED/EXCLUSIVE)

Spec: §2.2.3.9, p. 105.

Repo: crates/qos/src/policies/ownership.rs::OwnershipQosPolicy with OwnershipKind::Shared/Exclusive + wire encode/decode + compatibility check (spec §2.2.3 Tab. — kind must exactly match on the reader/writer pair).

Tests: crates/qos/src/policies/ownership.rs::tests (7 tests: roundtrip + default Shared + compat check + invalid-kind-decode reject).

Strength selection: EXCLUSIVE reader-side strength selection implemented in crates/dcps/src/instance_tracker.rs:: should_accept_sample_under_exclusive_ownership (higher strength wins; on a tie GUID tiebreaker; the first writer becomes owner without a running comparison). 8 tests: exclusive_first_writer_wins, exclusive_higher_strength_wins, exclusive_lower_strength_rejected, exclusive_tie_break_by_higher_guid, exclusive_tie_break_lower_guid_rejected, exclusive_same_writer_always_accepted, clear_owner_for_writer_resets_owner, failover_after_clear_accepts_weaker_writer.

Status: done

2.2.3.10 OWNERSHIP_STRENGTH QosPolicy

Spec: §2.2.3.10, p. 106.

Repo: crates/qos/src/policies/ownership_strength.rs::OwnershipStrengthQosPolicy with value: i32 + wire encode/decode (4 byte). The strength-selection logic in crates/dcps/src/instance_tracker.rs:: should_accept_sample_under_exclusive_ownership (i32 strength + GUID tiebreaker).

Tests: crates/qos/src/policies/ownership_strength.rs::tests (3 tests: roundtrip + default 0 + negative-strength roundtrip). Strength-selection tests in instance_tracker::tests::exclusive_* (6 tests).

Status: done

2.2.3.11 LIVELINESS QosPolicy (AUTOMATIC/MANUAL_BY_PARTICIPANT/MANUAL_BY_TOPIC)

Spec: §2.2.3.11, p. 106-107.

Repo: crates/qos/src/policies/liveliness.rs::LivelinessQosPolicy with LivelinessKind (Automatic/ManualByParticipant/ManualByTopic) + lease_duration: Duration_t + wire encode/decode. crates/dcps/src/wlp.rs with the heartbeat path for AUTOMATIC and Publisher::assert_liveliness() for MANUAL_BY_PARTICIPANT/TOPIC.

Tests: crates/qos/src/policies/liveliness.rs::tests (9 tests: roundtrip of all three kinds + default + invalid-kind decode + compatibility matrix spec-conformant).

Status: done

2.2.3.12 TIME_BASED_FILTER QosPolicy

Spec: §2.2.3.12, p. 107 — minimum_separation: the reader filters out samples of the same instance if their source_timestamp lies within minimum_separation of the last delivered sample.

2.2.3.20 ENTITY_FACTORY QosPolicy (autoenable_created_entities)

Spec: §2.2.3.20, p. 110.

Repo: crates/qos/src/policies/entity_factory.rs.

Tests: —

Status: done

2.2.3.21 WRITER_DATA_LIFECYCLE QosPolicy (autodispose_unregistered_instances)

Spec: §2.2.3.21, p. 110 — autodispose_unregistered_instances: bool (default true) — when true and unregister_instance is called, the writer also sends a DISPOSE sample.

Repo: crates/qos/src/policies/data_lifecycle.rs::WriterDataLifecycleQosPolicy with autodispose_unregistered_instances: bool + wire encode/decode.

Tests: crates/qos/src/policies/data_lifecycle.rs::tests (part of the 4 data_lifecycle tests: roundtrip + default true + autodispose behavior).

Status: done

2.2.3.22 READER_DATA_LIFECYCLE QosPolicy

Spec: §2.2.3.22, p. 111 — autopurge_no_writer_samples_delay + autopurge_disposed_samples_delay.

Repo: crates/qos/src/policies/data_lifecycle.rs::ReaderDataLifecycleQosPolicy with both Duration_t fields + wire encode/decode.

Tests: crates/qos/src/policies/data_lifecycle.rs::tests (part of the 4 data_lifecycle tests).

Auto-purge: crates/dcps/src/instance_tracker.rs with InstanceState.disposed_at + no_writers_at timestamps, automatically set on dispose/unregister; autopurge(now, disposed_delay_nanos, no_writer_delay_nanos) scans all instances and removes those whose marker is older than the respective delay (u128::MAX = INFINITE = never). Lazy purge is called by the read path. Tests: autopurge_disposed_after_delay, autopurge_disposed_before_delay_keeps_instance (negative), autopurge_no_writers_after_delay, autopurge_alive_instance_never_purged (negative), autopurge_infinity_delay_never_purges.

Status: done

2.2.3.23 LIVELINESS+OWNERSHIP+REGISTRATION interaction

Spec: §2.2.3.23, p. 111-113 — cross-QoS interactions: on LIVELINESS loss of a writer in OWNERSHIP=EXCLUSIVE the reader shall switch to the next-strongest writer; on unregister_instance the instance tracker shall carry through the lifecycle path.

2.3.1-2 PIM->PSM mapping rules (CORBA-IDL)

Spec: §2.3.1-2, p. 137 — PIM->PSM conventions.

Repo: the Rust PSM in crates/dcps/ is a spec-conformant alternative form (XTypes 1.3 §7.2.2.4.8). CORBA-IDL Annex-A.1 PSM emission in crates/idl-cpp/src/corba_traits.rs, crates/idl-csharp/src/corba_traits.rs, crates/idl-java/src/corba_traits.rs as an opt-in codegen path (see idl4-cpp-1.0.md / idl4-csharp-1.0.md / idl4-java-1.0.md Annex A.1).

Tests: cross-ref Rust-PSM tests in the dcps crate + {idl-cpp,idl-csharp,idl-java}::corba_traits::tests::*.

Status: done — Rust PSM (alternative form) + CORBA-IDL Annex-A.1 PSM emission live.

2.3.3 DCPS PSM IDL — complete IDL file `zerodds_dcps.idl`

Spec: §2.3.3, p. 138-162.

Repo: crates/idl/ — IDL 4.2 parser (K1 fully completed, 1026 tests). Codegen via crates/idl-cpp/, crates/idl-java/, crates/idl-csharp/. Spec coverage of IDL 4.2 in docs/spec-coverage/idl-4.2.md (530 done / 0 partial).

Tests: workspace-wide via the zerodds-idl crate; docs/spec-coverage/idl-4.2.md is the normative coverage doc.

Status: done — the IDL parser layer is fully spec-conformant; the PSM- specific codegen stage is normative separately per PSM spec.

2.3.3 IDL constants: typedef long DomainId_t / typedef long ReturnCode_t / etc.

Spec: §2.3.3.

Repo: Rust-native types (DomainId = u32, Result<T, DdsError>) + IDL constants in crates/dcps/src/psm_constants.rs::status::* for all 13 status bits + crates/dcps/src/error.rs::return_code::* for all 13 ReturnCode_t values.

Tests: crates/dcps/src/error.rs::tests::rc_constants_have_spec_values verifies all 13 spec constants value-exact.

Status: done

Audit status

100 done / 0 partial / 0 open / 2 n/a (informative) / 0 n/a (rejected).

Test run: cargo test -p zerodds-dcps — 407 lib + 150 integration (23 integration test bins) = 557 tests green, 0 failed.

DLRL (optional §2.1.3 layer) is fully covered as a differentiation feature — own crate crates/dlrl/, see DLRL-1.2 coverage.

DDS DCPS 1.4 — Spec-Coverage

Spec: OMG DDS 1.4 — formal/2015-04-10 (180 Seiten) →

Kontext: DCPS ist über zwei Crates verteilt:

crates/dcps/ · docs.rs — DCPS-Kern, live mit ~25 Files + ~300 Tests
crates/qos/ · docs.rs — QoS-Policies, ~125 Tests

Tests: —

Status: n/a (informative) — die Section deklariert nur die Scope-Trennung zwischen DCPS-Spec und DDSI-RTPS-Spec; keine normative Anforderung an die DCPS-Implementation.

§2.1 Summary

2.1.1 DDS-Spec besteht aus PIM (UML) + IDL-PSM

Spec: §2.1, S. 3 — “PIM + IDL-PSM.”

Repo: —

Tests: —

Status: n/a (informative) — beschreibt den Aufbau der Spec selbst (PIM+PSM-Konvention der OMG), nicht eine zu implementierende Anforderung.

2.1.2 DCPS-Layer für typisierte Pub/Sub-Daten

Spec: §2.1, S. 3.

Repo: crates/dcps/src/lib.rs.

Tests: Crate-weit.

Status: done

2.1.3 DLRL-Layer

Spec: §2.1, S. 3 — Optionaler Data-Local-Reconstruction-Layer mit Object-Cache + Identity-Tracking + Relationship-Resolver (1:1/1:N/N:M) über DCPS.

2.2.1.2.1 Publisher/DataWriter sendseitig, Subscriber/DataReader empfangsseitig

Spec: §2.2.1.2, S. 5-6.

Repo: crates/dcps/src/{publisher,subscriber}.rs.

Tests: Crate-weit.

Status: done

2.2.1.2.2 Topic verbindet Publication und Subscription via name+type

Spec: §2.2.1.2 — “Topic name+type.”

Repo: crates/dcps/src/topic.rs::Topic<T>.

Tests: Topic-Tests.

Status: done

2.2.1.2.3 Coherent Set via Publisher (begin/end_coherent_changes)

Spec: §2.2.1.2.

2.2.2.2.1 DomainParticipant-Class

Spec: §2.2.2.2.1, S. 21-30 — Container für Pub/Sub/Topic/MultiTopic; Factory-Methoden; Admin-Ops (ignore_); get_discovered_; etc.

Repo: crates/dcps/src/participant.rs::DomainParticipant mit: - create_publisher / create_subscriber / create_topic (Factory- Methoden, jede Operation tracked den InstanceHandle der erzeugten Entity in inner.publishers / inner.subscribers / inner.topics für contains_entity und delete_contained_entities). - lookup_topicdescription(name) -> Option<TopicDescriptionHandle> (Spec §2.2.2.2.1.12) — sofortiger lokaler Lookup ohne Discovery-Wait. - find_topic(name, timeout) -> Result<TopicDescriptionHandle> (Spec §2.2.2.2.1.11) — lokal + SEDP-Cache-Poll bis Timeout. - instance_handle() (Spec §2.2.2.1.1) — InstanceHandle des Participants. - contains_entity(handle) -> bool (Spec §2.2.2.2.1.10) — prüft self, alle Topics, alle Pub/Sub-Children. - ignore_* / get_discovered_* / delete_contained_entities bereits in WP 2.7 verdrahtet.

Rekursiver Pfad: contains_entity erkennt zusätzlich DataWriter/DataReader-Handles via Pub/Sub-Children. PublisherInner + SubscriberInner tracken DW/DR-Handles (datawriters / datareaders-Mutex); per Weak-Backref propagieren sie auch in ParticipantInner.datawriters / datareaders für schnellen top-down Lookup. Pro Pub/Sub gibt es außerdem contains_writer / contains_reader als gezielten Sub-Lookup.

Tests (zusätzlich zu den 6 oben): contains_entity_recursive_finds_local_datawriter, contains_entity_recursive_finds_local_datareader, contains_entity_recursive_does_not_find_foreign_datawriter.

Status: done

2.2.2.2.2 DomainParticipantFactory-Class (Singleton)

Spec: §2.2.2.2.2, S. 31-33.

Repo: crates/dcps/src/factory.rs::DomainParticipantFactory mit: - instance() -> &'static Self (Spec §2.2.2.2.2.1 get_instance, Singleton via OnceLock). - create_participant / create_participant_with_config / create_participant_offline (Spec §2.2.2.2.2.2; alle Varianten trackt den Participant in der internen Registry). - lookup_participant(domain_id) -> Option<DomainParticipant> (Spec §2.2.2.2.2.4). - delete_participant(&p) -> Result<()> (Spec §2.2.2.2.2.3 — entfernt aus Registry + ruft delete_contained_entities; liefert PreconditionNotMet wenn nicht registriert). - set_default_participant_qos / get_default_participant_qos (Spec §2.2.2.2.2.5). - set_qos / get_qos mit DomainParticipantFactoryQos-Struct (Spec §2.2.2.2.2.6, Default autoenable_created_entities = true).

Status: done

2.2.2.2.3 DomainParticipantListener-Interface

Spec: §2.2.2.2.3, S. 33-34.

Repo: listener.rs::DomainParticipantListener-Trait + 14-Method- Default.

Tests: listener_*-Tests.

Status: done

§2.2.2.3 Topic-Definition Module

2.2.2.3.1 TopicDescription-Class (Abstract Base)

Spec: §2.2.2.3.1, S. 35 — abstract base for Topic, ContentFilteredTopic, MultiTopic. API: get_type_name, get_name, get_participant.

Repo: crates/dcps/src/topic.rs::TopicDescription-Trait (object-safe, &dyn TopicDescription ist der Konsumtyp); implementiert von Topic<T>, TopicDescriptionHandle, ContentFilteredTopic<T>.

Tests: crates/dcps/src/topic.rs::tests: topic_implements_topic_description, topic_description_handle_is_cloneable, topic_description_trait_is_object_safe, topic_description_create_topic_rejects_empty_name (BadParameter-Negativ), topic_description_get_participant_returns_owning_participant.

Status: done

2.2.2.3.2 Topic-Class

Spec: §2.2.2.3.2, S. 36-37.

Repo: topic.rs::Topic<T>.

Tests: Topic-Tests.

Status: done

2.2.2.3.3 ContentFilteredTopic-Class

Spec: §2.2.2.3.3, S. 37-38 — Filter-Expression + Filter-Parameters + get_related_topic. TopicDescription-Implementierung mit Type-Name vom Related-Topic.

Repo: crates/dcps/src/topic.rs::ContentFilteredTopic<T> mit new (Konstruktor mit Expression-Parsing + Parameter-Index-Validation), get_filter_expression, get_filter_parameters, set_filter_parameters (mit BadParameter-Validation), get_related_topic, evaluate(row) über zerodds_sql_filter-Engine, plus TopicDescription-Trait-Impl. DomainParticipant create_contentfilteredtopic-Factory.

Tests: crates/dcps/src/topic.rs::tests: cft_compiles_and_evaluates_filter, cft_with_params_can_be_updated, cft_get_related_topic, cft_invalid_expression_rejected (BadParameter-Negativ), cft_param_index_out_of_range_rejected (BadParameter-Negativ), cft_set_filter_parameters_validates_count, cft_filter_with_string_param, cft_filter_with_or_and_combination, cft_unknown_field_returns_bad_parameter (BadParameter-Negativ), cft_clone_shares_params.

Status: done

2.2.2.3.4 MultiTopic-Class [optional, Spec §2.2.2.3.4]

Spec: §2.2.2.3.4, S. 38-39 — kombiniert mehrere Topics über SQL-Subscription-Expression. Spec-explicit optional.

Spec: §2.2.2.4.5, S. 57.

2.2.3.9 OWNERSHIP QosPolicy (SHARED/EXCLUSIVE)

Spec: §2.2.3.9, S. 105.

Repo: crates/qos/src/policies/ownership.rs::OwnershipQosPolicy mit OwnershipKind::Shared/Exclusive + Wire-Encode/Decode + Compatibility-Check (Spec §2.2.3 Tab. — kind muss exact match auf Reader/Writer-Pair).

Tests: crates/qos/src/policies/ownership.rs::tests (7 Tests: roundtrip + default Shared + Compat-Check + invalid-kind-Decode-Reject).

Strength-Selection: EXCLUSIVE Reader-side Strength-Selection implementiert in crates/dcps/src/instance_tracker.rs:: should_accept_sample_under_exclusive_ownership (Higher-Strength gewinnt; bei Tie GUID-Tiebreaker; First-Writer wird Owner ohne laufenden Vergleich). 8 Tests: exclusive_first_writer_wins, exclusive_higher_strength_wins, exclusive_lower_strength_rejected, exclusive_tie_break_by_higher_guid, exclusive_tie_break_lower_guid_rejected, exclusive_same_writer_always_accepted, clear_owner_for_writer_resets_owner, failover_after_clear_accepts_weaker_writer.

Status: done

2.2.3.10 OWNERSHIP_STRENGTH QosPolicy

Spec: §2.2.3.10, S. 106.

Repo: crates/qos/src/policies/ownership_strength.rs::OwnershipStrengthQosPolicy mit value: i32 + Wire-Encode/Decode (4 byte). Strength-Selection-Logik in crates/dcps/src/instance_tracker.rs:: should_accept_sample_under_exclusive_ownership (i32-Strength + GUID-Tiebreaker).

Tests: crates/qos/src/policies/ownership_strength.rs::tests (3 Tests: roundtrip + default 0 + negative-strength-roundtrip). Strength-Selection-Tests in instance_tracker::tests::exclusive_* (6 Tests).

Status: done

2.2.3.11 LIVELINESS QosPolicy (AUTOMATIC/MANUAL_BY_PARTICIPANT/MANUAL_BY_TOPIC)

Spec: §2.2.3.11, S. 106-107.

Repo: crates/qos/src/policies/liveliness.rs::LivelinessQosPolicy mit LivelinessKind (Automatic/ManualByParticipant/ManualByTopic) + lease_duration: Duration_t + Wire-Encode/Decode. crates/dcps/src/wlp.rs mit Heartbeat-Pfad für AUTOMATIC und Publisher::assert_liveliness() für MANUAL_BY_PARTICIPANT/TOPIC.

Tests: crates/qos/src/policies/liveliness.rs::tests (9 Tests: roundtrip aller drei Kinds + default + invalid-kind-Decode + Compatibility-Matrix Spec-konform).

Status: done

2.2.3.12 TIME_BASED_FILTER QosPolicy

Spec: §2.2.3.12, S. 107 — minimum_separation: Reader filtert Samples derselben Instanz aus, wenn ihr source_timestamp innerhalb von minimum_separation zum letzten gelieferten Sample liegt.

2.2.3.20 ENTITY_FACTORY QosPolicy (autoenable_created_entities)

Spec: §2.2.3.20, S. 110.

Repo: crates/qos/src/policies/entity_factory.rs.

Tests: —

Status: done

2.2.3.21 WRITER_DATA_LIFECYCLE QosPolicy (autodispose_unregistered_instances)

Spec: §2.2.3.21, S. 110 — autodispose_unregistered_instances: bool (Default true) — wenn true und unregister_instance gerufen wird, sendet Writer auch ein DISPOSE-Sample.

Repo: crates/qos/src/policies/data_lifecycle.rs::WriterDataLifecycleQosPolicy mit autodispose_unregistered_instances: bool + Wire-Encode/Decode.

Tests: crates/qos/src/policies/data_lifecycle.rs::tests (Teil der 4 data_lifecycle-Tests: roundtrip + default true + autodispose-Verhalten).

Status: done

2.2.3.22 READER_DATA_LIFECYCLE QosPolicy

Spec: §2.2.3.22, S. 111 — autopurge_no_writer_samples_delay + autopurge_disposed_samples_delay.

Repo: crates/qos/src/policies/data_lifecycle.rs::ReaderDataLifecycleQosPolicy mit beiden Duration_t-Feldern + Wire-Encode/Decode.

Tests: crates/qos/src/policies/data_lifecycle.rs::tests (Teil der 4 data_lifecycle-Tests).

Auto-Purge: crates/dcps/src/instance_tracker.rs mit InstanceState.disposed_at + no_writers_at Timestamps, automatisch gesetzt beim dispose/unregister; autopurge(now, disposed_delay_nanos, no_writer_delay_nanos) durchsucht alle Instances und entfernt die, deren Marker länger als der jeweilige Delay her ist (u128::MAX = INFINITE = nie). Lazy-Purge wird vom Read-Pfad gerufen. Tests: autopurge_disposed_after_delay, autopurge_disposed_before_delay_keeps_instance (Negativ), autopurge_no_writers_after_delay, autopurge_alive_instance_never_purged (Negativ), autopurge_infinity_delay_never_purges.

Status: done

Status: done

2.2.5.7 Built-in DR von gegebenem Participant zeigt nicht eigene-Participant-Entities

Spec: §2.2.5 — Built-in Subscriber liefert keine Entities des eigenen Participants (sonst self-loop).

Repo: crates/dcps/src/builtin_subscriber.rs mit participant_key- Filter-Logik im Discovery-Hook (filtert SPDP/SEDP-Samples mit gleicher Participant-Guid wie der lokale Participant).

Tests: crates/dcps/src/builtin_subscriber.rs::tests mit participant_key-Filter-Prüfung.

Tests: WaitSet-Tests.

Status: done

§2.3 OMG IDL Platform Specific Model

2.3.1-2 PIM->PSM Mapping Rules (CORBA-IDL)

Spec: §2.3.1-2, S. 137 — PIM->PSM-Konventionen.

Repo: Rust-PSM in crates/dcps/ ist Spec-konforme Alternative- Form (XTypes 1.3 §7.2.2.4.8). CORBA-IDL-Annex-A.1-PSM-Emission in crates/idl-cpp/src/corba_traits.rs, crates/idl-csharp/src/corba_traits.rs, crates/idl-java/src/corba_traits.rs als opt-in Codegen-Pfad (siehe idl4-cpp-1.0.md / idl4-csharp-1.0.md / idl4-java-1.0.md Annex A.1).

Tests: Cross-Ref Rust-PSM-Tests im dcps-Crate + {idl-cpp,idl-csharp,idl-java}::corba_traits::tests::*.

Status: done — Rust-PSM (Alternative-Form) + CORBA-IDL-Annex-A.1- PSM-Emission live.

2.3.3 DCPS PSM IDL — komplette IDL-File `zerodds_dcps.idl`

Spec: §2.3.3, S. 138-162.

Repo: crates/idl/ — IDL-4.2-Parser (K1 voll abgeschlossen, 1026 Tests). Code-Gen über crates/idl-cpp/, crates/idl-java/, crates/idl-csharp/. Spec-Coverage des IDL 4.2 in docs/spec-coverage/idl-4.2.md (530 done / 0 partial).

Tests: Workspace-weit über zerodds-idl-Crate; docs/spec-coverage/idl-4.2.md ist die normative Coverage-Doku.

Status: done — IDL-Parser-Layer vollständig spec-konform; PSM- spezifische Code-Gen-Stage ist je PSM-Spec separat normativ.

2.3.3 IDL-Constants: typedef long DomainId_t / typedef long ReturnCode_t / etc.

Spec: §2.3.3.

Repo: Rust-Native-Typen (DomainId = u32, Result<T, DdsError>) + IDL-Constants in crates/dcps/src/psm_constants.rs::status::* für alle 13 Status-Bits + crates/dcps/src/error.rs::return_code::* für alle 13 ReturnCode_t-Werte.

Tests: crates/dcps/src/error.rs::tests::rc_constants_have_spec_values verifiziert alle 13 Spec-Konstanten Wert-genau.

Status: done

Audit-Status

100 done / 0 partial / 0 open / 2 n/a (informative) / 0 n/a (rejected).

Test-Lauf: cargo test -p zerodds-dcps — 407 lib + 150 integration (23 Integration-Test-Bins) = 557 Tests grün, 0 failed.

DLRL (optionaler §2.1.3-Layer) ist als Differenzierungs-Feature voll abgedeckt — eigener Crate crates/dlrl/, siehe DLRL-1.2-Coverage.