`zerodds-py` v1.0 — Spec Coverage

Audit of the vendor spec docs/specs/zerodds-py-1.0.md against the tree as it stands.

Source: docs/specs/zerodds-py-1.0.md (vendor spec).

crates/py/ is a PyO3 bridge: the DCPS entities from crates/dcps/ as the extension module zerodds._core, with a Python package above it that carries IdlTopic over generated code and the ctypes loader against libzerodds. Topic types have one codec: the code zerodds-idlc generate --lang python emits (the Python backend of crates/lang-rules) over the wire runtime in runtime/python/zerodds_wire/. Without --features extension-module the crate is only the placeholder lib; maturin builds the module.

Beside it stands the XRCE endpoint SDK in endpoints/python/zerodds_endpoint.py, which this spec does not describe.

Implementation:

crates/py/ · docs.rs — PyO3 bridge (src/) + Python package (python/zerodds/) + test tree (python/tests/) + examples + sphinx tree.

§1 Architecture

§1.1 Module Layout

Spec: §1.1 — crate layout with Cargo.toml (crate-type cdylib+rlib), pyproject.toml for maturin, src/lib.rs+ffi.rs, python/zerodds/{__init__,topic,aio,loader}.py, python/tests/ with _generated/, examples/, docs/ sphinx, and runtime/python/.

Repo: crates/py/Cargo.toml (crate-type = ["cdylib", "rlib"], feature extension-module), crates/py/pyproject.toml (build-backend = "maturin", python-source = "python", module-name = "zerodds._core"), crates/py/build.rs (-undefined dynamic_lookup on Darwin), crates/py/src/lib.rs, crates/py/src/ffi.rs, crates/py/python/zerodds/__init__.py, crates/py/python/zerodds/topic.py, crates/py/python/zerodds/aio.py, crates/py/python/zerodds/loader.py, crates/py/python/tests/ (fixtures: tests/_generated/*.idl and their zerodds-idlc output), crates/py/examples/, crates/py/docs/conf.py, runtime/python/zerodds_wire/.

maturin build turns that into an abi3 wheel holding _core.abi3.so and the Python modules.

Tests: crates/py/python/tests/test_docs.py::test_examples_parse, crates/py/python/tests/test_docs.py::test_literalincludes_point_at_existing_examples, crates/py/python/tests/test_smoke.py::test_version_exposed

Status: done

§1.2 PyO3 module `zerodds._core` — PyClasses

One item per PyClass. Mapping from DDS 1.4 §2.2.2.

§1.2.1 `DomainParticipantFactory` (PyClass)

Spec: §1.2 + §2.1 — PyClass DomainParticipantFactory with instance(), create_participant(domain_id), create_participant_offline(domain_id), create_participant_fast(domain_id).

Repo: crates/py/src/ffi.rs (PyFactory) — instance as a #[staticmethod], the three constructors over zerodds_dcps::DomainParticipantFactory; create_participant_fast sets RuntimeConfig { tick_period: 20 ms, spdp_period: 100 ms }.

Tests: crates/py/python/tests/test_smoke.py::test_factory_singleton_and_offline_participant, crates/py/python/tests/test_smoke.py::test_pub_sub_roundtrip_live, crates/py/python/tests/test_loader_smoke.py::test_loader_factory_singleton

Status: done

§1.2.2 `DomainParticipant` (PyClass)

Spec: §1.2 + §2.2 — PyClass DomainParticipant with domain_id, topics_len, discovered_participants_count, create_{bytes,shape}_topic, create_{publisher,subscriber}, assert_liveliness, ignore_{participant,topic,publication,subscription}, contains_entity, get_discovered_{topics,participants}.

Repo: crates/py/src/ffi.rs (PyParticipant) — plus create_keyed_topic and create_bytes_contentfilteredtopic; the four ignore_* and contains_entity take the u64 of an InstanceHandle.

Tests: crates/py/python/tests/test_participant_ignore.py::test_ignore_participant_unknown_handle_is_silent, crates/py/python/tests/test_participant_ignore.py::test_contains_entity_false_for_unknown_handle, crates/py/python/tests/test_participant_ignore.py::test_get_discovered_participants_offline_is_empty, crates/py/python/tests/test_participant_ignore.py::test_assert_liveliness_offline_does_not_raise

Status: done

§1.2.3 `BytesTopic` (PyClass)

Spec: §1.2 — PyClass BytesTopic with name, type_name.

Repo: crates/py/src/ffi.rs (PyBytesTopic) over Topic<RawBytes>; type_name reads <RawBytes as DdsType>::TYPE_NAME and is therefore bound to the Rust side rather than written a second time.

Tests: crates/py/python/tests/test_smoke.py::test_bytes_topic_and_reader_are_creatable_offline

Status: done

§1.2.4 `ShapeTopic` (PyClass)

Spec: §1.2 + §2.7 — PyClass ShapeTopic with name, type_name, type name = "ShapeType".

Repo: crates/py/src/ffi.rs (PyShapeTopic) over Topic<ShapeType>; type_name reads <ShapeType as DdsType>::TYPE_NAME from crates/dcps/src/interop.rs.

Tests: crates/py/python/tests/test_smoke.py::test_shape_topic_matches_vendor_interop_type_name, crates/py/python/tests/test_shapesdemo_interop.py::test_shape_type_name_matches_shapesdemo_convention

Status: done

§1.2.5 `Publisher` (PyClass)

Spec: §1.2 + §2.3 — PyClass Publisher with create_bytes_writer(topic), create_shape_writer(topic).

Repo: crates/py/src/ffi.rs (PyPublisher) — plus the *_with_qos variants from §6.2 and create_keyed_writer.

Tests: crates/py/python/tests/test_smoke.py::test_pub_sub_roundtrip_live, crates/py/python/tests/test_qos.py::test_create_bytes_writer_with_qos_offline, crates/py/python/tests/test_qos.py::test_create_shape_writer_with_qos_offline

Status: done

§1.2.6 `Subscriber` (PyClass)

Spec: §1.2 + §2.3 — PyClass Subscriber with create_bytes_reader(topic), create_shape_reader(topic).

Repo: crates/py/src/ffi.rs (PySubscriber) — plus the *_with_qos variants, create_keyed_reader and create_bytes_reader_cft for the content filter of §2.2.2.5.4.

Tests: crates/py/python/tests/test_smoke.py::test_bytes_topic_and_reader_are_creatable_offline, crates/py/python/tests/test_qos.py::test_create_bytes_reader_with_qos_offline, crates/py/python/tests/test_qos_lifecycle_surface.py::test_content_filtered_topic_filters_samples

Status: done

§1.2.7 `BytesWriter` (PyClass)

Spec: §1.2 + §2.4 — PyClass BytesWriter with write, wait_for_matched_subscription, matched_subscription_count, publication_matched_status, liveliness_lost_status, offered_deadline_missed_status.

Repo: crates/py/src/ffi.rs (PyBytesWriter) — plus register_instance, lookup_instance, dispose, unregister_instance and set_listener/clear_listener. write and the three wait functions release the GIL through py.detach.

Tests: crates/py/python/tests/test_status_getters.py::test_publication_matched_status_shape, crates/py/python/tests/test_status_getters.py::test_liveliness_lost_status_shape, crates/py/python/tests/test_status_getters.py::test_offered_deadline_missed_status_shape, crates/py/python/tests/test_qos_lifecycle_surface.py::test_bytes_writer_lifecycle_methods_present

Status: done

§1.2.8 `BytesReader` (PyClass)

Spec: §1.2 + §2.5 — PyClass BytesReader with take, wait_for_data, wait_for_matched_publication, matched_publication_count, subscription_matched_status, sample_lost_status, requested_deadline_missed_status.

Repo: crates/py/src/ffi.rs (PyBytesReader) — plus take_with_info / read_with_info, which yield (bytes, SampleInfo) pairs, liveliness_changed_status and set_listener/clear_listener.

Tests: crates/py/python/tests/test_status_getters.py::test_subscription_matched_status_shape, crates/py/python/tests/test_status_getters.py::test_sample_lost_status_shape, crates/py/python/tests/test_status_getters.py::test_requested_deadline_missed_status_shape, crates/py/python/tests/test_qos_lifecycle_surface.py::test_bytes_take_with_info_returns_sample_info

Status: done

§1.2.9 `Shape` (PyClass / dataclass)

Spec: §1.2 + §2.7 — PyClass Shape with fields color, x, y, shapesize (default 30), __repr__, conversions From<&PyShape> and From<ShapeType> in both directions.

Repo: crates/py/src/ffi.rs (PyShape) with #[pyo3(signature = (color, x, y, shapesize=30))] and the two From implementations against zerodds_dcps::interop::ShapeType.

Tests: crates/py/python/tests/test_smoke.py::test_shape_constructor_and_repr, crates/py/python/tests/test_smoke.py::test_shape_default_shapesize_is_30

Status: done

§1.2.10 `ShapeWriter` (PyClass)

Spec: §1.2 + §2.4 — PyClass ShapeWriter with write(shape), register_instance(shape), dispose(shape), unregister_instance(shape), wait_for_matched_subscription.

Repo: crates/py/src/ffi.rs (PyShapeWriter) — dispose and unregister_instance register the instance when lookup_instance returns nil, so a valid handle is always at hand (spec §2.2.2.4.2.4).

Tests: crates/py/python/tests/test_writer_lifecycle.py::test_register_instance_returns_nonzero_handle, crates/py/python/tests/test_writer_lifecycle.py::test_register_instance_is_idempotent_for_same_key, crates/py/python/tests/test_writer_lifecycle.py::test_lifecycle_full_sequence

Status: done

§1.2.11 `ShapeReader` (PyClass)

Spec: §1.2 + §2.5 — PyClass ShapeReader with take, wait_for_data, wait_for_matched_publication.

Repo: crates/py/src/ffi.rs (PyShapeReader) — plus take_with_info / read_with_info and liveliness_changed_status.

Tests: crates/py/python/tests/test_status_getters.py::test_matched_publication_count_zero_offline, crates/py/python/tests/test_listener.py::test_set_listener_on_shape_reader_offline

Status: done

§1.2.12 `GuardCondition` (PyClass)

Spec: §1.2 + §2.6 — PyClass GuardCondition with constructor, set_trigger_value(bool), get_trigger_value() -> bool.

Repo: crates/py/src/ffi.rs (PyGuardCondition) over zerodds_dcps::condition::GuardCondition.

Tests: crates/py/python/tests/test_conditions.py::test_guard_condition_default_trigger_is_false, crates/py/python/tests/test_conditions.py::test_guard_condition_set_trigger_roundtrip, crates/py/python/tests/test_conditions.py::test_guard_condition_via_outer_namespace

Status: done

§1.2.13 `WaitSet` (PyClass)

Spec: §1.2 + §2.6 — PyClass WaitSet with constructor, attach_guard_condition(gc), wait(timeout_secs) -> int.

Repo: crates/py/src/ffi.rs (PyWaitSet) over zerodds_dcps::condition::WaitSet; wait releases the GIL and raises TimeoutError when nothing triggers. attach_read_condition and attach_query_condition come with §6.6.

Tests: crates/py/python/tests/test_conditions.py::test_waitset_attach_and_wait_raises_timeout, crates/py/python/tests/test_conditions.py::test_waitset_wakes_when_guard_condition_fires, crates/py/python/tests/test_conditions.py::test_waitset_via_outer_namespace

Status: done

§1.3 Python wrapper `python/zerodds/`

§1.3.1 `init.py` — re-export

Spec: §1.3 — zerodds.__init__ re-exports the _core PyClasses and IdlTopic/IdlWriter/IdlReader from topic.py.

Repo: crates/py/python/zerodds/__init__.py — re-exports the PyClasses along with __version__, the modules sample_state, view_state, instance_state and IdlTopic/IdlWriter/IdlReader from topic.py. When the extension module is absent, _CORE_AVAILABLE is False and the PyClasses become placeholders that raise an ImportError naming the maturin line on instantiation — the pure-Python modules stay usable with no Rust build.

Tests: crates/py/python/tests/test_smoke.py::test_version_exposed, crates/py/python/tests/test_conditions.py::test_guard_condition_via_outer_namespace, crates/py/python/tests/test_docs.py::test_api_rst_documents_every_extension_class

Status: done

§1.3.2 `topic.py` — `IdlTopic` over a generated `TopicDescriptor`

Spec: §1.3 + §6.1 — IdlTopic(participant, name, descriptor) takes only a zerodds_wire.topic_descriptor.TopicDescriptor and creates the topic with the type’s CompleteTypeObject, key and extensibility; IdlWriter/IdlReader encode and decode with the generated code.

Repo: crates/py/python/zerodds/topic.py (IdlTopic, IdlWriter, IdlReader) over DomainParticipant.create_descriptor_topic and the DescriptorTopic/DescriptorWriter/DescriptorReader PyClasses in crates/py/src/ffi.rs.

Tests: crates/py/python/tests/test_idl_topic.py::test_idl_topic_rejects_a_non_topic_descriptor, ::test_idl_topic_exposes_type_name_from_the_descriptor, ::test_idl_writer_encodes_and_reader_decodes_roundtrip, ::test_idl_writer_rejects_wrong_type, ::test_idl_writer_passthrough_status

Status: done

§1.3.3 `runtime/python` — `zerodds_wire`

Spec: §1 + §3 — the wire runtime the generated code emits onto.

Repo: runtime/python/zerodds_wire/ (Writer, Reader, TopicDescriptor, OutOfRange, encapsulation and endianness) — alignment at min(N, MAXALIGN) with MAXALIGN four under XCDR2 and eight under XCDR1, DHEADER and EMHEADER framing, PL_CDR1 parameters.

Tests: runtime/python/tests/test_wire.py, crates/py/python/tests/test_idl.py::test_wire_primitive_roundtrip, ::test_wire_string_alignment_padding, ::test_wire_reader_rejects_truncated_string, ::test_xcdr2_max_align_caps_double_at_four

Status: done

§1.3.4 `loader.py` — pure `ctypes` loader

Spec: §1.3 + §1.4 — pure ctypes loader against libzerodds.{so,dylib,dll} from crates/zerodds-c-api/. Follows zerodds-ffi-loader-1.0 §3.1. Signatures from crates/zerodds-c-api/include/zerodds.h.

Repo: crates/py/python/zerodds/loader.py (load_library, Runtime, Writer, Reader, DomainParticipantFactory, ZeroDdsError) — resolution over ZERODDS_LIB, the wheel-internal _lib/, target/{debug,release} in a development tree, and finally the system linker.

Tests: crates/py/python/tests/test_loader_smoke.py::test_loader_resolves_library, crates/py/python/tests/test_loader_smoke.py::test_loader_runtime_create_participant_offline, crates/py/python/tests/test_loader_smoke.py::test_loader_zerodds_error_is_runtime_error_subclass

The four tests skip when no libzerodds is found (cargo build -p zerodds-c-api or ZERODDS_LIB).

Status: done

§1.4 Two-path choice

Spec: §1.4 — two independent paths: PyO3 (performance, RTPS-native) and pure ctypes (distro package, zero build).

Repo: crates/py/src/ffi.rs for the PyO3 path, crates/py/python/zerodds/loader.py for the ctypes path. The two share only the wire format and the domain id: loader.py does not import _core and runs without a Rust toolchain, and ffi.rs knows nothing of libzerodds.

Tests: crates/py/python/tests/test_loader_smoke.py::test_loader_factory_singleton, crates/py/python/tests/test_smoke.py::test_factory_singleton_and_offline_participant

Status: done

Non-goal — RTPS directly in pure Python

Spec: Non-goals — “Direct RTPS wire in pure Python: the pure Python path goes via the ctypes loader bridge to the Rust library. There is no pure-Python RTPS datagram in v1.0 or v2.0.”

Repo: —

Tests: —

Status: open — the ctypes path needs libzerodds; runtime/python/zerodds_wire encodes CDR but sends no RTPS.

§1.5 Layer position

Spec: §1.5 — layer 6 (PSMs / bindings). Direct dependencies: zerodds-dcps (layer 4), zerodds-c-api (layer 6 C-FFI).

Repo: crates/py/Cargo.toml — the Rust dependencies are zerodds-dcps, zerodds-qos and zerodds-wire; crates/zerodds-c-api/ is reached at runtime by the ctypes path through the loader, with no manifest edge. crates/py/src/lib.rs names the layer in the crate doc.

Tests: crates/py/src/lib.rs::dcps_re_export_compiles

Status: done

§2 OMG API coverage (DDS 1.4 §2.2.2)

§2.1 DomainParticipantFactory (DDS 1.4 §2.2.2.2.1)

Spec: §2.1 — mapping table: get_instance(), create_participant, create_participant_offline, implicit delete_participant via the Python GC.

Repo: crates/py/src/ffi.rs (PyFactory) — DomainParticipantFactory.instance() as a #[staticmethod], create_participant and create_participant_offline each onto the Rust operation of the same name. Deletion hangs off the Python GC: PyParticipant holds the DomainParticipant, whose Drop tears the Rust side down.

Tests: crates/py/python/tests/test_smoke.py::test_factory_singleton_and_offline_participant, crates/py/python/tests/test_multiproc.py::test_multiproc_python_python_roundtrip

Status: done

§2.2 DomainParticipant (DDS 1.4 §2.2.2.2.2)

Spec: §2.2 — twelve operations: get_domain_id, create_topic, create_publisher, create_subscriber, assert_liveliness, ignore_{participant,topic,publication,subscription}, contains_entity, get_discovered_{topics,participants}.

Repo: crates/py/src/ffi.rs (PyParticipant) — all twelve. get_domain_id is the domain_id property, and create_topic is the three typed constructors create_bytes_topic, create_shape_topic and create_keyed_topic.

Tests: crates/py/python/tests/test_participant_ignore.py::test_ignore_topic_unknown_handle_is_silent, crates/py/python/tests/test_participant_ignore.py::test_ignore_publication_unknown_handle_is_silent, crates/py/python/tests/test_participant_ignore.py::test_ignore_subscription_unknown_handle_is_silent, crates/py/python/tests/test_participant_ignore.py::test_get_discovered_topics_offline_is_empty

Status: done

§2.3 Publisher / Subscriber (DDS 1.4 §2.2.2.4.1 / §2.2.2.5.1)

Spec: §2.3 — Publisher.create_datawriter → pub.create_{bytes,shape}_writer(topic), Subscriber.create_datareader → sub.create_{bytes,shape}_reader(topic).

Repo: crates/py/src/ffi.rs (PyPublisher, PySubscriber) — one constructor per topic type, each with a *_with_qos variant.

Tests: crates/py/python/tests/test_qos.py::test_create_shape_reader_with_qos_offline, crates/py/python/tests/test_smoke.py::test_pub_sub_roundtrip_live

Status: done

§2.4 DataWriter (DDS 1.4 §2.2.2.4.2)

Spec: §2.4 — mapping table: write, register_instance, unregister_instance, dispose, get_matched_subscriptions, get_publication_matched_status, get_liveliness_lost_status, get_offered_deadline_missed_status, plus the wait_for_matched_subscription sync helper.

Repo: crates/py/src/ffi.rs (PyBytesWriter, PyShapeWriter, PyKeyedWriter) — get_matched_subscriptions is matched_subscription_count, and the three status getters return the tuples of the spec’s structures.

Tests: crates/py/python/tests/test_writer_lifecycle.py::test_dispose_does_not_raise, crates/py/python/tests/test_writer_lifecycle.py::test_unregister_instance_does_not_raise, crates/py/python/tests/test_status_getters.py::test_matched_subscription_count_zero_offline, crates/py/python/tests/test_qos_lifecycle_surface.py::test_keyed_register_instance_returns_real_handle

Status: done

§2.5 DataReader (DDS 1.4 §2.2.2.5.3)

Spec: §2.5 — take, wait_for_data, wait_for_matched_publication, matched_publication_count, subscription_matched_status, sample_lost_status, requested_deadline_missed_status. read and wait_for_historical_data deliberately omitted.

Repo: crates/py/src/ffi.rs (PyBytesReader, PyShapeReader, PyKeyedReader). Beyond the spec’s list there are read_with_info and take_with_info, which carry the SampleInfo per sample — read without a SampleInfo stays out, as the spec says.

Tests: crates/py/python/tests/test_qos_lifecycle_surface.py::test_bytes_take_with_info_returns_sample_info, crates/py/python/tests/test_status_getters.py::test_subscription_matched_status_shape, crates/py/python/tests/test_smoke.py::test_pub_sub_roundtrip_live

Status: done

§2.6 WaitSet / conditions (DDS 1.4 §2.2.2.6)

Spec: §2.6 — WaitSet, GuardCondition with attach_guard_condition, wait, set/get_trigger_value. ReadCondition/QueryCondition are available through §6.6.

Repo: crates/py/src/ffi.rs (PyGuardCondition, PyWaitSet), crates/py/src/conditions.rs for the two reader conditions.

The spec says in §2.6 that the outer zerodds namespace does not re-export WaitSet and GuardCondition yet, and lists both in §1.3’s re-export block. crates/py/python/zerodds/__init__.py follows §1.3: both are reachable through zerodds. and through zerodds._core., which includes the §2.6 access.

Tests: crates/py/python/tests/test_conditions.py::test_waitset_wakes_when_guard_condition_fires, crates/py/python/tests/test_conditions.py::test_waitset_via_outer_namespace, crates/py/python/tests/test_read_conditions.py::test_read_condition_attaches_to_waitset

Status: done

§2.7 ShapeType — cross-vendor interop type

Spec: §2.7 — the Shape PyClass is octet-identical to ShapeType in crates/dcps/src/interop.rs. Fields color: String, x: i32, y: i32, shapesize: i32 (default 30). Type name on the wire = "ShapeType".

Repo: crates/py/src/ffi.rs (PyShape, shape_reference_octets) — the conversion goes through zerodds_dcps::interop::ShapeType itself, so there is no second codec on the Rust side. shape_reference_octets returns that codec’s octets to Python, so the generated Python code can be measured against it.

Tests: crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet, crates/py/python/tests/test_smoke.py::test_shape_topic_matches_vendor_interop_type_name, crates/py/python/tests/test_shapesdemo_interop.py::test_shape_type_name_matches_shapesdemo_convention

Status: done

§3 IDL mapping — generated code over `zerodds_wire`

§3.1 Mapping

Spec: §3.1 — zerodds-idlc generate --lang python emits one dataclass per type, its encode/decode functions and ZD_TOPIC_DESCRIPTORS; the mapping table (integers, floats, strings, sequence, T[N], map, @optional, enum, union, struct); a bounded value over its bound is refused with OutOfRange before a byte is written; decode applies @try_construct (XTypes 1.3 §7.2.2.4.4.4.9).

Repo: crates/lang-rules/src/adapter/python.rs (the Python mapping), crates/lang-rules/src/emit/encode.rs (the shared codec walk, including the bound checks), tools/idlc (generate --lang python), runtime/python/zerodds_wire/.

Tests: crates/py/python/tests/test_idl.py::test_sensor_mixed_fields_roundtrip, ::test_optional_present_and_absent, ::test_enum_roundtrip, ::test_enum_unknown_value_raises, ::test_union_case_int_roundtrip, ::test_union_default_branch_used_for_unknown_disc, ::test_nested_struct_roundtrip, ::test_fixed_array_roundtrip, ::test_generated_bounds_roundtrip_and_enforced

Status: partial — the element count of a fixed array is not checked on encode: too many elements are cut, too few raise IndexError (test_fixed_array_count_is_refused_on_encode, xfail(strict=True)).

§3.2 Example

Spec: §3.2 — IDL, generated module, IdlTopic over its descriptor.

Repo: crates/py/examples/03_idl_topic.idl, crates/py/examples/03_idl_topic_gen.py (the zerodds-idlc output), crates/py/examples/03_idl_topic.py.

Tests: crates/py/python/tests/test_docs.py::test_examples_parse, crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet

Status: done

§4 Test obligation

§4.1 Test inventory

Spec: §4 — pytest over crates/py/python/tests/, fixtures in tests/_generated/ as IDL plus their unchanged zerodds-idlc output, the runtime’s own tests in runtime/python/tests/.

Repo: seventeen files in crates/py/python/tests/ — among them test_smoke.py (seven tests), test_idl.py (forty-four test functions over the generated fixtures), test_idl_topic.py, test_qos.py, test_qos_lifecycle_surface.py, test_status_getters.py, test_writer_lifecycle.py, test_participant_ignore.py, test_conditions.py, test_read_conditions.py, test_listener.py, test_aio.py, test_loader_smoke.py, test_loader_declares_extensibility.py, test_multiproc.py, test_shapesdemo_interop.py, test_docs.py — plus the ROS-2 tree of §6.4 and runtime/python/tests/test_wire.py.

Tests: crates/py/python/tests/test_smoke.py::test_version_exposed, ::test_factory_singleton_and_offline_participant, ::test_bytes_topic_and_reader_are_creatable_offline, ::test_shape_topic_matches_vendor_interop_type_name, ::test_shape_constructor_and_repr, ::test_shape_default_shapesize_is_30, ::test_pub_sub_roundtrip_live; the test functions of test_idl.py.

Status: done

§4.2 Rust-side test inventory

Spec: §4 — no Rust test inventory, because without --features extension-module the crate is a placeholder lib with no API; spec compliance is verified on the pytest side.

Repo: crates/py/src/lib.rs — the four modules ffi, qos, listener and conditions hang off #[cfg(feature = "extension-module")]. There is no tests/ directory in the crate; the only Rust test is dcps_re_export_compiles, which checks that zerodds-dcps is reachable as a dependency. Every statement this coverage makes about behaviour stands on a pytest case.

Tests: crates/py/src/lib.rs::dcps_re_export_compiles

Status: done

§5 Multi-process / cross-vendor

§5.1 Single-process Python ↔︎ Python

Spec: §5 table row 1 — single-process Python ↔︎ Python over zerodds._core and crates/dcps.

Repo: crates/py/src/ffi.rs (PyFactory::create_participant_fast) — two participants on the same domain in one process; the matching runs over the in-process discovery fastpath from crates/dcps.

Tests: crates/py/python/tests/test_smoke.py::test_pub_sub_roundtrip_live, crates/py/python/tests/test_qos_lifecycle_surface.py::test_bytes_take_with_info_returns_sample_info, crates/py/python/tests/test_qos_lifecycle_surface.py::test_content_filtered_topic_filters_samples

Status: done

§5.2 Multi-process Python ↔︎ Python

Spec: §5 table row 2 — multi-process locally over RTPS/UDP + SPDP/SEDP.

Repo: crates/py/python/tests/test_multiproc.py — two python -c subprocesses, one BytesTopic, one payload; the subscriber exits 0 with OK as soon as it has it.

Tests: crates/py/python/tests/test_multiproc.py::test_multiproc_python_python_roundtrip

Status: done

§5.3 Cross-vendor Python ↔︎ other languages

Spec: §5 table row 3 — the ShapeType wire is octet-identical to C++/Rust/Java/C# peers over the shared topic type "ShapeType".

Repo: crates/py/python/tests/_generated/shape.idl and its generated module shape_gen.py + crates/py/src/ffi.rs::shape_reference_octets (returns what zerodds_dcps::interop::ShapeType::encode writes) — the reference the generated Python codec is held against octet for octet.

Tests: crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet (7 parameter sets; each case compares the octets written with the Rust reference from the same process), crates/py/python/tests/test_idl.py::test_shapetype_byte_roundtrip, crates/py/python/tests/test_shapesdemo_interop.py::test_shape_type_name_matches_shapesdemo_convention (the topic type name "ShapeType"). No gate; all three run in the default pytest run.

Status: partial — the Python ↔︎ Rust octet identity is measured in the tree. For C++, Java and C# there is no measurement in the repo: the interop matrix that carries those columns lives on the bench host and is not part of this tree. Tracked as §5.3b.

§5.3b Octet identity Python ↔︎ C++/Java/C# in the tree

Spec: §5 table row 3 — the ShapeType wire is octet-identical to C++/Java/C# peers.

Repo: —

Tests: —

Status: open — no test case in the repo holds the ShapeType octets the generated Python codec writes against those of the C++, Java or C# binding. shape_reference_octets supplies that reference for Rust only. Plan: produce a golden vector per binding the way endpoints/python/test_byte_identity.py does for SensorReading, for ShapeType too, and hold all four codecs against the same vector.

§5.4 Cross-vendor Python ↔︎ Cyclone / Fast DDS ShapesDemo

Spec: §5 table row 4 — same XCDR2-LE convention, same type name, same RTPS 2.5 wire.

Repo: matrix/zerodds-python/cyclone-* and matrix/zerodds-python/fastdds-* — the same measurement against Cyclone and Fast DDS

Tests: the cells of those option sets; plus crates/py/python/tests/test_shapesdemo_interop.py::test_cross_vendor_participant_discovery_against_ddsperf, which measures SPDP discovery against Cyclone’s ddsperf and skips where ddsperf is not on the path

Status: done

§5.5 Generated type over `IdlTopic` ↔︎ Rust codegen

Spec: §5 table row 5 — octets measured against the Rust reference.

Repo: crates/py/src/ffi.rs (shape_reference_octets) hands the octets of zerodds_dcps::interop::ShapeType::encode to Python; the module zerodds-idlc generates from tests/_generated/shape.idl produces them on the Python side. The comparison is against the codec compiled into the same module, not against a literal copied out of a Rust test. wireprobe-python-matrix measures the whole Python column against the Rust one.

Tests: crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet (seven shapes, among them an empty and a one-character colour string and i32::MAX/i32::MIN), crates/py/python/tests/test_idl.py::test_fixed_member_struct_byte_identical_to_rust_cpp, crates/py/python/tests/test_idl.py::test_sensor_mixed_fields_roundtrip

Status: done

§6 IDL topic, QoS, async + extended API

§6.1 `IdlTopic` / `IdlWriter` / `IdlReader`

Spec: §6.1 — IdlTopic(participant, name, descriptor) over a generated TopicDescriptor, yielding IdlWriter[T]/IdlReader[T], which encode and decode with the generated code.

Repo: crates/py/python/zerodds/topic.py (IdlTopic, IdlWriter, IdlReader) over DescriptorTopic/DescriptorWriter/ DescriptorReader; the constructor rejects anything but a TopicDescriptor, and IdlTopic.type_name comes from the descriptor.

Status: done

§6.2 QoS builder (all 22 policies)

Spec: §6.2 — DataWriterQos/DataReaderQos PyClasses with setters for all twenty-two policies of DDS 1.4 §2.2.3, plus Publisher.create_*_writer_with_qos / Subscriber.create_*_reader_with_qos.

Repo: crates/py/src/qos.rs (PyDataWriterQos, PyDataReaderQos) — setters for Reliability, Durability, DurabilityService, Deadline, LatencyBudget, Liveliness, DestinationOrder, Lifespan, Ownership, OwnershipStrength, Partition, Presentation, History, ResourceLimits, TransportPriority, WriterDataLifecycle, TimeBasedFilter, ReaderDataLifecycle, UserData, TopicData, GroupData, each on the side DDS 1.4 §2.2.3 carries it. An unknown kind string is rejected as a ValueError rather than falling silently onto a default. The create_*_with_qos constructors live in crates/py/src/ffi.rs.

Tests: crates/py/python/tests/test_qos.py::test_writer_qos_defaults, crates/py/python/tests/test_qos.py::test_writer_qos_setters_with_durations, crates/py/python/tests/test_qos.py::test_reader_qos_full_setter_chain, crates/py/python/tests/test_qos.py::test_writer_qos_rejects_unknown_reliability_kind, crates/py/python/tests/test_qos.py::test_create_bytes_writer_with_qos_offline

Status: done

§6.3 AsyncIO API

Spec: §6.3 — zerodds.aio with AsyncBytesWriter, AsyncBytesReader, AsyncShapeWriter, AsyncShapeReader, AsyncWaitSet; blocking calls over an asyncio.to_thread bridge.

Repo: crates/py/python/zerodds/aio.py — the five wrappers; every blocking operation runs through asyncio.to_thread, and the non-blocking getters pass straight through.

Tests: crates/py/python/tests/test_aio.py::test_async_wrappers_are_constructible, crates/py/python/tests/test_aio.py::test_async_wait_for_data_uses_event_loop, crates/py/python/tests/test_aio.py::test_async_take_returns_list_passthrough, crates/py/python/tests/test_aio.py::test_async_waitset_wait_raises_timeout

Status: done

§6.4 ROS-2 pytest integration

Spec: §6.4 — test tree crates/py/python/tests/ros2/ with a conftest.py (skip when ROS_DISTRO + rclpy + RMW_IMPLEMENTATION are missing) and test_rmw_zerodds_interop.py for standard rclpy publish/subscribe over the ZeroDDS rmw.

Repo: crates/py/python/tests/ros2/conftest.py — marks only the cases under ros2/ as skipped when ROS_DISTRO, ros2 on the path or rclpy are missing, and separately when RMW_IMPLEMENTATION does not name the ZeroDDS rmw; crates/py/python/tests/ros2/test_rmw_zerodds_interop.py — six cases over rclpy; crates/rmw-zerodds-shim/rmw_c/run_ros2_pytest.sh — the reproducible run that builds the ABI layer, registers it into a ROS 2 installation and runs this tree against it.

The spec names the rmw rmw_zerodds_shim; the implementation identifier per REP-2007 is rmw_zerodds_cpp (crates/rmw-zerodds-shim/ament/package.xml), and that is what the conftest.py checks for.

Tests: crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_init_succeeds_with_zerodds_rmw, crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_publish_subscribe_string_roundtrip, crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_service_call_roundtrip, crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_topic_graph_introspection, crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_node_names_graph, crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_endpoint_info_by_topic

On a host without ROS 2 all six skip with the reason from the conftest.py; they are measured through run_ros2_pytest.sh on a ROS 2 installation, see docs/spec-coverage/ros2-rmw.en.md.

Status: done

§6.5 Status listener callbacks

Spec: §6.5 — PyClasses DataWriterListener (3 slots) and DataReaderListener (6 slots), registered through writer.set_listener(listener, mask) / reader.set_listener(listener, mask).

Repo: crates/py/src/listener.rs (PyDataWriterListener, PyDataReaderListener, PyDataWriterListenerBridge, PyDataReaderListenerBridge) — three writer slots (on_offered_deadline_missed, on_liveliness_lost, on_publication_matched) and six reader slots (on_data_available, on_sample_lost, on_sample_rejected, on_requested_deadline_missed, on_liveliness_changed, on_subscription_matched). The bridge takes the GIL before each call; an exception inside a callback is printed and not propagated into Rust. set_listener/clear_listener sit on the four writer and reader PyClasses in crates/py/src/ffi.rs.

Tests: crates/py/python/tests/test_listener.py::test_writer_listener_constructible, crates/py/python/tests/test_listener.py::test_reader_listener_constructible, crates/py/python/tests/test_listener.py::test_set_listener_on_bytes_writer_offline, crates/py/python/tests/test_listener.py::test_set_listener_on_bytes_reader_offline, crates/py/python/tests/test_listener.py::test_set_listener_on_shape_writer_offline, crates/py/python/tests/test_listener.py::test_set_listener_on_shape_reader_offline

Status: done

§6.6 ReadCondition / QueryCondition

Spec: §6.6 — PyClasses ReadCondition and QueryCondition over the Rust conditions, bitmask constants as zerodds.{sample_state,view_state,instance_state}, an SQL92 filter validated in the constructor, WaitSet.attach_read_condition / attach_query_condition.

Repo: crates/py/src/conditions.rs (PyReadCondition, PyQueryCondition) over zerodds_dcps::condition; crates/py/python/zerodds/sample_state.py, crates/py/python/zerodds/view_state.py, crates/py/python/zerodds/instance_state.py for the bitmasks that crates/py/src/ffi.rs sets as module attributes out of zerodds_dcps::sample_info. An invalid SQL expression is rejected in the constructor as a RuntimeError.

Tests: crates/py/python/tests/test_read_conditions.py::test_sample_state_constants, crates/py/python/tests/test_read_conditions.py::test_read_condition_modes, crates/py/python/tests/test_read_conditions.py::test_query_condition_with_parameters, crates/py/python/tests/test_read_conditions.py::test_query_condition_invalid_sql_raises, crates/py/python/tests/test_read_conditions.py::test_query_condition_attaches_to_waitset

Status: done

§6.7 sphinx doc path

Spec: §6.7 — crates/py/docs/conf.py with autodoc/napoleon/ viewcode/intersphinx, autodoc_mock_imports for the build without maturin, and crates/py/docs/api.rst listing the PyClasses and the modules loader, topic, aio, sample_state, view_state, instance_state.

Repo: crates/py/docs/conf.py — the four extensions, autodoc_mock_imports = ["zerodds._core"] and the version read from the workspace manifest rather than repeated as a literal; crates/py/docs/api.rst — every class the extension module exports and the modules loader, topic, aio and the three state modules; crates/py/docs/index.rst, crates/py/docs/quickstart.rst, crates/py/docs/examples.rst.

Tests: crates/py/python/tests/test_docs.py::test_conf_py_declares_the_four_extensions_the_spec_names, crates/py/python/tests/test_docs.py::test_api_rst_documents_every_spec_pyclass, crates/py/python/tests/test_docs.py::test_api_rst_documents_every_pure_python_module, crates/py/python/tests/test_docs.py::test_api_rst_documents_every_extension_class, crates/py/python/tests/test_docs.py::test_toctree_entries_exist, crates/py/python/tests/test_docs.py::test_conf_py_is_importable_and_names_the_workspace_version

The tests check the tree’s inventory, not the sphinx-build run.

Status: done

§7 Stability

Spec: §7 — semver policy, v1.0 stable, major bump for breaking changes.

Repo: —

Tests: —

Status: n/a (informative) — versioning commitment, not a property of the binding.

§8 License

Spec: §8 — Apache-2.0 (workspace default).

Repo: —

Tests: —

Status: open — crates/py/pyproject.toml declares license = { text = "Apache-2.0 OR MIT" }, the Cargo workspace Apache-2.0; the spec names Apache-2.0. No test checks the declaration.

§9 References

Spec: §9 — a list of external specs (OMG DDS 1.4, XTypes 1.3, PSM-Cxx 1.0) and internal vendor specs (zerodds-c-api-1.0, zerodds-ffi-loader-1.0, zerodds-java-omgdds-1.0) plus PyO3 and PEP 384.

Repo: —

Tests: —

Status: n/a (informative) — list of references.

Audit status

41 done / 2 partial / 3 open / 0 blocked / 2 n/a (informative).

Test run: PYTHONPATH=runtime/python:crates/py/python python3 -m pytest crates/py/python/tests without test_qos_lifecycle_surface.py (it starts participants on domains 41–46) — 161 green, 0 failed, 1 xfailed (test_fixed_array_count_is_refused_on_encode, §3.1), 17 conditionally skipped (ROS-2 without ROS_DISTRO/rclpy, ShapesDemo without ddsperf, loader without libzerodds). cd runtime/python && python3 -m unittest discover -s tests — 125 tests green, 0 failed.

Open items: zerodds-py-1.0.open.en.md.

`zerodds-py` v1.0 — Spec-Coverage

Audit der Vendor-Spec docs/specs/zerodds-py-1.0.md gegen den heutigen Baum.

Source: docs/specs/zerodds-py-1.0.md (Vendor-Spec).

crates/py/ ist eine PyO3-Brücke: die DCPS-Entitäten aus crates/dcps/ als Erweiterungsmodul zerodds._core, mit einem Python-Package darüber, das IdlTopic über generiertem Code und den ctypes-Loader gegen libzerodds mitbringt. Topic-Typen haben einen Codec: den Code, den zerodds-idlc generate --lang python erzeugt (das Python-Backend von crates/lang-rules), über der Wire-Laufzeit in runtime/python/zerodds_wire/. Das Crate trägt ohne --features extension-module nur die Platzhalter-Lib; das Modul baut maturin.

Daneben steht das XRCE-Endpoint-SDK in endpoints/python/zerodds_endpoint.py, das diese Spec nicht beschreibt.

Implementation:

crates/py/ · docs.rs — PyO3-Brücke (src/) + Python-Package (python/zerodds/)
- Test-Baum (python/tests/) + Beispiele + sphinx-Baum.

§1 Architektur

§1.1 Module-Layout

Spec: §1.1 — Crate-Layout mit Cargo.toml (crate-type cdylib+rlib), pyproject.toml für maturin, src/lib.rs+ffi.rs, python/zerodds/{__init__,topic,aio,loader}.py, python/tests/ mit _generated/, examples/, docs/ sphinx und runtime/python/.

Repo: crates/py/Cargo.toml (crate-type = ["cdylib", "rlib"], Feature extension-module), crates/py/pyproject.toml (build-backend = "maturin", python-source = "python", module-name = "zerodds._core"), crates/py/build.rs (-undefined dynamic_lookup auf Darwin), crates/py/src/lib.rs, crates/py/src/ffi.rs, crates/py/python/zerodds/__init__.py, crates/py/python/zerodds/topic.py, crates/py/python/zerodds/aio.py, crates/py/python/zerodds/loader.py, crates/py/python/tests/ (Fixtures: tests/_generated/*.idl und ihr zerodds-idlc-Output), crates/py/examples/, crates/py/docs/conf.py, runtime/python/zerodds_wire/.

maturin build baut daraus ein abi3-Wheel mit _core.abi3.so und den Python-Modulen.

Status: done

§1.2 PyO3-Modul `zerodds._core` — PyClasses

Pro PyClass ein Item. Mapping aus DDS 1.4 §2.2.2.

§1.2.1 `DomainParticipantFactory` (PyClass)

Spec: §1.2 + §2.1 — PyClass DomainParticipantFactory mit instance(), create_participant(domain_id), create_participant_offline(domain_id), create_participant_fast(domain_id).

Repo: crates/py/src/ffi.rs (PyFactory) — instance als #[staticmethod], die drei Konstruktoren über zerodds_dcps::DomainParticipantFactory; create_participant_fast setzt RuntimeConfig { tick_period: 20 ms, spdp_period: 100 ms }.

Status: done

§1.2.2 `DomainParticipant` (PyClass)

Spec: §1.2 + §2.2 — PyClass DomainParticipant mit domain_id, topics_len, discovered_participants_count, create_{bytes,shape}_topic, create_{publisher,subscriber}, assert_liveliness, ignore_{participant,topic,publication,subscription}, contains_entity, get_discovered_{topics,participants}.

Repo: crates/py/src/ffi.rs (PyParticipant) — zusätzlich create_keyed_topic und create_bytes_contentfilteredtopic; die vier ignore_* und contains_entity nehmen den u64 einer InstanceHandle.

Status: done

§1.2.3 `BytesTopic` (PyClass)

Spec: §1.2 — PyClass BytesTopic mit name, type_name.

Repo: crates/py/src/ffi.rs (PyBytesTopic) über Topic<RawBytes>; type_name liest <RawBytes as DdsType>::TYPE_NAME und ist damit an die Rust-Seite gebunden statt neu geschrieben.

Tests: crates/py/python/tests/test_smoke.py::test_bytes_topic_and_reader_are_creatable_offline

Status: done

§1.2.4 `ShapeTopic` (PyClass)

Spec: §1.2 + §2.7 — PyClass ShapeTopic mit name, type_name, Type-Name = "ShapeType".

Repo: crates/py/src/ffi.rs (PyShapeTopic) über Topic<ShapeType>; type_name liest <ShapeType as DdsType>::TYPE_NAME aus crates/dcps/src/interop.rs.

Status: done

§1.2.5 `Publisher` (PyClass)

Spec: §1.2 + §2.3 — PyClass Publisher mit create_bytes_writer(topic), create_shape_writer(topic).

Repo: crates/py/src/ffi.rs (PyPublisher) — dazu die *_with_qos-Varianten aus §6.2 und create_keyed_writer.

Status: done

§1.2.6 `Subscriber` (PyClass)

Spec: §1.2 + §2.3 — PyClass Subscriber mit create_bytes_reader(topic), create_shape_reader(topic).

Repo: crates/py/src/ffi.rs (PySubscriber) — dazu die *_with_qos-Varianten, create_keyed_reader und create_bytes_reader_cft für den Content-Filter aus §2.2.2.5.4.

Status: done

§1.2.7 `BytesWriter` (PyClass)

Spec: §1.2 + §2.4 — PyClass BytesWriter mit write, wait_for_matched_subscription, matched_subscription_count, publication_matched_status, liveliness_lost_status, offered_deadline_missed_status.

Repo: crates/py/src/ffi.rs (PyBytesWriter) — dazu register_instance, lookup_instance, dispose, unregister_instance und set_listener/clear_listener. write und die drei Wartefunktionen geben den GIL über py.detach frei.

Status: done

§1.2.8 `BytesReader` (PyClass)

Spec: §1.2 + §2.5 — PyClass BytesReader mit take, wait_for_data, wait_for_matched_publication, matched_publication_count, subscription_matched_status, sample_lost_status, requested_deadline_missed_status.

Repo: crates/py/src/ffi.rs (PyBytesReader) — dazu take_with_info / read_with_info, die (bytes, SampleInfo)-Paare liefern, liveliness_changed_status und set_listener/clear_listener.

Status: done

§1.2.9 `Shape` (PyClass / Dataclass)

Spec: §1.2 + §2.7 — PyClass Shape mit Feldern color, x, y, shapesize (default 30), __repr__, Konvertierungen From<&PyShape> und From<ShapeType> in beide Richtungen.

Repo: crates/py/src/ffi.rs (PyShape) mit #[pyo3(signature = (color, x, y, shapesize=30))] und den beiden From-Implementierungen gegen zerodds_dcps::interop::ShapeType.

Tests: crates/py/python/tests/test_smoke.py::test_shape_constructor_and_repr, crates/py/python/tests/test_smoke.py::test_shape_default_shapesize_is_30

Status: done

§1.2.10 `ShapeWriter` (PyClass)

Spec: §1.2 + §2.4 — PyClass ShapeWriter mit write(shape), register_instance(shape), dispose(shape), unregister_instance(shape), wait_for_matched_subscription.

Repo: crates/py/src/ffi.rs (PyShapeWriter) — dispose und unregister_instance registrieren die Instanz nach, wenn lookup_instance nil liefert, damit immer ein gültiges Handle vorliegt (Spec §2.2.2.4.2.4).

Status: done

§1.2.11 `ShapeReader` (PyClass)

Spec: §1.2 + §2.5 — PyClass ShapeReader mit take, wait_for_data, wait_for_matched_publication.

Repo: crates/py/src/ffi.rs (PyShapeReader) — dazu take_with_info / read_with_info und liveliness_changed_status.

Tests: crates/py/python/tests/test_status_getters.py::test_matched_publication_count_zero_offline, crates/py/python/tests/test_listener.py::test_set_listener_on_shape_reader_offline

Status: done

§1.2.12 `GuardCondition` (PyClass)

Spec: §1.2 + §2.6 — PyClass GuardCondition mit Konstruktor, set_trigger_value(bool), get_trigger_value() -> bool.

Repo: crates/py/src/ffi.rs (PyGuardCondition) über zerodds_dcps::condition::GuardCondition.

Status: done

§1.2.13 `WaitSet` (PyClass)

Spec: §1.2 + §2.6 — PyClass WaitSet mit Konstruktor, attach_guard_condition(gc), wait(timeout_secs) -> int.

Repo: crates/py/src/ffi.rs (PyWaitSet) über zerodds_dcps::condition::WaitSet; wait gibt den GIL frei und wirft TimeoutError, wenn nichts triggert. attach_read_condition und attach_query_condition kommen aus §6.6 dazu.

Status: done

§1.3 Python-Wrapper `python/zerodds/`

§1.3.1 `init.py` — Re-Export

Spec: §1.3 — zerodds.__init__ re-exportiert die _core-PyClasses und IdlTopic/IdlWriter/IdlReader aus topic.py.

Repo: crates/py/python/zerodds/__init__.py — re-exportiert die PyClasses samt __version__, die Module sample_state, view_state, instance_state und IdlTopic/IdlWriter/IdlReader aus topic.py. Fehlt das Erweiterungsmodul, setzt _CORE_AVAILABLE = False und die PyClasses werden zu Platzhaltern, die beim Instanziieren einen ImportError mit der maturin-Zeile werfen — die pure-Python-Module bleiben ohne Rust-Build benutzbar.

Status: done

§1.3.2 `topic.py` — `IdlTopic` über einem generierten `TopicDescriptor`

Spec: §1.3 + §6.1 — IdlTopic(participant, name, descriptor) nimmt nur einen zerodds_wire.topic_descriptor.TopicDescriptor an und legt das Topic mit CompleteTypeObject, Schlüssel und Extensibility des Typs an; IdlWriter/IdlReader kodieren und dekodieren mit dem generierten Code.

Repo: crates/py/python/zerodds/topic.py (IdlTopic, IdlWriter, IdlReader) über DomainParticipant.create_descriptor_topic und die PyClasses DescriptorTopic/DescriptorWriter/DescriptorReader in crates/py/src/ffi.rs.

Status: done

§1.3.3 `runtime/python` — `zerodds_wire`

Spec: §1 + §3 — die Wire-Laufzeit, auf die der generierte Code aufsetzt.

Repo: runtime/python/zerodds_wire/ (Writer, Reader, TopicDescriptor, OutOfRange, Encapsulation und Byte-Ordnung) — Alignment auf min(N, MAXALIGN) mit MAXALIGN vier unter XCDR2 und acht unter XCDR1, DHEADER- und EMHEADER-Framing, PL_CDR1-Parameter.

Status: done

§1.3.4 `loader.py` — pure-`ctypes`-Loader

Spec: §1.3 + §1.4 — Pure-ctypes-Loader gegen libzerodds.{so,dylib,dll} aus crates/zerodds-c-api/. Folgt zerodds-ffi-loader-1.0 §3.1. Signaturen aus crates/zerodds-c-api/include/zerodds.h.

Repo: crates/py/python/zerodds/loader.py (load_library, Runtime, Writer, Reader, DomainParticipantFactory, ZeroDdsError) — Auflösung über ZERODDS_LIB, das Wheel-interne _lib/, target/{debug,release} im Entwicklungsbaum und zuletzt den System-Linker.

Die vier Tests überspringen, wenn keine libzerodds gefunden wird (cargo build -p zerodds-c-api oder ZERODDS_LIB).

Status: done

§1.4 Zwei-Pfad-Wahl

Spec: §1.4 — Zwei unabhängige Pfade: PyO3 (Performance, RTPS-native) und pure-ctypes (Distro-Package, Zero-Build).

Repo: crates/py/src/ffi.rs für den PyO3-Pfad, crates/py/python/zerodds/loader.py für den ctypes-Pfad. Die beiden teilen nur Wire-Format und Domain-ID: loader.py importiert _core nicht und läuft ohne Rust-Toolchain, ffi.rs kennt libzerodds nicht.

Tests: crates/py/python/tests/test_loader_smoke.py::test_loader_factory_singleton, crates/py/python/tests/test_smoke.py::test_factory_singleton_and_offline_participant

Status: done

Nicht-Ziel — RTPS direkt in reinem Python

Spec: Nicht-Ziele — „Direct RTPS wire in pure Python: the pure Python path goes via the ctypes loader bridge to the Rust library. There is no pure-Python RTPS datagram in v1.0 or v2.0.“

Repo: —

Tests: —

Status: open — der ctypes-Pfad braucht libzerodds; runtime/python/zerodds_wire kodiert CDR, sendet aber kein RTPS.

§1.5 Schichten-Position

Spec: §1.5 — Layer 6 (PSMs / Bindings). Direkte Abhängigkeiten: zerodds-dcps (Layer 4), zerodds-c-api (Layer 6 C-FFI).

Repo: crates/py/Cargo.toml — die Rust-Abhängigkeiten sind zerodds-dcps, zerodds-qos und zerodds-wire; auf crates/zerodds-c-api/ greift der ctypes-Pfad zur Laufzeit über den Loader zu, ohne Manifest-Kante. crates/py/src/lib.rs nennt die Schicht im Crate-Doc.

Tests: crates/py/src/lib.rs::dcps_re_export_compiles

Status: done

§2 OMG-API-Coverage (DDS 1.4 §2.2.2)

§2.1 DomainParticipantFactory (DDS 1.4 §2.2.2.2.1)

Spec: §2.1 — Mapping-Tabelle: get_instance(), create_participant, create_participant_offline, implizites delete_participant via Python-GC.

Repo: crates/py/src/ffi.rs (PyFactory) — DomainParticipantFactory.instance() als classmethod-artige #[staticmethod], create_participant und create_participant_offline je auf die gleichnamige Rust-Operation. Das Löschen hängt am Python-GC: PyParticipant hält den DomainParticipant, dessen Drop die Rust-Seite abbaut.

Tests: crates/py/python/tests/test_smoke.py::test_factory_singleton_and_offline_participant, crates/py/python/tests/test_multiproc.py::test_multiproc_python_python_roundtrip

Status: done

§2.2 DomainParticipant (DDS 1.4 §2.2.2.2.2)

Spec: §2.2 — 12 Operations: get_domain_id, create_topic, create_publisher, create_subscriber, assert_liveliness, ignore_{participant,topic,publication,subscription}, contains_entity, get_discovered_{topics,participants}.

Repo: crates/py/src/ffi.rs (PyParticipant) — alle zwölf. get_domain_id ist das Property domain_id, create_topic sind die drei getypten Konstruktoren create_bytes_topic, create_shape_topic und create_keyed_topic.

Status: done

§2.3 Publisher / Subscriber (DDS 1.4 §2.2.2.4.1 / §2.2.2.5.1)

Spec: §2.3 — Publisher.create_datawriter → pub.create_{bytes,shape}_writer(topic), Subscriber.create_datareader → sub.create_{bytes,shape}_reader(topic).

Repo: crates/py/src/ffi.rs (PyPublisher, PySubscriber) — je Topic-Typ ein Konstruktor, jeweils mit *_with_qos-Variante.

Tests: crates/py/python/tests/test_qos.py::test_create_shape_reader_with_qos_offline, crates/py/python/tests/test_smoke.py::test_pub_sub_roundtrip_live

Status: done

§2.4 DataWriter (DDS 1.4 §2.2.2.4.2)

Spec: §2.4 — Mapping-Tabelle: write, register_instance, unregister_instance, dispose, get_matched_subscriptions, get_publication_matched_status, get_liveliness_lost_status, get_offered_deadline_missed_status plus wait_for_matched_subscription sync-helper.

Repo: crates/py/src/ffi.rs (PyBytesWriter, PyShapeWriter, PyKeyedWriter) — get_matched_subscriptions ist matched_subscription_count, die drei Status-Getter liefern die Tupel der Spec-Struktur.

Status: done

§2.5 DataReader (DDS 1.4 §2.2.2.5.3)

Spec: §2.5 — take, wait_for_data, wait_for_matched_publication, matched_publication_count, subscription_matched_status, sample_lost_status, requested_deadline_missed_status. read und wait_for_historical_data bewusst weggelassen.

Repo: crates/py/src/ffi.rs (PyBytesReader, PyShapeReader, PyKeyedReader). Über die Spec-Liste hinaus liegen read_with_info und take_with_info an, die je Sample die SampleInfo mitliefern — read ohne SampleInfo bleibt weg, wie die Spec es sagt.

Status: done

§2.6 WaitSet / Conditions (DDS 1.4 §2.2.2.6)

Spec: §2.6 — WaitSet, GuardCondition mit attach_guard_condition, wait, set/get_trigger_value. ReadCondition/QueryCondition sind über §6.6 verfügbar.

Repo: crates/py/src/ffi.rs (PyGuardCondition, PyWaitSet), crates/py/src/conditions.rs für die beiden Reader-Conditions.

Die Spec sagt in §2.6, das äussere zerodds-Namespace re-exportiere WaitSet und GuardCondition noch nicht, und listet beide in §1.3 im Re-Export-Block. crates/py/python/zerodds/__init__.py folgt §1.3: beide sind über zerodds. und über zerodds._core. erreichbar, was den §2.6-Zugang einschliesst.

Status: done

§2.7 ShapeType — Cross-Vendor-Interop-Type

Spec: §2.7 — Shape-PyClass byte-identisch zu ShapeType in crates/dcps/src/interop.rs. Felder color: String, x: i32, y: i32, shapesize: i32 (default 30). Type-Name auf dem Wire = "ShapeType".

Repo: crates/py/src/ffi.rs (PyShape, shape_reference_octets) — die Konvertierung geht über zerodds_dcps::interop::ShapeType selbst, es gibt keinen zweiten Codec auf der Rust-Seite. shape_reference_octets gibt die Oktette dieses Codecs nach Python zurück, damit der generierte Python-Code gegen ihn gemessen werden kann.

Status: done

§3 IDL-Mapping — generierter Code über `zerodds_wire`

§3.1 Mapping

Spec: §3.1 — zerodds-idlc generate --lang python erzeugt je Typ eine Dataclass, ihre Kodierfunktionen und ZD_TOPIC_DESCRIPTORS; die Mapping-Tabelle (Ganzzahlen, Gleitkomma, Strings, sequence, T[N], map, @optional, enum, union, struct); ein beschränkter Wert über seiner Schranke wird mit OutOfRange abgewiesen, bevor ein Byte geschrieben ist; der Decoder wendet @try_construct an (XTypes 1.3 §7.2.2.4.4.4.9).

Repo: crates/lang-rules/src/adapter/python.rs (das Python-Mapping), crates/lang-rules/src/emit/encode.rs (der gemeinsame Codec-Walk samt Schrankenprüfung), tools/idlc (generate --lang python), runtime/python/zerodds_wire/.

Status: partial — die Elementzahl eines festen Arrays prüft der Encoder nicht: zu viele Elemente werden gekürzt, zu wenige werfen IndexError (test_fixed_array_count_is_refused_on_encode, xfail(strict=True)).

§3.2 Beispiel

Spec: §3.2 — IDL, generiertes Modul, IdlTopic über seinem Deskriptor.

Repo: crates/py/examples/03_idl_topic.idl, crates/py/examples/03_idl_topic_gen.py (der zerodds-idlc-Output), crates/py/examples/03_idl_topic.py.

Tests: crates/py/python/tests/test_docs.py::test_examples_parse, crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet

Status: done

§4 Test-Pflicht

§4.1 Test-Inventar

Spec: §4 — pytest über crates/py/python/tests/, Fixtures in tests/_generated/ als IDL plus ihr unveränderter zerodds-idlc-Output, die eigenen Tests der Laufzeit in runtime/python/tests/.

Repo: siebzehn Dateien in crates/py/python/tests/ — darunter test_smoke.py (sieben Tests), test_idl.py (vierundvierzig Testfunktionen über den generierten Fixtures), test_idl_topic.py, test_qos.py, test_qos_lifecycle_surface.py, test_status_getters.py, test_writer_lifecycle.py, test_participant_ignore.py, test_conditions.py, test_read_conditions.py, test_listener.py, test_aio.py, test_loader_smoke.py, test_loader_declares_extensibility.py, test_multiproc.py, test_shapesdemo_interop.py, test_docs.py — dazu der ROS-2-Baum aus §6.4 und runtime/python/tests/test_wire.py.

Status: done

§4.2 Rust-seitiges Test-Inventar

Spec: §4 — kein Rust-Test-Inventar, weil das Crate ohne --features extension-module eine Platzhalter-Lib ohne API ist; die Spec-Compliance wird pytest-seitig verifiziert.

Repo: crates/py/src/lib.rs — die vier Module ffi, qos, listener und conditions hängen an #[cfg(feature = "extension-module")]. Es gibt kein tests/-Verzeichnis im Crate; der einzige Rust-Test ist dcps_re_export_compiles, der prüft, dass zerodds-dcps als Abhängigkeit erreichbar ist. Jede Aussage dieser Coverage über Verhalten steht auf einem pytest-Fall.

Tests: crates/py/src/lib.rs::dcps_re_export_compiles

Status: done

§5 Multi-Process / Cross-Vendor

§5.1 Single-Process Python ↔︎ Python

Spec: §5 Tabelle Row 1 — Single-Process Python ↔︎ Python über zerodds._core und crates/dcps.

Repo: crates/py/src/ffi.rs (PyFactory::create_participant_fast) — zwei Participants derselben Domain in einem Prozess; das Matching läuft über den In-Prozess-Discovery-Fastpath aus crates/dcps.

Status: done

§5.2 Multi-Process Python ↔︎ Python

Spec: §5 Tabelle Row 2 — Multi-Process lokal über RTPS/UDP + SPDP/SEDP.

Repo: crates/py/python/tests/test_multiproc.py — zwei python -c-Subprozesse, ein BytesTopic, eine Nutzlast; der Subscriber beendet sich mit 0 und OK, sobald er sie hat.

Tests: crates/py/python/tests/test_multiproc.py::test_multiproc_python_python_roundtrip

Status: done

§5.3 Cross-Vendor Python ↔︎ andere Sprachen

Spec: §5 Tabelle Row 3 — ShapeType-Wire byte-identisch zu C++/Rust/Java/C#-Peers über gemeinsamen Topic-Type "ShapeType".

Repo: crates/py/python/tests/_generated/shape.idl und das daraus generierte Modul shape_gen.py + crates/py/src/ffi.rs::shape_reference_octets (gibt zurück, was zerodds_dcps::interop::ShapeType::encode schreibt) — die Referenz, gegen die der generierte Python-Codec Oktett für Oktett gehalten wird.

Tests: crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet (7 Parameter-Sätze, jeder Fall vergleicht die geschriebenen Oktetten mit der Rust-Referenz aus demselben Prozess), crates/py/python/tests/test_idl.py::test_shapetype_byte_roundtrip, crates/py/python/tests/test_shapesdemo_interop.py::test_shape_type_name_matches_shapesdemo_convention (Topic-Type-Name "ShapeType"). Kein Gate; alle drei laufen im Default-Lauf von pytest.

Status: partial — die Byte-Identität Python ↔︎ Rust ist im Baum gemessen. Für C++, Java und C# gibt es keine Messung im Repo: die Interop-Matrix, die diese Spalten trägt, liegt auf dem Bench-Host und ist nicht Teil dieses Baums. Rest als §5.3b geführt.

§5.3b Byte-Identität Python ↔︎ C++/Java/C# im Baum

Spec: §5 Tabelle Row 3 — ShapeType-Wire byte-identisch zu C++/Java/C#-Peers.

Repo: —

Tests: —

Status: open — es gibt keinen Testfall im Repo, der die vom Python-Codec geschriebenen ShapeType-Oktetten gegen die der C++-, Java- oder C#-Bindung hält. shape_reference_octets liefert diese Referenz bisher nur für Rust. Plan: einen Golden-Vektor je Bindung wie in endpoints/python/test_byte_identity.py (dort für SensorReading) auch für ShapeType erzeugen und die vier Codecs gegen denselben Vektor halten.

§5.4 Cross-Vendor Python ↔︎ Cyclone-/Fast-DDS-ShapesDemo

Spec: §5 Tabelle Row 4 — gleiche XCDR2-LE-Konvention + gleicher Type-Name + RTPS-2.5-Wire.

Repo: matrix/zerodds-python/cyclone-* und matrix/zerodds-python/fastdds-* — dieselbe Messung gegen Cyclone und Fast DDS

Tests: die Zellen dieser Optionssätze; dazu crates/py/python/tests/test_shapesdemo_interop.py::test_cross_vendor_participant_discovery_against_ddsperf, das die SPDP-Entdeckung gegen Cyclones ddsperf misst und überspringt, wo ddsperf nicht im Pfad liegt

Status: done

§5.5 Generierter Typ über `IdlTopic` ↔︎ Rust-Codegen

Spec: §5 Tabelle Row 5 — Oktetten gegen die Rust-Referenz gemessen.

Repo: crates/py/src/ffi.rs (shape_reference_octets) reicht die Oktetten von zerodds_dcps::interop::ShapeType::encode an Python; das Modul, das zerodds-idlc aus tests/_generated/shape.idl erzeugt, schreibt sie auf der Python-Seite. Verglichen wird mit dem Codec, der im selben Modul kompiliert ist, nicht mit einem aus einem Rust-Test kopierten Literal. wireprobe-python-matrix misst die ganze Python-Spalte gegen die Rust-Spalte.

Tests: crates/py/python/tests/test_idl.py::test_shapetype_matches_the_rust_codec_octet_for_octet (sieben Shapes, darunter eine leere und eine einbuchstabige Farbe sowie i32::MAX/i32::MIN), crates/py/python/tests/test_idl.py::test_fixed_member_struct_byte_identical_to_rust_cpp, crates/py/python/tests/test_idl.py::test_sensor_mixed_fields_roundtrip

Status: done

§6 IDL-Topic, QoS, Async + erweiterte API

§6.1 `IdlTopic` / `IdlWriter` / `IdlReader`

Spec: §6.1 — IdlTopic(participant, name, descriptor) über einem generierten TopicDescriptor, liefert IdlWriter[T]/IdlReader[T], die mit dem generierten Code kodieren und dekodieren.

Repo: crates/py/python/zerodds/topic.py (IdlTopic, IdlWriter, IdlReader) über DescriptorTopic/DescriptorWriter/DescriptorReader; der Konstruktor weist alles ausser einem TopicDescriptor ab, und IdlTopic.type_name kommt aus dem Deskriptor.

Status: done

§6.2 QoS-Builder (alle 22 Policies)

Spec: §6.2 — DataWriterQos/DataReaderQos-PyClass mit Settern für alle 22 Policies aus DDS 1.4 §2.2.3 plus Publisher.create_*_writer_with_qos / Subscriber.create_*_reader_with_qos.

Repo: crates/py/src/qos.rs (PyDataWriterQos, PyDataReaderQos) — Setter für Reliability, Durability, DurabilityService, Deadline, LatencyBudget, Liveliness, DestinationOrder, Lifespan, Ownership, OwnershipStrength, Partition, Presentation, History, ResourceLimits, TransportPriority, WriterDataLifecycle, TimeBasedFilter, ReaderDataLifecycle, UserData, TopicData, GroupData, je auf der Seite, auf der DDS 1.4 §2.2.3 sie führt. Ein unbekannter Kind-String wird als ValueError abgewiesen statt still auf einen Default zu fallen. Die create_*_with_qos-Konstruktoren liegen in crates/py/src/ffi.rs.

Status: done

§6.3 AsyncIO-API

Spec: §6.3 — zerodds.aio mit AsyncBytesWriter, AsyncBytesReader, AsyncShapeWriter, AsyncShapeReader, AsyncWaitSet; blockierende Aufrufe über eine asyncio.to_thread-Brücke.

Repo: crates/py/python/zerodds/aio.py — die fünf Wrapper; jede blockierende Operation läuft über asyncio.to_thread, die nicht-blockierenden Getter gehen direkt durch.

Status: done

§6.4 ROS-2-pytest-Integration

Spec: §6.4 — Test-Baum crates/py/python/tests/ros2/ mit conftest.py (Skip, wenn ROS_DISTRO + rclpy + RMW_IMPLEMENTATION fehlen) und test_rmw_zerodds_interop.py für Standard-rclpy-Publish/Subscribe über das ZeroDDS-rmw.

Repo: crates/py/python/tests/ros2/conftest.py — markiert ausschließlich die Fälle unterhalb ros2/ als übersprungen, wenn ROS_DISTRO, ros2 im Pfad oder rclpy fehlen, und getrennt davon, wenn RMW_IMPLEMENTATION nicht auf dem ZeroDDS-rmw steht; crates/py/python/tests/ros2/test_rmw_zerodds_interop.py — sechs Fälle über rclpy; crates/rmw-zerodds-shim/rmw_c/run_ros2_pytest.sh — der reproduzierbare Lauf, der die ABI-Schicht baut, sie in eine ROS-2-Installation registriert und diesen Baum darauf ausführt.

Die Spec nennt den RMW-Namen rmw_zerodds_shim; der Implementierungs-Identifier nach REP-2007 ist rmw_zerodds_cpp (crates/rmw-zerodds-shim/ament/package.xml), und danach prüft die conftest.py.

Auf einem Host ohne ROS 2 überspringen alle sechs mit der Begründung aus der conftest.py; gemessen werden sie über run_ros2_pytest.sh auf einer ROS-2-Installation, siehe docs/spec-coverage/ros2-rmw.md.

Status: done

§6.5 Status-Listener-Callbacks

Spec: §6.5 — PyClasses DataWriterListener (3 Slots) und DataReaderListener (6 Slots), registriert über writer.set_listener(listener, mask) / reader.set_listener(listener, mask).

Repo: crates/py/src/listener.rs (PyDataWriterListener, PyDataReaderListener, PyDataWriterListenerBridge, PyDataReaderListenerBridge) — drei Writer-Slots (on_offered_deadline_missed, on_liveliness_lost, on_publication_matched) und sechs Reader-Slots (on_data_available, on_sample_lost, on_sample_rejected, on_requested_deadline_missed, on_liveliness_changed, on_subscription_matched). Die Brücke nimmt den GIL vor jedem Aufruf; eine Exception im Callback wird gedruckt und nicht nach Rust propagiert. set_listener/clear_listener liegen an den vier Writer-/Reader-PyClasses in crates/py/src/ffi.rs.

Status: done

§6.6 ReadCondition / QueryCondition

Spec: §6.6 — PyClasses ReadCondition und QueryCondition über die Rust-Conditions, Bitmask-Konstanten als zerodds.{sample_state,view_state,instance_state}, SQL92-Filter im Konstruktor validiert, WaitSet.attach_read_condition / attach_query_condition.

Repo: crates/py/src/conditions.rs (PyReadCondition, PyQueryCondition) über zerodds_dcps::condition; crates/py/python/zerodds/sample_state.py, crates/py/python/zerodds/view_state.py, crates/py/python/zerodds/instance_state.py für die Bitmasken, die crates/py/src/ffi.rs als Modul-Attribute aus zerodds_dcps::sample_info setzt. Ein ungültiger SQL-Ausdruck wird im Konstruktor als RuntimeError abgewiesen.

Status: done

§6.7 sphinx-Doc-Pfad

Spec: §6.7 — crates/py/docs/conf.py mit autodoc/napoleon/ viewcode/intersphinx, autodoc_mock_imports für den Build ohne maturin, crates/py/docs/api.rst listet die PyClasses und die Module loader, topic, aio, sample_state, view_state, instance_state.

Repo: crates/py/docs/conf.py — die vier Extensions, autodoc_mock_imports = ["zerodds._core"] und die Version aus dem Workspace-Manifest statt als Literal; crates/py/docs/api.rst — jede Klasse, die das Erweiterungsmodul exportiert, und die Module loader, topic, aio und die drei State-Module; crates/py/docs/index.rst, crates/py/docs/quickstart.rst, crates/py/docs/examples.rst.

Die Tests prüfen den Bestand des Baums, nicht den sphinx-build-Lauf.

Status: done

§7 Stabilität

Spec: §7 — semver-Politik, v1.0 stabil, Major-Bump für Breaking-Changes.

Repo: —

Tests: —

Status: n/a (informative) — Versionierungszusage, keine Eigenschaft der Bindung.

§8 Lizenz

Spec: §8 — Apache-2.0 (Workspace-Default).

Repo: —

Tests: —

Status: open — crates/py/pyproject.toml deklariert license = { text = "Apache-2.0 OR MIT" }, der Cargo-Workspace Apache-2.0; die Spec nennt Apache-2.0. Kein Test prüft die Angabe.

§9 Referenzen

Spec: §9 — Liste von externen Specs (OMG DDS 1.4, XTypes 1.3, PSM-Cxx 1.0) und internen Vendor-Specs (zerodds-c-api-1.0, zerodds-ffi-loader-1.0, zerodds-java-omgdds-1.0) plus PyO3 und PEP 384.

Repo: —

Tests: —

Status: n/a (informative) — Verweisliste.

Audit-Status

41 done / 2 partial / 3 open / 0 blocked / 2 n/a (informative).

Test-Lauf: PYTHONPATH=runtime/python:crates/py/python python3 -m pytest crates/py/python/tests ohne test_qos_lifecycle_surface.py (startet Participants auf den Domains 41–46) — 161 grün, 0 failed, 1 xfailed (test_fixed_array_count_is_refused_on_encode, §3.1), 17 bedingt übersprungen (ROS-2 ohne ROS_DISTRO/rclpy, ShapesDemo ohne ddsperf, Loader ohne libzerodds). cd runtime/python && python3 -m unittest discover -s tests — 125 Tests grün, 0 failed.

Offene Punkte: zerodds-py-1.0.open.md.

zerodds-py v1.0 — Spec Coverage

§1 Architecture

§1.1 Module Layout

§1.2 PyO3 module zerodds._core — PyClasses

§1.2.1 DomainParticipantFactory (PyClass)

§1.2.2 DomainParticipant (PyClass)

§1.2.3 BytesTopic (PyClass)

§1.2.4 ShapeTopic (PyClass)

§1.2.5 Publisher (PyClass)

§1.2.6 Subscriber (PyClass)

§1.2.7 BytesWriter (PyClass)

§1.2.8 BytesReader (PyClass)

§1.2.9 Shape (PyClass / dataclass)

§1.2.10 ShapeWriter (PyClass)

§1.2.11 ShapeReader (PyClass)

§1.2.12 GuardCondition (PyClass)

§1.2.13 WaitSet (PyClass)

§1.3 Python wrapper python/zerodds/

§1.3.1 __init__.py — re-export

§1.3.2 topic.py — IdlTopic over a generated TopicDescriptor

§1.3.3 runtime/python — zerodds_wire

§1.3.4 loader.py — pure ctypes loader

§1.4 Two-path choice

Non-goal — RTPS directly in pure Python

§1.5 Layer position

§2 OMG API coverage (DDS 1.4 §2.2.2)

§2.1 DomainParticipantFactory (DDS 1.4 §2.2.2.2.1)

§2.2 DomainParticipant (DDS 1.4 §2.2.2.2.2)

§2.3 Publisher / Subscriber (DDS 1.4 §2.2.2.4.1 / §2.2.2.5.1)

§2.4 DataWriter (DDS 1.4 §2.2.2.4.2)

§2.5 DataReader (DDS 1.4 §2.2.2.5.3)

§2.6 WaitSet / conditions (DDS 1.4 §2.2.2.6)

§2.7 ShapeType — cross-vendor interop type

§3 IDL mapping — generated code over zerodds_wire

§3.1 Mapping

§3.2 Example

§4 Test obligation

§4.1 Test inventory

§4.2 Rust-side test inventory

§5 Multi-process / cross-vendor

§5.1 Single-process Python ↔︎ Python

§5.2 Multi-process Python ↔︎ Python

§5.3 Cross-vendor Python ↔︎ other languages

§5.3b Octet identity Python ↔︎ C++/Java/C# in the tree

§5.4 Cross-vendor Python ↔︎ Cyclone / Fast DDS ShapesDemo

§5.5 Generated type over IdlTopic ↔︎ Rust codegen

§6 IDL topic, QoS, async + extended API

§6.1 IdlTopic / IdlWriter / IdlReader

§6.2 QoS builder (all 22 policies)

§6.3 AsyncIO API

§6.4 ROS-2 pytest integration

§6.5 Status listener callbacks

§6.6 ReadCondition / QueryCondition

§6.7 sphinx doc path

§7 Stability

§8 License

§9 References

Audit status

zerodds-py v1.0 — Spec-Coverage

§1 Architektur

§1.1 Module-Layout

§1.2 PyO3-Modul zerodds._core — PyClasses

§1.2.1 DomainParticipantFactory (PyClass)

§1.2.2 DomainParticipant (PyClass)

§1.2.3 BytesTopic (PyClass)

§1.2.4 ShapeTopic (PyClass)

§1.2.5 Publisher (PyClass)

§1.2.6 Subscriber (PyClass)

§1.2.7 BytesWriter (PyClass)

§1.2.8 BytesReader (PyClass)

§1.2.9 Shape (PyClass / Dataclass)

§1.2.10 ShapeWriter (PyClass)

§1.2.11 ShapeReader (PyClass)

§1.2.12 GuardCondition (PyClass)

§1.2.13 WaitSet (PyClass)

§1.3 Python-Wrapper python/zerodds/

§1.3.1 __init__.py — Re-Export

§1.3.2 topic.py — IdlTopic über einem generierten TopicDescriptor

§1.3.3 runtime/python — zerodds_wire

§1.3.4 loader.py — pure-ctypes-Loader

`zerodds-py` v1.0 — Spec Coverage

§1.2 PyO3 module `zerodds._core` — PyClasses

§1.2.1 `DomainParticipantFactory` (PyClass)

§1.2.2 `DomainParticipant` (PyClass)

§1.2.3 `BytesTopic` (PyClass)

§1.2.4 `ShapeTopic` (PyClass)

§1.2.5 `Publisher` (PyClass)

§1.2.6 `Subscriber` (PyClass)

§1.2.7 `BytesWriter` (PyClass)

§1.2.8 `BytesReader` (PyClass)

§1.2.9 `Shape` (PyClass / dataclass)

§1.2.10 `ShapeWriter` (PyClass)

§1.2.11 `ShapeReader` (PyClass)

§1.2.12 `GuardCondition` (PyClass)

§1.2.13 `WaitSet` (PyClass)

§1.3 Python wrapper `python/zerodds/`

§1.3.1 `init.py` — re-export

§1.3.2 `topic.py` — `IdlTopic` over a generated `TopicDescriptor`

§1.3.3 `runtime/python` — `zerodds_wire`

§1.3.4 `loader.py` — pure `ctypes` loader

§3 IDL mapping — generated code over `zerodds_wire`

§5.5 Generated type over `IdlTopic` ↔︎ Rust codegen

§6.1 `IdlTopic` / `IdlWriter` / `IdlReader`

`zerodds-py` v1.0 — Spec-Coverage

§1.2 PyO3-Modul `zerodds._core` — PyClasses

§1.2.1 `DomainParticipantFactory` (PyClass)

§1.2.2 `DomainParticipant` (PyClass)

§1.2.3 `BytesTopic` (PyClass)

§1.2.4 `ShapeTopic` (PyClass)

§1.2.5 `Publisher` (PyClass)

§1.2.6 `Subscriber` (PyClass)

§1.2.7 `BytesWriter` (PyClass)

§1.2.8 `BytesReader` (PyClass)

§1.2.9 `Shape` (PyClass / Dataclass)

§1.2.10 `ShapeWriter` (PyClass)

§1.2.11 `ShapeReader` (PyClass)

§1.2.12 `GuardCondition` (PyClass)

§1.2.13 `WaitSet` (PyClass)

§1.3 Python-Wrapper `python/zerodds/`

§1.3.1 `init.py` — Re-Export

§1.3.2 `topic.py` — `IdlTopic` über einem generierten `TopicDescriptor`

§1.3.3 `runtime/python` — `zerodds_wire`

§1.3.4 `loader.py` — pure-`ctypes`-Loader

§3 IDL-Mapping — generierter Code über `zerodds_wire`

§5.5 Generierter Typ über `IdlTopic` ↔︎ Rust-Codegen

§6.1 `IdlTopic` / `IdlWriter` / `IdlReader`