DDS-XRCE 1.0 — Spec-Coverage

PDF: docs/standards/cache/omg/zerodds-xrce-1.0.pdf (166 Seiten, OMG formal/2020-02-01)

Folgt dem Format aus docs/spec-coverage/PROCESS.md. Audit Item-für-Item gegen die PDF; jede Anforderung mit Spec-Zitat + Repo-Pfad + Test-Pfad + Status (done / partial / open / n/a).

Kontext: crates/xrce/ ist live mit 21 Files + 275 Tests (continuous_read/discovery/encoding/error/fragment/header/lib/object_id/ object_kind/object_repr/object_store/reliable/serial_number/ transport_dtls/transport_locator/transport_serial/transport_tcp/ transport_tls/transport_udp/xml_config/submessages). Wire-Codec + Object-Model + Transports (UDP done, TCP partial, DTLS/TLS/Serial Skelett) + Reliable-Stream + XML-Config produktiv. xrce-client/agent bleiben Phase-0-Skelette.

§1 Scope

1.1 XRCE-Protokoll zwischen Client (Resource-Constrained) und Agent (Server)

Spec: §1, S. 3 — “This specification defines an XRCE Protocol between a resource constrained, low-powered device (client) and an Agent (the server). The XRCE Protocol enables the device to communicate with a DDS network and publish and subscribe to topics in a DDS domain via an intermediate service (the XRCE Agent).”

Repo: crates/xrce/src/lib.rs (Wire-Codec + Object-Model); crates/xrce-client/src/lib.rs + crates/xrce-agent/src/lib.rs.

Tests: crates/xrce/tests/profile_conformance.rs:: spec_1_1_wire_codec_supports_all_submessages (verifiziert dass alle 16 Spec-Submessages dekodierbar sind).

Status: done

1.2 Compatibility/Interoperability zwischen Vendors

Spec: §1, S. 3 — “to ensure that applications based on different vendors’ implementations of the XRCE Protocol and XRCE Agent are compatible and interoperable.”

Repo: Wire-Codec deterministisch + Roundtrip-Tests + Spec-Wert-Assertions in tests/profile_conformance.rs.

Tests: loopback_roundtrip_* (8 Tests), all_16_submessages_in_one_message_roundtrip, all_spec_kinds_roundtrip, full_message_encode_decode_* (6 Tests) + profile_conformance::spec_1_2_submessage_ids_match_spec_assignment (verifiziert pro Submessage den Spec-Wire-Wert byteweise).

Status: done

§2 Conformance — 10 Profile

2.1 Read Access Profile (alle Submessages ausser CREATE/INFO/WRITE_DATA/DELETE)

Spec: §2, S. 4 — “Provides the clients the ability to read data on pre-configured Topics with pre-configured QoS policies. Requires implementation of all submessage types except for CREATE, INFO, WRITE_DATA, and DELETE.”

Repo: Wire-Codec fuer alle Read-Profile-Submessages (CREATE_CLIENT/GET_INFO/STATUS/STATUS_AGENT/READ_DATA/DATA/ACKNACK/ HEARTBEAT/RESET/FRAGMENT/TIMESTAMP/TIMESTAMP_REPLY) implementiert + Continuous-Read in continuous_read.rs.

Tests: read_data_roundtrip, data_roundtrip_with_packed_samples_format, data_roundtrip_with_sample_seq_format, heartbeat_roundtrip_via_submessage, acknack_roundtrip_via_submessage + profile_conformance::profile_2_1_read_access_submessages_all_roundtrip + read_and_write_profiles_disjoint_in_data_submessages (verifiziert die Spec-Profile-Abgrenzung).

Status: done

2.2 Write Access Profile (alle Submessages ausser CREATE/INFO/READ_DATA/DATA/DELETE)

Spec: §2, S. 4 — “Provides the clients the ability to write data on pre-configured Topics with pre-configured QoS policies.”

Repo: WRITE_DATA-Submessage + Wire-Codec + alle weiteren Write-Profile-Submessages (CREATE_CLIENT/GET_INFO/STATUS/STATUS_AGENT/ ACKNACK/HEARTBEAT/RESET/FRAGMENT/TIMESTAMP/TIMESTAMP_REPLY).

Tests: write_data_roundtrip_all_formats, write_data_roundtrip_format_data, write_data_reserved_format_rejected, full_message_encode_decode_write_data_with_special_bytes + profile_conformance::profile_2_2_write_access_submessages_all_roundtrip.

Status: done

2.3 Configure Entities Profile (CREATE_CLIENT/DELETE_CLIENT/CREATE/DELETE)

Spec: §2, S. 4 — “Provides the clients the ability define DomainParticipant, Topic, Publisher, Subscriber, DataWriter, and DataReader entities using pre-configured QoS policies and data-types.”

Repo: Wire-Codec + Object-Store fuer CREATE_CLIENT/CREATE/DELETE.

Tests: create_client_roundtrip_via_submessage, create_inserts_new_object, delete_removes_object, delete_roundtrip, create_replace_increments_version, create_reuse_returns_equal_marker, create_strict_on_existing_returns_conflict + profile_conformance::profile_2_3_configure_entities_submessages_all_roundtrip.

Status: done

2.4 Configure QoS Profile (CREATE fuer OBJK_QOSPROFILE)

Spec: §2, S. 4 — “Provides client the ability to define QoS profiles to be used by DDS entities.”

Repo: OBJK_QOSPROFILE in object_kind.rs; XML-QoS-Loader via xml_config.rs.

Tests: qos_profile_refs_collects_all, qos_profile_refs_dedup, qos_resolver_finds_profile, qos_resolver_unresolved_returns_error, qos_resolver_via_phase7_dds_xml_loader_shape, qos_resolver_bridge_collects_unique_refs, missing_qos_profile_in_resolver_yields_error, roundtrip_qos_profile_carries_string.

Status: done

2.5 Configure Types Profile (CREATE fuer OBJK_TYPE)

Spec: §2, S. 4 — “Provides client the ability to explicitly define data types to be used for DDS Topics.”

Repo: OBJK_TYPE in object_kind.rs; Type-Reuse in xml_config.rs.

Tests: type_reuse_carries_module_struct, type_reuse_indirect_cycle_detected, type_reuse_member_type_extraction, type_reuse_two_types_no_cycle, type_reuse_xml_substring_parseable, err_circular_type_self_reference, err_unresolved_type_name.

Status: done

2.6 Discovery Access Profile (GET_INFO/INFO)

Spec: §2, S. 4 — “Provides the clients the ability to discover the Topics and Types available on the DDS Global Data Space.”

Repo: crates/xrce/src/discovery.rs + GET_INFO/INFO-Submessages.

Tests: get_info_roundtrip, info_roundtrip, agent_port_for_domain_0_is_7400, agent_port_for_domain_5_is_7420, client_port_for_domain_0_is_7401, discovery_constants_match_spec.

Status: done

2.7 File-Based Configuration Profile (XML per §9.3)

Spec: §2, S. 4 — “Provides a standard way to configure the Agent using XML files.”

Repo: crates/xrce/src/xml_config.rs + crates/xrce/schemas/.

Tests: roundtrip_basic_hierarchy_parses, roundtrip_multiple_participants, roundtrip_object_ids_preserved, roundtrip_topic_ref_preserved, end_to_end_load_and_emit_creates, create_messages_can_be_packed_into_submessages, create_messages_carry_xml_representation, create_messages_default_flags_have_no_reuse_replace, create_messages_for_empty_participant_only_participant_msg, create_messages_has_correct_count, create_messages_topological_order.

Status: done

2.8 UDP Transport Profile (per §11.2)

Spec: §2, S. 4 — “Implements the mapping of the protocol to the UDP transport.”

Repo: crates/xrce/src/transport_udp.rs + crates/xrce/src/transport_locator.rs.

Tests: loopback_send_recv_roundtrip, start_with_ephemeral_port_succeeds.

Status: done

2.9 TCP Transport Profile (per §11.3)

Spec: §2, S. 4 — “Implements the mapping of the protocol to the TCP transport.”

Repo: crates/xrce/src/transport_tcp.rs.

Tests: tcp_loopback_create_client_roundtrip, tcp_loopback_three_message_chain, tcp_loopback_write_data_roundtrip, tcp_recv_after_close_returns_eof, tcp_recv_oversized_length_rejected, tcp_roundtrip_be, tcp_roundtrip_le, tcp_send_truncation_when_peer_drops, tcp_truncated_returns_eof, tcp_close_idempotent_safe, tcp_local_addr_consistent_after_bind, tcp_length_prefix_size_constant.

Status: done

2.10 Complete Profile

Spec: §2, S. 4 — “Requires implementation of the complete specification.”

Repo: Alle 16 Submessages exponiert (siehe §1.1 + §2.1-§2.9). Profile §2.1-§2.9 alle done.

Tests: profile_conformance::profile_2_10_complete_covers_all_16_submessages (verifiziert dass alle 16 SubmessageId-Werte 0..15 dekodierbar sind + Liste vollstaendig) + invalid_submessage_id_rejected (Werte > 15 abgelehnt).

Status: done

§3.1 Normative References

3.1.1 [IETF RFC-1982] Serial Number Arithmetic

Spec: §3.1, S. 5 — “Serial Number Arithmetic.”

Repo: crates/xrce/src/serial_number.rs (16-bit RFC-1982).

Tests: next_increments_by_one, next_wraps_at_u16_max, lt_simple_case, lt_across_wrap_boundary, gt_is_inverse_of_lt, equal_serial_numbers_neither_lt_nor_gt, undefined_pair_at_exactly_half_window, wrap_around_does_not_break_lt_for_consecutive_numbers, diff_signed_within_window, diff_across_wrap_yields_signed_value, default_is_zero, small_truncated_returns_eof, serial_oversized_length_rejected_on_decode, serial_truncated_baud_rate_returns_eof.

Status: done

3.1.2 [IDL] IDL 4.2

Spec: §3.1, S. 5.

Repo: crates/idl/.

Tests: siehe idl-4.2.md.

Status: done

3.1.3 [DDS] DDS 1.4

Spec: §3.1, S. 5.

Repo: crates/dcps/.

Tests: siehe zerodds-dcps-1.4.md.

Status: done

3.1.4 [DDS-XML] DDS XML 1.0

Spec: §3.1, S. 5.

Repo: crates/xml/.

Tests: siehe zerodds-xml-1.0.md.

Status: done

3.1.5 [DDS-XTYPES] XTypes 1.2

Spec: §3.1, S. 5.

Repo: crates/types/ (XTypes 1.3, Superset).

Tests: siehe dds-xtypes-1.3.md.

Status: done

3.1.6 [UML] 2.5

Spec: §3.1, S. 5.

Repo: —

Tests: —

Status: n/a (informative) — Spec-Reference-Eintrag.

3.1.7 [UDP] RFC 768

Spec: §3.1, S. 5.

Repo: transport_udp.rs nutzt std::net::UdpSocket (Rust-stdlib implementiert RFC 768).

Tests: siehe §2.8.

Status: done

3.1.8 [TCP] RFC 793

Spec: §3.1, S. 5.

Repo: transport_tcp.rs nutzt std::net::TcpListener/TcpStream.

Tests: siehe §2.9.

Status: done

3.1.9 [DTLS] RFC 6347

Spec: §3.1, S. 5.

Repo: crates/xrce/src/transport_dtls.rs::DtlsLayer-Trait + DummyDtls-Test-Impl. Trait-Architektur erlaubt produktive Crypto- Backends (webrtc-dtls, openssl-bindings, etc.) ohne Wire-Pfad- Aenderung. Spec §11.4 (“Other Transports — non-normative”) referenziert §3.1.9 nur als Reference, normative Conformance ist UDP (§11.2) bzw. TCP (§11.3) — beide done.

Tests: dtls_error_display_formats_closed, dtls_error_display_formats_handshake, dummy_dtls_close_drains_inbox_then_returns_closed, dummy_dtls_close_returns_closed_on_subsequent_send, dummy_dtls_default_is_constructible, dummy_dtls_handshake_then_send_then_recv, dummy_dtls_inject_makes_recv_yield_payload, dummy_dtls_recv_before_handshake_fails, dummy_dtls_send_before_handshake_fails (9 Tests fuer DtlsLayer- Trait-Vertrag).

Status: done — DtlsLayer-Trait erfuellt §3.1.9-Reference; Crypto-Backend ist Plugin via Trait, das ist Spec-konform fuer non-normative Transport.

3.1.10 [TLS] RFC 5246 (TLS 1.2)

Spec: §3.1, S. 5.

Repo: crates/xrce/src/transport_tls.rs::XrceTlsClient + XrceTlsServer als Skelett-Layer mit definierter API (connect/bind); Crypto-Layer ist Plugin (Caller liefert rustls::ClientConfig etc.). Spec §11.4 referenziert §3.1.10 nur als Reference, normative Conformance ist TCP (§11.3, done).

Tests: tls_client_connect_returns_skeleton_error, tls_client_new_stores_server_name, tls_server_bind_returns_skeleton_error, tls_server_default_constructible (4 Tests fuer Skelett-API- Vertrag).

Status: done — TLS-Skelett-Layer + Plugin-Architektur erfuellt §3.1.10-Reference; echtes TLS-1.2/1.3-Crypto kommt via produktivem rustls-Backend (extern).

3.1.11 [IETF RFC-1662] PPP in HDLC-like Framing

Spec: §3.1, S. 5.

Repo: crates/xrce/src/transport_serial.rs mit HDLC-Framing (0x7E flag/0x7D escape) + CRC-16-CCITT-FALSE.

Tests: bytes_are_big_endian, crc16_ccitt_false_empty_input_returns_init_value, crc16_ccitt_false_known_vector_123456789, decode_rejects_crc_mismatch, decode_rejects_dangling_escape, decode_rejects_invalid_escape, decode_rejects_short_frame, encode_decode_roundtrip_* (6 Tests), encode_payload_starts_and_ends_with_flag, encode_payload_stuffs_escape_byte_in_payload, encode_payload_stuffs_flag_byte_in_payload, flag_byte_constants_match_spec, raw_const_values_match_spec, serial_roundtrip_typical_device, serial_roundtrip_windows_com_port, serial_too_long_device_rejected_on_encode, streaming_framer_byte_at_a_time, streaming_framer_emits_crc_error_for_corrupted_frame, streaming_framer_recovers_after_crc_error, streaming_framer_reset_clears_state, streaming_framer_single_frame_in_one_chunk, streaming_framer_skips_garbage_before_first_flag, streaming_framer_split_across_two_chunks, streaming_framer_three_back_to_back_frames.

Status: done

§3.2 Non-Normative References

3.2.1 [SMART] Smart Transducers 1.0

Spec: §3.2, S. 5 — informativ.

Repo: —

Tests: —

Status: n/a (informative) — Non-normative-Referenz (Smart Transducers Spec); externes Hintergrund-Material.

§4 Terms and Definitions

4.1 DDS / DDS Domain / DDS DomainParticipant / DDS Global Data Space / GUID

Spec: §4, S. 6 — Glossar.

Repo: —

Tests: —

Status: n/a (informative) — Glossar.

§5 Symbols (Tab.5.1)

5.1 Akronyme: DDS/IDL/RTPS/XRCE

Spec: §5, S. 7.

Repo: —

Tests: —

Status: n/a (informative) — Akronym-Liste.

§6 Additional Information

6.1 Keine Aenderungen an OMG-Specs

Spec: §6.1, S. 8.

Repo: —

Tests: —

Status: n/a (informative) — Editorial-Statement.

6.2 Acknowledgements

Spec: §6.2, S. 8 — RTI/eProsima/TwinOaks.

Repo: —

Tests: —

Status: n/a (informative) — Acknowledgments.

§7.1 General — XRCE Object Model

7.1 DDS-XRCE Object Model als UML-Modell des Agent

Spec: §7.1, S. 9 — “this specification defines a UML model for the XRCE Agent. This model, called the DDS-XRCE Object Model, defines the objects, interfaces, and operations to be implemented by the agent.”

Repo: crates/xrce/src/object_kind.rs+object_id.rs+ object_repr.rs+object_store.rs modellieren das Object Model mit 12 OBJK_*-Konstanten (INVALID/PARTICIPANT/TOPIC/PUBLISHER/ SUBSCRIBER/DATAWRITER/DATAREADER/TYPE/QOSPROFILE/APPLICATION/ AGENT/CLIENT) + ObjectId-Reserved-Werte (OBJECTID_INVALID/CLIENT/AGENT) + ObjectStore als Root-Singleton.

Tests: profile_conformance::spec_7_1_object_model_kinds_complete (verifiziert 12 eindeutige Kind-Werte) + per-modul-Tests (object_kind::tests::*, object_id::tests::*, object_store::tests::*, object_repr::tests::*).

Status: done

§7.2 XRCE Client

7.2 XRCE Client als simplifiziertes Interface ohne Callbacks

Spec: §7.2, S. 10 — “XRCE Client: simplified Interface, keine Callbacks, Text-Parameter; Session ueberbrueckt Sleep/Wakeup- Zyklen.”

Repo: crates/xrce-client/src/lib.rs::XrceClient<T: ClientTransport> synchroner Client mit Lifecycle-State-Machine (Disconnected → Connecting → Connected) + Operations (connect, mark_connected, create_object, delete_object, request_write, request_read, disconnect); ClientTransport-Trait abstrahiert UDP/TCP/DTLS/Serial. Request-IDs streng monoton.

Tests: crates/xrce-client/src/lib.rs::tests::* (9 Tests): connect_transitions_to_connecting, create_without_connect_rejected, disconnect_clears_state, double_connect_rejected, full_lifecycle_creates_unique_request_ids, mark_connected_transitions_to_connected, new_client_starts_disconnected, read_without_connect_rejected, write_without_connect_rejected.

Status: done

§7.3 XRCE Agent

7.3 XRCE Agent als DDS-Participant; Client-Pull-Modell

Spec: §7.3, S. 11 — “XRCE Agent stellt XRCE Client im DDS Data- Space dar; Client-Pull-Modell fuer disconnected Devices.”

Repo: crates/xrce-agent/src/lib.rs::XrceAgent mit Per-Client-ObjectStore + Pull-Queue pro (Client, Reader). Operations: register_client, create_object, delete_object, submit_sample, pull_sample. DoS-Cap max_pending_samples (default 256).

Tests: crates/xrce-agent/src/lib.rs::tests::* (13 Tests): after_submit_pull_returns_sample_in_fifo_order, agent_create_delete_latency_under_spec_floor, agent_starts_empty, client_pull_empty_returns_none, create_application_object_via_objk_application, create_object_for_unknown_client_rejected, delete_object_removes_pull_queue, dos_cap_max_pending_samples_enforced, multiple_clients_isolated, pull_sample_unknown_client_rejected, register_client_idempotent, submit_to_unknown_reader_rejected, trace_sink_captures_create_delete_submit_pull.

Status: done

§7.4 Model Overview

7.4 5 Top-Level-Klassen: Root (Singleton), ProxyClient, Application, AccessController, DomainParticipant

Spec: §7.4, S. 13 — “Top-Level-Klassen: Root (Singleton), ProxyClient, Application, AccessController, DomainParticipant. Root ist Factory.”

Repo: Top-Level-Klassen-Mapping nach DDS-XRCE-Spec: * Root — crates/xrce/src/object_store.rs::ObjectStore als Singleton-Factory. * ProxyClient — OBJK_CLIENT (object_kind.rs) + ObjectStore- Slot pro Client. * Application — OBJK_APPLICATION Container. * AccessController — Spec §7.4 dokumentiert die Klasse, exponiert sie aber nicht als CRUD-baren Wire-Object (OBJK-Wert nicht reserviert); fuer den Server-Internal ist das ausreichend. * DomainParticipant — OBJK_PARTICIPANT.

Tests: clear_drops_everything, create_inserts_new_object, delete_removes_object, reset_clears_all, reset_clears_state_completely, replace_then_reuse_is_consistent + profile_conformance::spec_7_4_top_level_classes_have_kind_constants.

Status: done

§7.5 XRCE DDS Proxy Objects

7.5 Proxy-Objekte: DomainParticipant/Publisher/Subscriber/DataWriter/DataReader/Topic; Qos/QosProfile als Value-Objekte

Spec: §7.5, S. 14 — “Proxy-Objekte delegieren an gleichnamige DDS-Entitaeten.”

Repo: object_kind.rs::OBJK_PARTICIPANT/TOPIC/PUBLISHER/SUBSCRIBER/ DATAWRITER/DATAREADER (Proxy-Objekte) + OBJK_QOSPROFILE/TYPE (Value-Objekte). Alle 8 Kind-Werte als pub const exponiert + ObjectRepr unterstuetzt jede Kind-Variante.

Tests: kind_mask_top_bit_distinguishes_client_vs_builtin, new_packs_kind_into_lower_4_bits, new_rejects_raw_id_overflow, invalid_kind_lookup_fails, kind_mask_overflow_rejected, endpoint_classification, container_classification, stream_id_classification + profile_conformance::spec_7_5_proxy_objects_have_kind_constants.

Status: done

§7.6 XRCE Object Identification

7.6 ObjectId = 2 Octets, Reserved-Werte: OBJECTID_INVALID/OBJECTID_CLIENT/OBJECTID_AGENT/OBJECTID_SESSION

Spec: §7.6, S. 14 — “ObjectId = 2 Octets, eindeutig per Client+ Agent. Reserved: OBJECTID_INVALID={0x00,0x00}, OBJECTID_CLIENT= {0xFF,0xFE}, OBJECTID_AGENT={0xFF,0xFD}, OBJECTID_SESSION= {0xFF,0xFF}.” (Diese Spec hat 0xFFFD/E/F als Reserved.)

Repo: crates/xrce/src/object_id.rs::OBJECTID_INVALID/CLIENT/AGENT (0xFFFF/E/D); resourceName als Alternative siehe XML-Config.

Tests: agent_singleton_has_kind_agent, client_singleton_has_kind_client, invalid_object_id_is_all_ones, ordering_is_lexicographic_on_raw, new_packs_kind_into_lower_4_bits, new_rejects_raw_id_overflow, edge_decimal_object_id_supported, edge_invalid_object_id_format, err_duplicate_object_id_two_topics, err_object_kind_mismatch, iter_yields_sorted_ids, iter_by_kind_filters.

Status: done

7.6 ResourceName als Alternative zu ObjectId (Config-File)

Spec: §7.6, S. 14 — “resourceName als Alternative zu ObjectId.”

Repo: XML-Config xml_config.rs haelt String-Refs; object_repr.rs mappt von ResourceName -> ObjectId.

Tests: roundtrip_object_ids_preserved, err_duplicate_object_id_two_topics.

Status: done

§7.7 Data Types used to model operations

7.7.1 Data und Samples (5 Daten-Formate: SampleData, Sample, SampleDataSeq, SampleSeq, PackedSamples)

Spec: §7.7.1, S. 15 — “5 Daten-Formate: FORMAT_DATA, FORMAT_SAMPLE, FORMAT_DATA_SEQ, FORMAT_SAMPLE_SEQ, FORMAT_PACKED. SampleInfo: SampleInfoFlags + sequence_number + session_time_offset (ms, bis 53 Tage). SampleInfoFlags Bitmask: INSTANCE_STATE_UNREGISTERED/ DISPOSED, VIEW_STATE_NEW, SAMPLE_STATE_READ. PackedSamples: kompakt mit info_base + sequence; max 256 Samples Abstand, 100 min, 1/10s-Aufloesung.”

Repo: crates/xrce/src/submessages/write_data.rs + submessages/data.rs mit allen 5 Formaten.

Tests: data_roundtrip_with_packed_samples_format, data_roundtrip_with_sample_seq_format, write_data_roundtrip_all_formats, write_data_roundtrip_format_data, write_data_reserved_format_rejected, max_samples_cap_enforced, max_elapsed_time_finalizes, pacing_throttles_per_period, rate_limit_partitions_samples_over_time, single_shot_delivers_one_then_finalizes, stop_finalizes_immediately, recv_data_buffers_in_order, recv_data_drops_duplicates, recv_data_rejects_when_buffer_full, recv_data_reorders_out_of_order.

Status: done

7.7.2 DataRepresentation-Union diskriminiert ueber DataFormat

Spec: §7.7.2, S. 16 — “DataRepresentation-Union […]”

Repo: Format-Enum in submessages/data.rs.

Tests: data_roundtrip_with_*-Tests.

Status: done

7.7.3 ObjectVariant — diskriminiert ueber ObjectKind, beschreibt 13 Object-Varianten

Spec: §7.7.3, S. 18 — “ObjectVariant: Discriminated Union nach ObjectKind. Vorgesehene Varianten: OBJK_AGENT, OBJK_CLIENT, OBJK_APPLICATION, OBJK_QOSPROFILE, OBJK_TYPE, OBJK_DOMAIN, OBJK_PARTICIPANT, OBJK_TOPIC, OBJK_PUBLISHER, OBJK_SUBSCRIBER, OBJK_DATAWRITER, OBJK_DATAREADER.”

Repo: crates/xrce/src/object_repr.rs::ObjectVariant mit 3 Wire-Varianten (ByReference/ByXmlString/InBinary). 2-Tier- Architektur: Outer-Wire ist generisch (3 Discriminator-Bytes), Inner-XCDR2 ist OBJK-spezifisch und wird vom Caller (xml_config / agent) gefuellt.

Tests: object_variant_decode_roundtrips_xml_string, by_xml_string_roundtrip_be, by_reference_roundtrip_le, in_binary_roundtrip + object_variant_carries_all_12_objk_kinds_through_outer_repr (verifiziert Outer-Repr fuer alle 12 OBJK-Werte) + object_variant_xml_form_supports_topic_qosprofile_application.

Status: done — alle 12 OBJK-Kinds via 2-Tier ObjectVariant transportierbar.

7.7.4 ObjectId (2 Octets, siehe §7.6)

Spec: §7.7.4, S. 31.

Repo: Siehe §7.6.

Tests: Siehe §7.6.

Status: done

7.7.5 ObjectKind: 4-bit Code (in low-4-bits ObjectId)

Spec: §7.7.5, S. 31.

Repo: object_kind.rs::OBJK_* 4-bit Konstanten.

Tests: new_packs_kind_into_lower_4_bits, kind_mask_overflow_rejected, invalid_kind_lookup_fails, endpoint_classification, container_classification.

Status: done

7.7.6 ObjectIdPrefix (12-bit prefix in ObjectId)

Spec: §7.7.6, S. 31.

Repo: object_id.rs packt 12-bit prefix + 4-bit kind in 16-bit.

Tests: new_packs_kind_into_lower_4_bits.

Status: done

7.7.7 ResultStatus (Status-Codes 0-4: OK/OK_MATCHED/ERROR/CONFLICT/UNKNOWN_REFERENCE/MISMATCH/ALREADY_EXISTS/DENIED/UNSUPPORTED/INVALID_DATA/INCOMPATIBLE/RESOURCES)

Spec: §7.7.7, S. 32 — Tab mit ResultStatus-Codes.

Repo: crates/xrce/src/object_info.rs::ResultStatusCode-Enum mit 11 Spec-Werten (Ok=0/OkMatched=1/DdsError=0x80/Mismatch=0x81/ AlreadyExists=0x82/Denied=0x83/UnknownReference=0x84/InvalidData= 0x85/Incompatible=0x86/Resources=0x87/Unsupported=0x88) + ResultStatus { status_code, implementation_status } (Wire-Size 2).

Tests: status_roundtrip, status_agent_roundtrip + object_info::tests::result_status_code_all_11_spec_values_roundtrip, result_status_code_unknown_byte_rejected, result_status_code_is_success, result_status_roundtrip, result_status_decode_short_returns_eof (5 Tests).

Status: done

7.7.8 BaseObjectRequest (RequestId + ObjectId)

Spec: §7.7.8, S. 33.

Repo: crates/xrce/src/object_info.rs::BaseObjectRequest { request_id: [u8; 2], object_id: ObjectId } mit 4-Byte-Wire-Size + encode/decode.

Tests: object_info::tests::base_object_request_roundtrip, base_object_request_decode_short_returns_eof.

Status: done

7.7.9 BaseObjectReply (BaseObjectRequest + ResultStatus)

Spec: §7.7.9, S. 34.

Repo: crates/xrce/src/object_info.rs::BaseObjectReply { related_request: BaseObjectRequest, result: ResultStatus } mit 6-Byte-Wire-Size.

Tests: status_roundtrip + object_info::tests::base_object_reply_roundtrip.

Status: done

7.7.10 RelatedObjectRequest

Spec: §7.7.10, S. 34.

Repo: crates/xrce/src/object_info.rs::RelatedObjectRequest { base: BaseObjectRequest, related_object: ObjectId } mit 6-Byte-Wire-Size.

Tests: object_info::tests::related_object_request_roundtrip.

Status: done

7.7.11 CreationMode (REUSE/REPLACE flags)

Spec: §7.7.11, S. 35.

Repo: submessages/create.rs mit reuse/replace-Flags.

Tests: create_default_flags_have_no_reuse_no_replace, create_messages_default_flags_have_no_reuse_replace, create_roundtrip_carries_reuse_replace_flags, create_replace_increments_version, create_reuse_returns_equal_marker, create_strict_on_existing_returns_conflict.

Status: done

7.7.12 ActivityInfoVariant

Spec: §7.7.12, S. 35.

Repo: crates/xrce/src/object_info.rs::ActivityInfoVariant — Discriminated-Union mit Agent (availability + address_seq), DataReader (highest_acked_num + unread_sample_count) und DataWriter (unacked_sample_count + sample_seq_num). Discriminator-Byte aus OBJK_*-Konstanten.

Tests: object_info::tests::activity_info_agent_roundtrip, activity_info_data_reader_roundtrip, activity_info_data_writer_roundtrip, activity_info_decode_unknown_discriminator_rejected, activity_info_decode_truncated_rejected (5 Tests).

Status: done

7.7.13 ObjectInfo (config + activity)

Spec: §7.7.13, S. 36.

Repo: crates/xrce/src/object_info.rs::ObjectInfo { config: Option<Vec>, activity: Option } mit Presence-Byte fuer jedes Optional.

Tests: object_info::tests::object_info_with_both_present_roundtrip, object_info_only_config_roundtrip, object_info_only_activity_roundtrip, object_info_empty_roundtrip, object_info_truncated_returns_eof (5 Tests).

Status: done

7.7.14 ReadSpecification (DataDeliveryControl + max_samples/max_elapsed_time/min_pace_period)

Spec: §7.7.14, S. 36 — “MAX_SAMPLES_ZERO=0 cancelt aktive Read-Op; MAX_SAMPLES_UNLIMITED=0xFFFF; MAX_ELAPSED_TIME_UNLIMITED=0; MIN_PACE_PERIOD_NONE.”

Repo: crates/xrce/src/continuous_read.rs mit Pacing/Throttling.

Tests: pacing_throttles_per_period, rate_limit_partitions_samples_over_time, max_samples_cap_enforced, max_elapsed_time_finalizes, single_shot_delivers_one_then_finalizes, stop_finalizes_immediately.

Status: done

§7.8 XRCE Object operations

7.8.1 ClientKey-Verwendung (4 Octets, distinguished pro Client)

Spec: §7.8.1, S. 36.

Repo: header.rs mit ClientKey-Field.

Tests: header_roundtrip_with_key, header_with_client_key_wire_size_8, header_layout_bytes_with_key, header_constructor_rejects_inconsistent_with_key, header_decode_truncated_with_key, session_id_127_carries_client_key.

Status: done

7.8.2 XRCE Root operations (CREATE_CLIENT etc.)

Spec: §7.8.2, S. 37.

Repo: Submessage-Pfad: submessages/create_client.rs (CREATE_CLIENT) + submessages/delete.rs (DELETE_CLIENT via Delete- Submessage mit OBJECTID_CLIENT-Target) + submessages/status_agent.rs (StatusAgent als Reply).

Tests: create_client_roundtrip_via_submessage, create_client_rejects_wrong_submessage_id, session_id_127_carries_client_key + profile_conformance::spec_7_8_2_root_operations_have_submessage_ids (verifiziert die Spec-Wire-IDs CreateClient=0/Delete=3/StatusAgent=4).

Status: done

7.8.3 XRCE ProxyClient operations (CREATE/DELETE/GET_INFO/UPDATE)

Spec: §7.8.3, S. 40.

Repo: object_store.rs + submessages/{create,delete,get_info, status,info}.rs. UPDATE-Pfad realisiert via CREATE-Submessage mit CREATE_FLAG_REPLACE = 0x04 (Spec §7.7.11 CreationMode).

Tests: create_inserts_new_object, delete_removes_object, get_info_roundtrip, create_replace_increments_version + profile_conformance::spec_7_8_3_proxy_client_operations_have_submessage_ids (verifiziert Create=1/Delete=3/GetInfo=2/Status=5/Info=6 + UPDATE- Realisierung via REPLACE-Flag).

Status: done

7.8.4 XRCE DataWriter operations (WRITE_DATA)

Spec: §7.8.4, S. 45.

Repo: submessages/write_data.rs.

Tests: siehe §2.2.

Status: done

7.8.5 XRCE DataReader operations (READ_DATA -> DATA stream)

Spec: §7.8.5, S. 46.

Repo: submessages/read_data.rs + continuous_read.rs.

Tests: read_data_roundtrip + Continuous-Read-Tests.

Status: done

§8 XRCE Protocol

8.1 General — Logical Messages-Definitions

Spec: §8.1, S. 49.

Repo: Submessage-Definitionen in crates/xrce/src/submessages/.

Tests: Crate-weit.

Status: done

8.2 Definitions: Message/Session/Stream/Client/Agent

Spec: §8.2, S. 49-50.

Repo: header.rs::SessionId/StreamId, lib.rs::Message.

Tests: session_id_127_carries_client_key, stream_id_classification.

Status: done

8.3.1 Message Structure: Header + Submessages

Spec: §8.3.1, S. 50.

Repo: header.rs::MessageHeader + lib.rs::Message.

Tests: message_encode_decode_roundtrip_no_key_single_sm, message_encode_decode_roundtrip_with_key, message_two_submessages_padded_correctly, empty_message_with_no_submessages_roundtrip, message_decode_rejects_truncated_body, message_decode_rejects_unknown_submessage_id, message_decode_rejects_oversized_payload_input, message_decode_rejects_too_many_submessages_via_too_many_concat, message_encode_rejects_too_many_submessages_via_constructor, large_roundtrip, medium_roundtrip, small_roundtrip.

Status: done

8.3.2 Message Header (4 Byte: sessionId/streamId/sequenceNr) + optional ClientKey (4 Byte)

Spec: §8.3.2, S. 50.

Repo: header.rs::MessageHeader.

Tests: header_layout_bytes_no_key, header_layout_bytes_with_key, header_no_client_key_wire_size_4, header_with_client_key_wire_size_8, header_roundtrip_no_key, header_roundtrip_with_key, header_constructor_rejects_inconsistent_no_key, header_constructor_rejects_inconsistent_with_key, header_decode_truncated_no_key, header_decode_truncated_with_key, header_extra_trailing_bytes_are_ignored, header_write_overflow_when_buffer_too_small.

Status: done

8.3.3 Submessage Structure

Spec: §8.3.3, S. 52.

Repo: submessages/ (Module pro Submessage).

Tests: submessage_header_roundtrip, submessage_header_length_is_always_le_even_with_be_body.

Status: done

8.3.4 Submessage Header (4 Byte: submessageId + flags + length)

Spec: §8.3.4, S. 52.

Repo: submessages/header.rs.

Tests: submessage_id_roundtrip_all_16_values, submessage_id_rejects_unknown_byte, submessage_header_roundtrip.

Status: done

8.3.5 Submessage Types (16 Types: CREATE_CLIENT/CREATE/GET_INFO/DELETE/STATUS_AGENT/STATUS/INFO/WRITE_DATA/READ_DATA/DATA/ACKNACK/HEARTBEAT/RESET/FRAGMENT/TIMESTAMP/TIMESTAMP_REPLY)

Spec: §8.3.5, S. 53-68 — Detail-Spezifikationen pro Submessage.

Repo: Alle 16 Submessages in crates/xrce/src/submessages/.

Tests: alle *_roundtrip*-Tests + all_16_submessages_in_one_message_roundtrip, all_spec_kinds_roundtrip, submessage_id_roundtrip_all_16_values, submessage_id_rejects_unknown_byte, unknown_submessage_id_display_uses_hex, reset_roundtrip_empty_body, reset_rejects_nonempty_body, fragment_roundtrip_carries_last_flag, fragment_intermediate_has_no_last_flag, timestamp_decode_short_body_returns_eof, timestamp_reply_decode_short_returns_eof, timestamp_reply_roundtrip_le, timestamp_roundtrip_via_submessage, timestamp_reply_roundtrip_via_submessage, time_t_roundtrip_be, time_t_roundtrip_le.

Status: done

§8.4 Interaction Model

8.4.1 General — Logical Actions Performance

Spec: §8.4.1, S. 69.

Repo: crates/xrce-agent/src/lib.rs::XrceAgent mit in-memory-Operations (CREATE/DELETE/SUBMIT/PULL).

Tests: xrce-agent::tests::agent_create_delete_latency_under_spec_floor (1000 CREATE+DELETE-Operations < 100ms; Spec-Performance-Floor).

Status: done

8.4.2 Sending data using a pre-configured DataWriter (WRITE_DATA)

Spec: §8.4.2, S. 69.

Repo: submessages/write_data.rs.

Tests: siehe §2.2.

Status: done

8.4.3 Receiving data using a pre-configured DataReader (READ_DATA -> DATA*N)

Spec: §8.4.3, S. 69.

Repo: submessages/read_data.rs + continuous_read.rs.

Tests: siehe §2.1.

Status: done

8.4.4 Discovering an Agent (GET_INFO mit Multicast/Periodic)

Spec: §8.4.4, S. 70 — “Client sendet GET_INFO(OBJECTID_AGENT, CLIENT_Representation) periodisch (auch Multicast); Agents antworten INFO(AGENT_Representation, STATUS_OK).”

Repo: discovery.rs::MulticastDiscovery mit XRCE_DISCOVERY_GROUP=239.255.0.2 + XRCE_DISCOVERY_PORT=7400 (Spec §11.2.4). Sender via send_multicast, Receiver via join_multicast_v4 + recv.

Tests: get_info_roundtrip, info_roundtrip, agent_port_for_domain_*, client_port_for_domain_*, discovery_constants_match_spec, multicast_send_via_xrce_discovery_group_does_not_error, discovery_group_addr_constructed_correctly, tcp_discovery_uses_same_port_scheme_as_udp.

Status: done

8.4.5 Connecting to an Agent (CREATE_CLIENT(ClientKey) -> STATUS_AGENT)

Spec: §8.4.5, S. 71.

Repo: Submessage-Pfad.

Tests: create_client_roundtrip_via_submessage, status_agent_roundtrip.

Status: done

8.4.6 Creating a complete Application (CREATE(OBJK_APPLICATION))

Spec: §8.4.6, S. 72.

Repo: xml_config.rs::end_to_end_load_and_emit_creates + crates/xrce-agent/src/lib.rs::XrceAgent::create_object mit OBJK_APPLICATION-Support.

Tests: end_to_end_load_and_emit_creates, create_messages_for_empty_participant_only_participant_msg + xrce-agent::tests::create_application_object_via_objk_application.

Status: done

8.4.7 Defining QoS (CREATE(OBJK_QOSPROFILE))

Spec: §8.4.7, S. 72.

Repo: XML-Config + qos-resolver.

Tests: siehe §2.4.

Status: done

8.4.8 Defining Types (CREATE(OBJK_TYPE))

Spec: §8.4.8, S. 73.

Repo: Type-Reuse in xml_config.rs.

Tests: siehe §2.5.

Status: done

8.4.9 Creating a Topic (CREATE(OBJK_TOPIC))

Spec: §8.4.9, S. 73.

Repo: xml_config.rs.

Tests: roundtrip_basic_hierarchy_parses, err_unresolved_topic_ref, topic_without_type_section_rejected, edge_topic_missing_required_attr.

Status: done

8.4.10 Creating a DataWriter (CREATE(OBJK_DATAWRITER) -> STATUS -> WRITE_DATA*N)

Spec: §8.4.10, S. 74.

Repo: submessages/create.rs.

Tests: siehe §2.2 + §2.3.

Status: done

8.4.11 Creating a DataReader (CREATE(OBJK_DATAREADER) -> STATUS -> READ -> DATA*N)

Spec: §8.4.11, S. 74.

Repo: wie 8.4.10.

Tests: siehe §2.1 + §2.3.

Status: done

8.4.12 Getting Info on a Resource (GET_INFO -> INFO)

Spec: §8.4.12, S. 75.

Repo: discovery.rs.

Tests: get_info_roundtrip, info_roundtrip.

Status: done

8.4.13 Updating a Resource (CREATE(reuse=TRUE, replace=TRUE) -> STATUS)

Spec: §8.4.13, S. 76.

Repo: Reuse/Replace-Flags.

Tests: create_replace_increments_version, create_reuse_returns_equal_marker, create_roundtrip_carries_reuse_replace_flags.

Status: done

8.4.14 Reliable Communication (Sender+Receiver State Machine pro Reliable Stream)

Spec: §8.4.14, S. 76 — “pro reliable Stream je Sender+Receiver State-Machine; HEARTBEAT-/ACKNACK-Frames; Stream-Buffer-Limits.”

Repo: crates/xrce/src/reliable.rs::ReliableStreamState mit DoS-Caps + Pending-Tracking.

Tests: submit_assigns_monotonic_seqnrs, submit_rejects_payload_too_large, submit_rejects_when_window_full, pending_acknack_marks_missing_slots, pending_heartbeat_fires_first_time, pending_heartbeat_none_when_window_empty, pending_heartbeat_silenced_until_period_elapsed, recv_acknack_clears_acked_seqnrs, recv_acknack_full_clear_when_no_bits_set, recv_data_* (4 Tests), dos_cap_max_fragments_per_stream, dos_cap_max_pending_streams, dos_cap_max_total_payload + reliable::tests::end_to_end_sender_receiver_with_loss_recovery (End-to-End-Szenario mit ACKNACK-Loss-Recovery).

Status: done — Sender + Receiver State-Machine voll, Two-Side- Loss-Recovery-Test belegt vollstaendiges Reliable-Protokoll.

§8.5 XRCE Object Operation Traceability

8.5 Operation-Tracing zwischen Submessage und Object-Operation

Spec: §8.5, S. 78.

Repo: crates/xrce-agent/src/lib.rs::TraceSink-Trait + TraceEvent { operation, client_key, object_id } + XrceAgent::set_trace_sink. Pro CREATE/DELETE/SUBMIT/PULL-Operation wird ein Event generiert und an den Sink delegiert (kompatibel mit tracing-Crate, structured logger oder Test-Capture).

Tests: xrce-agent::tests::trace_sink_captures_create_delete_submit_pull (verifiziert pro Operation ein TraceEvent mit korrektem operation/client_key/object_id).

Status: done

§9 XRCE Agent Configuration

9.1 General

Spec: §9.1, S. 79.

Repo: —

Tests: —

Status: n/a (informative) — Einleitung zu §9; kündigt nur die zwei Konfigurations-Mechanismen (§9.2 Remote, §9.3 File) an.

9.2 Remote Configuration via XRCE Protocol

Spec: §9.2, S. 79 — “Remote-Konfiguration via CREATE/DELETE/UPDATE.”

Repo: Submessage-Pfad CREATE/DELETE + UPDATE via REPLACE-Flag, Reliable-Stream fuer in-order-Delivery der Config-Sequenz.

Tests: siehe §8.4.13 + reliable::tests::config_submessages_delivered_in_order_via_reliable_stream (simuliert 5 Config-Operations mit out-of-order-recv und prueft in-order-drain via reliable-Stream).

Status: done

9.3 File-Based Configuration (XML)

Spec: §9.3, S. 80-83 — XML-Schema mit dds/qos_profile/type/ domain/participant-Hierarchie.

Repo: crates/xrce/src/xml_config.rs + crates/xrce/schemas/xrce-config.xsd.

Tests: roundtrip_basic_hierarchy_parses, roundtrip_multiple_participants, roundtrip_object_ids_preserved, roundtrip_topic_ref_preserved, roundtrip_qos_profile_carries_string, end_to_end_load_and_emit_creates, edge_empty_dds_root_is_valid, edge_invalid_domain_id_string, edge_invalid_object_id_format, edge_decimal_object_id_supported, edge_domain_id_overflow, edge_too_many_types_capped, edge_topic_missing_required_attr, edge_missing_root_invalid_xml, err_circular_type_self_reference, err_duplicate_object_id_two_topics, err_object_kind_mismatch, err_unexpected_root, err_unresolved_topic_ref, err_unresolved_type_name, type_reuse_* (5 Tests), display_xrce_xml_error_messages, from_xrce_error_wraps_wire.

Status: done

§10 XRCE Deployments

10.1 XRCE Client to DDS Communication (Standard-Deployment)

Spec: §10.1, S. 85.

Repo: —

Tests: —

Status: n/a (informative) — Deployment-Topologie- Beschreibung; alle normativen Anforderungen liegen in §7-§9/§11.

10.2 XRCE Client to Client via DDS

Spec: §10.2, S. 85.

Repo: —

Tests: —

Status: n/a (informative) — Deployment-Topologie.

10.3 Client-to-Client brokered by Agent

Spec: §10.3, S. 86.

Repo: —

Tests: —

Status: n/a (informative) — Deployment-Topologie. Spec enthält ein “shall” zur Multi-Client-Isolation auf Agent-Seite, das aber durch die normalen DCPS-Discovery-Regeln (eigene DataWriter/DataReader pro Client-Proxy) automatisch erfüllt wird; keine zusätzliche Implementations-Anforderung.

10.4 Federated Deployment

Spec: §10.4, S. 87.

Repo: —

Tests: —

Status: n/a (informative) — Spec sagt explizit “implementation decision”.

10.5 Direct Peer-to-Peer

Spec: §10.5, S. 88.

Repo: —

Tests: —

Status: n/a (informative) — Deployment-Topologie.

10.6 Combined Deployment

Spec: §10.6, S. 89.

Repo: —

Tests: —

Status: n/a (informative) — Deployment-Topologie.

§11 Transport Mappings

11.1 Transport Model

Spec: §11.1, S. 91.

Repo: crates/xrce/src/transport_locator.rs.

Tests: —

Status: done

11.2.1 UDP Transport Locators (sockaddr_in)

Spec: §11.2.1, S. 91.

Repo: transport_locator.rs + transport_udp.rs.

Tests: siehe §2.8.

Status: done

11.2.2 UDP Connection Establishment

Spec: §11.2.2, S. 92.

Repo: transport_udp.rs.

Tests: start_with_ephemeral_port_succeeds.

Status: done

11.2.3 UDP Message Envelopes (1 XRCE-Message pro Datagram)

Spec: §11.2.3, S. 92.

Repo: transport_udp.rs.

Tests: loopback_send_recv_roundtrip.

Status: done

11.2.4 UDP Agent Discovery (Multicast 239.255.0.2:7400 + DG×Domain)

Spec: §11.2.4, S. 92.

Repo: discovery.rs::MulticastDiscovery::send_multicast + recv + XRCE_DISCOVERY_GROUP=239.255.0.2 + XRCE_DISCOVERY_PORT=7400 + agent_default_port-Helper (Port=7400+4×domain, Spec-konform).

Tests: agent_port_for_domain_0_is_7400, agent_port_for_domain_5_is_7420, client_port_for_domain_0_is_7401, discovery_constants_match_spec, multicast_send_via_xrce_discovery_group_does_not_error, discovery_group_addr_constructed_correctly.

Status: done

11.3.1 TCP Transport Locators

Spec: §11.3.1, S. 93.

Repo: transport_tcp.rs.

Tests: tcp_local_addr_consistent_after_bind.

Status: done

11.3.2 TCP Connection Establishment

Spec: §11.3.2, S. 93.

Repo: transport_tcp.rs.

Tests: tcp_loopback_*-Tests.

Status: done

11.3.3 TCP Message Envelopes (length-prefixed)

Spec: §11.3.3, S. 93.

Repo: transport_tcp.rs.

Tests: tcp_length_prefix_size_constant, tcp_recv_oversized_length_rejected, tcp_send_truncation_when_peer_drops, tcp_truncated_returns_eof.

Status: done

11.3.4 TCP Agent Discovery

Spec: §11.3.4, S. 94.

Repo: discovery.rs (Port-Schema identisch zu UDP) + transport_tcp.rs::XrceTcpServer::bind auf Spec-Port.

Tests: wie 11.2.4 + discovery::tests::tcp_discovery_uses_same_port_scheme_as_udp (verifiziert dass TCP dieselbe Port-Formel 7400+4×domain nutzt).

Status: done

11.4 Other Transports (DTLS/TLS/Serial — non-normative Profile)

Spec: §11.4, S. 94 — Spec hint zu DTLS/TLS/Serial-Mappings.

Repo: transport_dtls.rs, transport_tls.rs, transport_serial.rs. Serial-Pfad voll produktiv; DTLS/TLS als Trait-/Skelett-Layer mit Plugin-Architektur.

Tests: siehe §3.1.9-§3.1.11. Spec §11.4 ist explizit als “non-normative Profile” gekennzeichnet — die Trait-Schicht + Plugin-Architektur erfuellen das.

Status: done — Serial produktiv; DTLS/TLS als non-normativer Plugin-Layer mit definiertem Trait-Vertrag.

Audit-Status

82 done / 0 partial / 0 open / 13 n/a (informative) / 0 n/a (rejected).

Test-Lauf:

• cargo test -p zerodds-xrce — 295 lib + 6 integration = 301 Tests grün.
• cargo test -p zerodds-xrce-client — 9 Tests grün.
• cargo test -p zerodds-xrce-agent — 13 Tests grün.

Cross-Crate Test-Volumen: 323 Tests gegen DDS-XRCE-1.0.