DDSI-RTPS 2.5 — Spec-Coverage

PDF: docs/standards/cache/omg/ddsi-rtps-2.5.pdf (206 Seiten, OMG formal/2022-04-01)

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/rtps/ ist live mit ~30 Files + 458 Tests (datagram/header/header_extension/fragment_assembler/inline_qos/ message_builder/parameter_list/participant_data/publication_data/ subscription_data/qos_bridge/reader/reader_proxy/receiver_state/ reliable_reader/reliable_writer/submessage_header/submessages/ wire_types/writer/writer_proxy + endpoint_security_info/ property_list/security_algo_info). crates/discovery/ ergaenzt (spdp.rs + sedp/* + type_lookup/* + endpoint_match.rs + capabilities.rs) mit 111 Tests. SPDP+SEDP+TypeLookup live + alle 16 Submessages + HeaderExtension + Reliable-Stack + Fragmentation.

§1 Scope

1.1 DDS-Interop-Wire-Protocol

Spec: §1, S. 1 — “DDS Real-Time Publish-Subscribe Wire-Protocol.”

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

Tests: Crate-weit.

Status: done

§2 Conformance

2.1 Conformance gemaess §8.4.2 (Behavior Module)

Spec: §2.

Repo: Vollstaendige Behavior-Modul-Abdeckung: - Stateless Best-Effort: crates/discovery/src/spdp.rs::SpdpBeacon + crates/discovery/src/security/stateless.rs::StatelessMessageWriter. - Stateless Reliable: crates/rtps/src/reliable_stateless_writer.rs:: ReliableStatelessWriter (T1-T12). - Stateful Best-Effort: crates/rtps/src/{writer,reader}.rs. - Stateful Reliable: crates/rtps/src/{reliable_writer,reliable_reader}.rs mit Fragmentation (fragment_assembler.rs).

Tests: Per Behavior-Variante eigene Test-Suite; E2E in tests/reliable_e2e.rs (0%/10%/30% Packet-Loss Best-Effort+Reliable).

Status: done

§3 Normative References

3.1 [DDS] DDS 1.4 / [IDL] IDL 4.2 / [DDS-XTYPES] XTypes 1.2

Spec: §3.

Repo: crates/dcps/, crates/idl/, crates/types/.

Tests: siehe pro Spec-Coverage-Doku.

Status: done

3.2 NTPv3, MD5, SCTP-CRC32c, AUTOSAR-CRC

Spec: §3 — normative References.

Repo: Alle 4 Standards referenziert + im Code: - NTPv3-Timestamp-Format: crates/rtps/src/header_extension.rs::HeTimestamp + crates/dcps/src/time.rs::Time (sec+nanosec/fraction). - MD5 (RFC 1321) als 128-bit-KeyHash + ChecksumValue::Md5 in crates/rtps/src/header_extension.rs::ChecksumValue + KeyHash-Pfad in crates/cdr/src/keyhash.rs. - SCTP-CRC32c (Castagnoli, RFC 3309): ChecksumKind::Crc32c + ChecksumValue::Crc32c. - AUTOSAR-CRC-64-XZ (ISO 14229): ChecksumKind::Crc64 + ChecksumValue::Crc64.

Tests: header_extension::tests::roundtrip_with_crc32c_le, roundtrip_with_crc64_be, roundtrip_with_md5_le, checksum_kind_roundtrip, checksum_kind_wire_size, empty_he_le_roundtrip (NTPv3 indirekt via HeTimestamp).

Status: done

§4 Terms

4 Terminologie (CDR/DDS/EDP/GUID/PDP/PIM/PSM/RTPS/SEDP)

Spec: §4 — Glossar.

Repo: Begriffe konsistent verwendet.

Tests: —

Status: n/a (informative) — Glossar, keine normative Anforderung.

§5 Symbols

5 Symbols + Akronyme

Spec: §5.

Repo: —

Tests: —

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

§6 Additional Information

6.1-6.4 Changes/How-to-Read/Acks/Maturity

Spec: §6.1-6.4.

Repo: —

Tests: —

Status: n/a (informative) — Editorial-Sections (Change-Log, Lese-Hinweise, Acknowledgments, Maturity-Statement).

§7 Overview / PIM/PSM Architektur

7.1 Introduction (Wire-Protocol-Anforderungen)

Spec: §7.1, S. 7.

Repo: n/a

Tests: n/a

Status: done

7.2 Requirements for a DDS Wire-protocol

Spec: §7.2, S. 7-8.

Repo: n/a — Anforderungen erfuellt durch Crate-Architektur.

Tests: Crate-weit.

Status: done

7.3 The RTPS Wire-protocol

Spec: §7.3, S. 8.

Repo: Crate crates/rtps/.

Tests: Wire-Tests.

Status: done

7.4.1 Structure Module (PIM)

Spec: §7.4.1, S. 9-11 — GUID/Cache/Endpoint/Participant.

Repo: wire_types.rs mit GUID/SequenceNumber/Locator/etc.

Tests: wire-types Tests.

Status: done

7.4.2 Messages Module (PIM)

Spec: §7.4.2.

Repo: submessages/ Modul (alle 16 Submessages) + message_builder.rs.

Tests: Submessage-Roundtrip-Tests.

Status: done

7.4.3 Behavior Module (PIM)

Spec: §7.4.3.

Repo: Vier kanonische Behavior-Implementations live: StatelessBE (spdp.rs), StatelessReliable (reliable_stateless_writer.rs), StatefulBE (writer.rs/reader.rs), StatefulReliable (reliable_writer.rs/reliable_reader.rs). Jede mit eigenem State-Machine-Modul.

Tests: Pro Variante eigene Test-Suite (siehe §2.1).

Status: done

7.4.4 Discovery Module (PIM)

Spec: §7.4.4.

Repo: crates/discovery/src/spdp.rs + sedp/.

Tests: SPDP+SEDP-Tests.

Status: done

7.5 RTPS Platform Specific Model (PSM)

Spec: §7.5, S. 11 — UDPv4-PSM ist Pflicht.

Repo: UDPv4-PSM via crates/transport-udp/.

Tests: Transport-Tests.

Status: done

7.6 RTPS Transport Model

Spec: §7.6, S. 11 — 16-Byte-Adresse, 4-Byte-Port, Datagram, Drop-on-Corrupt.

Repo: wire_types.rs::Locator (16+4) + UDP-Datagram-Pfad.

Tests: Locator-Tests.

Status: done

§8.2 Structure Module

8.2.1.2 GUID_t (16 Octets)

Spec: §8.2.1.2.

Repo: wire_types.rs::Guid.

Tests: GUID-Tests.

Status: done

8.2.1.2 GuidPrefix_t (12 Octets) + GUIDPREFIX_UNKNOWN

Spec: §8.2.1.2.

Repo: wire_types.rs::GuidPrefix.

Tests: —

Status: done

8.2.1.2 EntityId_t (4 Octets) + ENTITYID_UNKNOWN

Spec: §8.2.1.2.

Repo: wire_types.rs::EntityId.

Tests: —

Status: done

8.2.1.2 SequenceNumber_t (64-bit) + SEQUENCENUMBER_UNKNOWN

Spec: §8.2.1.2.

Repo: wire_types.rs::SequenceNumber (i64-Repr).

Tests: —

Status: done

8.2.1.2 Locator_t (kind+port+16-byte-addr) + 5 Reserved-Konstanten

Spec: §8.2.1.2 — LOCATOR_INVALID/KIND_INVALID/RESERVED/UDPv4/UDPv6.

Repo: crates/rtps/src/wire_types.rs::Locator mit Konstanten INVALID/RESERVED/UDP_V4_ANY/UDP_V6_ANY/SHM_ANY + PORT_INVALID + ADDRESS_INVALID + Konstruktoren udp_v4/udp_v6/tcp_v4/uds/shm.

Tests: wire_types::tests::locator_invalid_constant_matches_spec, locator_reserved_constant_kind_is_zero, locator_udp_v4_any_kind_is_one, locator_udp_v6_any_kind_is_two, locator_shm_any_uses_vendor_kind, locator_udp_v6_constructor_keeps_full_address, locator_udp_v6_roundtrip_le, locator_udp_v4_layout, locator_uds_layout, locator_kind_roundtrip, locator_kind_rejects_unknown (Negativ), locator_invalid_kind_decoded (Negativ).

Status: done

8.2.1.2 TopicKind_t (NO_KEY/WITH_KEY)

Spec: §8.2.1.2.

Repo: wire_types.rs::TopicKind.

Tests: —

Status: done

8.2.1.2 ChangeKind_t (ALIVE/ALIVE_FILTERED/NOT_ALIVE_DISPOSED/NOT_ALIVE_UNREGISTERED)

Spec: §8.2.1.2.

Repo: crates/rtps/src/history_cache.rs::ChangeKind mit allen 4 Spec-Varianten + NotAliveDisposedUnregistered (kombinierter Marker) + is_relevant() (false fuer AliveFiltered) + is_alive_kind() (true fuer Alive + AliveFiltered).

Tests: history_cache::tests::change_kind_alive_is_relevant_and_alive, change_kind_alive_filtered_is_alive_but_not_relevant, change_kind_not_alive_kinds_are_not_alive, change_kind_distinct_variants.

Status: done

8.2.1.2 ReliabilityKind_t (BEST_EFFORT/RELIABLE)

Spec: §8.2.1.2.

Repo: wire_types.rs::ReliabilityKind.

Tests: —

Status: done

8.2.1.2 InstanceHandle_t

Spec: §8.2.1.2.

Repo: Indirekt via DCPS-InstanceHandle.

Tests: —

Status: done

8.2.1.2 ProtocolVersion_t mit Aliases (1.0/1.1/2.0/2.1/2.2/2.4 + 2.5)

Spec: §8.2.1.2.

Repo: crates/rtps/src/wire_types.rs::ProtocolVersion mit allen Aliases V1_0/V1_1/V2_0/V2_1/V2_2/V2_3/V2_4/V2_5 + CURRENT Alias + Default V2_5.

Tests: wire_types::tests::protocol_version_aliases_match_spec, protocol_version_all_aliases_roundtrip, protocol_version_default_is_2_5, protocol_version_roundtrip.

Status: done

8.2.1.2 VendorId_t (OMG-verwaltete Liste) + VENDORID_UNKNOWN

Spec: §8.2.1.2.

Repo: header.rs::VendorId + Konstanten.

Tests: —

Status: done

8.2.2 HistoryCache (add/remove/get_seq_min/get_seq_max)

Spec: §8.2.2.

Repo: crates/rtps/src/history_cache.rs (WHC/RHC).

Tests: History-Cache-Tests.

Status: done

8.2.3 CacheChange (kind/writerGuid/instanceHandle/sequenceNumber/data_value/inlineQos)

Spec: §8.2.3.

Repo: wire_types.rs::CacheChange.

Tests: —

Status: done

8.2.4 RTPS Entity (GUID = prefix + entityId; ENTITYID_PARTICIPANT)

Spec: §8.2.4.

Repo: wire_types.rs.

Tests: —

Status: done

8.2.5 RTPS Participant (defaultUni/MulticastLocatorList + protocolVersion + vendorId + guidPrefix)

Spec: §8.2.5.

Repo: participant_data.rs.

Tests: —

Status: done

8.2.7 RTPS Endpoint (uni/multicastLocatorList + reliabilityLevel + topicKind + endpointGroup)

Spec: §8.2.7.

Repo: Endpoint-Felder verteilt auf publication_data.rs / subscription_data.rs.

Tests: —

Status: done

8.2.8 RTPS Writer (Attribute aus §8.4.7.1)

Spec: §8.2.8.

Repo: writer.rs+reliable_writer.rs.

Tests: Writer-Tests.

Status: done

8.2.9 RTPS Reader (Attribute aus §8.4.10)

Spec: §8.2.9.

Repo: reader.rs+reliable_reader.rs.

Tests: Reader-Tests.

Status: done

8.2.10 DDS DataWriter/Reader-Bindung (T1-T5 Transitions)

Spec: §8.2.10.

Repo: DCPS-Layer (crates/dcps/).

Tests: DCPS-Tests.

Status: done

§8.3 Messages Module

8.3.2 SubmessageKind (16 Types)

Spec: §8.3.2 — RTPS_HE/DATA/HEARTBEAT/ACKNACK/PAD/INFO_TS/ INFO_REPLY/INFO_DST/INFO_SRC/DATA_FRAG/NACK_FRAG/HEARTBEAT_FRAG/ GAP/INFO_REPLY_IP4/SEC_*

Repo: submessage_header.rs::SubmessageId.

Tests: SubmessageId-Tests.

Status: done

8.3.2 Time_t mit Nano-Resolution (TIME_ZERO/INVALID/INFINITE)

Spec: §8.3.2.

Repo: crates/dcps/src/time.rs::Time (DCPS+RTPS-shared) mit ZERO / INVALID / INFINITE Sentinels + is_zero()/is_invalid()/ is_infinite() Predicates. RTPS-Submessage-Body nutzt crates/rtps/src/header_extension.rs::HeTimestamp (sec+fraction).

Tests: zerodds_dcps::time::tests::time_zero_sentinel, time_invalid_sentinel, time_infinite_sentinel, get_current_time_is_recent (positive), duration_to_core_maps_infinite_to_max, duration_negative_sec_maps_to_zero (Negativ).

Status: done

8.3.2 Checksum_t (CHECKSUM_INVALID)

Spec: §8.3.2.

Repo: header_extension.rs::ChecksumKind::None/ChecksumValue.

Tests: Checksum-Tests.

Status: done

8.3.2 MessageLength_t (MESSAGE_LENGTH_INVALID)

Spec: §8.3.2.

Repo: header_extension.rs mit Option<u32> + None=invalid.

Tests: —

Status: done

8.3.2 GroupDigest_t

Spec: §8.3.2 / §8.3.5.10 — 16-byte CDR-encoded 128-bit-Digest fuer Group-Membership.

Repo: crates/rtps/src/group_digest.rs::GroupDigest mit UNKNOWN-Sentinel (16 Null-Bytes), from_prefixes(prefixes) (sortiert GuidPrefixes lexikographisch und MD5-hashed via md-5-Crate, byte- identisch zu Cyclone DDS), to_bytes / read_from(bytes) Wire- Encoding.

Tests: group_digest::tests::md5_empty_input_matches_rfc1321_test_vector, md5_abc_matches_rfc1321_test_vector, md5_message_digest_matches_rfc1321_test_vector, md5_long_input_matches_rfc1321_test_vector (2-Block-Pfad), group_digest_unknown_is_zero, group_digest_from_empty_prefixes_is_md5_of_empty, group_digest_independent_of_input_order, group_digest_distinguishes_different_groups, group_digest_roundtrip, group_digest_read_from_truncated_rejects (Negativ), group_digest_handles_more_than_5_prefixes_two_block_md5.

Status: done

8.3.2 UExtension4_t / WExtension8_t

Spec: §8.3.2.

Repo: crates/rtps/src/wire_types.rs::UExtension4 (4-byte vendor- opaque) + WExtension8 (8-byte vendor-opaque) mit u32/u64-BE Konvertern + roundtrip-Identitaet. HE-Submessage nutzt UExtension4 ueber header_extension.rs::HeaderExtension.uextension4.

Tests: wire_types::tests::uextension4_roundtrip, uextension4_u32_be_roundtrip, uextension4_default_is_zero, wextension8_roundtrip, wextension8_u64_be_roundtrip, wextension8_default_is_zero.

Status: done

8.3.3 Message = Header + 1..* Submessages; HeaderExtension optional direkt nach Header

Spec: §8.3.3.

Repo: datagram.rs + header_extension.rs.

Tests: Message-Roundtrip-Tests.

Status: done

8.3.3.1 Header: protocol(4) + version(2) + vendorId(2) + guidPrefix(12) = 20 Byte

Spec: §8.3.3.1.

Repo: header.rs::Header.

Tests: Header-Tests.

Status: done

8.3.3.1.1 protocol == PROTOCOL_RTPS

Spec: §8.3.3.1.1.

Repo: header.rs Magic-Check.

Tests: —

Status: done

8.3.3.1.2 version = 2.5

Spec: §8.3.3.1.2.

Repo: crates/rtps/src/wire_types.rs::ProtocolVersion::V2_5 + Default::default() liefert V2_5; CURRENT Alias fuer den aktuellsten unterstuetzten Spec-Stand.

Tests: wire_types::tests::protocol_version_default_is_2_5, protocol_version_aliases_match_spec, protocol_version_all_aliases_roundtrip.

Status: done

8.3.3.2 HeaderExtension Submessage (messageLength/rtpsSendTimestamp/uExtension4/wExtension8/messageChecksum/parameters + 7 Flags)

Spec: §8.3.3.2.

Repo: crates/rtps/src/header_extension.rs::HeaderExtension mit allen Feldern (messageLength/timestamp/uextension4/extension16/ checksum/parameters) + allen 7 Flags (E/L/W/U/V/C/P; C=2-bit fuer None/CRC32C/CRC64/MD5). flag_byte baut Flag-Byte aus gesetzten Optional-Feldern.

Tests: header_extension::tests::empty_he_le_roundtrip, empty_he_be_roundtrip, flag_byte_empty_le, flag_byte_with_message_length, flag_byte_all_optional_set_le, flag_byte_includes_all_seven_logical_flags, roundtrip_with_message_length_only_le, roundtrip_with_timestamp_le, roundtrip_with_uextension4_be, roundtrip_with_extension16_le, roundtrip_with_crc32c_le, roundtrip_with_crc64_be, roundtrip_with_md5_le, roundtrip_with_parameter_list, roundtrip_all_fields_set_le, roundtrip_all_fields_set_be.

Status: done

8.3.3.3 SubmessageHeader: submessageId(1) + flags(1) + submessageLength(2)

Spec: §8.3.3.3.

Repo: submessage_header.rs.

Tests: —

Status: done

8.3.4 Receiver-State (sourceVersion/VendorId/GuidPrefix/destGuidPrefix/uni-/multicastReplyLocatorList/haveTimestamp/timestamp/messageLength/messageChecksum/rtpsSend-/ReceptionTimestamp/clockSkewDetected/parameters)

Spec: §8.3.4.

Repo: receiver_state.rs::ReceiverState.

Tests: Receiver-Tests.

Status: done — alle Felder vorhanden inkl. message_length+ messageChecksum.

8.3.4.1 Receiver-Rules (1-6: Header-invalid/skip-Logik/unknown-Sub/X-Flags-ignore/etc.)

Spec: §8.3.4.1.

Repo: Skip-Logik in datagram.rs/submessage_header.rs.

Tests: —

Status: done

8.3.5 SubmessageElements (alle 19)

Spec: §8.3.5.1-19.

Repo: crates/rtps/src/wire_types.rs + submessages.rs. Alle Spec-Elemente: GuidPrefix, EntityId, VendorId, ProtocolVersion (alle 8 Versionen), SequenceNumber, SequenceNumberSet, FragmentNumber, FragmentNumberSet, Timestamp (HeTimestamp + DCPS Time), ParameterList, Count (u32 in Heartbeat/AckNack/NackFrag), LocatorList, SerializedData, SerializedDataFragment, ChangeCount, Checksum (ChecksumValue), MessageLength, UExtension4, WExtension8, GroupDigest_t.

Tests: Pro Element ein Roundtrip-Test: wire_types::tests::guid_prefix_roundtrip, vendor_id_roundtrip, protocol_version_all_aliases_roundtrip, entity_id_roundtrip, sequence_number_roundtrip_le/_be, fragment_number_roundtrip_le_be, locator_roundtrip_le, uextension4_roundtrip, wextension8_roundtrip, uextension4_u32_be_roundtrip, wextension8_u64_be_roundtrip. ParameterList/SequenceNumberSet/FragmentNumberSet/SerializedData(_Fragment) in parameter_list.rs::tests + submessages::tests. Count: implizit in Heartbeat/AckNack-Roundtrip-Tests in submessages::tests. GroupDigest_t in crates/rtps/src/group_digest.rs::tests (11 Tests, RFC-1321-Vektoren + Order-Independenz + Multi-Block-Pfad).

Status: done

§8.3.6 Header Validity

8.3.6.3 Header invalid: <required octets / protocol != PROTOCOL_RTPS / major-version > supported

Spec: §8.3.6.3.

Repo: Validation in datagram.rs.

Tests: Header-Validity-Tests.

Status: done

8.3.6.4 Receiver-Update aus Header

Spec: §8.3.6.4.

Repo: receiver_state.rs::on_header.

Tests: —

Status: done

§8.3.7 HeaderExtension Validity

8.3.7.3 HeaderExtension invalid (nicht direkt nach Header / Length-Mismatch / parameters malformed)

Spec: §8.3.7.3.

Repo: crates/rtps/src/datagram.rs::decode_datagram rejected HE, das nicht erste Submessage nach RTPS-Header ist (HeaderExtension must appear directly after the RTPS header). Length-Mismatch + truncated-Body durch decode_body / validate_message_length. Malformed ParameterList wird durch ParameterList::from_bytes propagiert.

Tests: datagram::tests::decode_rejects_header_extension_after_data_submessage (Negativ), header_extension::tests::decode_rejects_truncated_header (Negativ), decode_rejects_truncated_body_before_message_length (Negativ), decode_rejects_oversized_body (Negativ), decode_rejects_trailing_bytes_without_p_flag (Negativ), decode_rejects_truncated_uextension4_body (Negativ), decode_rejects_truncated_extension16_body (Negativ), decode_rejects_truncated_md5_checksum_body (Negativ), decode_rejects_malformed_parameter_list_when_p_flag_set (Negativ), validate_message_length_mismatch (Negativ).

Status: done

8.3.7.4 HeaderExtension-Updates fuer Receiver (messageLength/timestamps/clockSkew/extensions/checksum/parameters)

Spec: §8.3.7.4.

Repo: crates/rtps/src/receiver_state.rs::ReceiverState:: apply_header_extension setzt aus dem HE: message_length (L-Flag), timestamp + have_timestamp (W-Flag = rtpsSendTimestamp), message_checksum (C-Flags), parameters (P-Flag). note_clock_skew(now, threshold) setzt das clock_skew_detected-Flag wenn |timestamp.seconds - now_seconds| > threshold. uextension4 + wextension8 sind in HeaderExtension selbst gespeichert; der ReceiverState bietet via parameters den Pass-through.

Tests: receiver_state::tests::apply_header_extension_updates_fields (messageLength + timestamp + checksum), apply_header_extension_with_parameters_sets_pl, note_clock_skew_skipped_without_timestamp (Negativ), note_clock_skew_within_threshold_does_not_flag (Negativ), note_clock_skew_above_threshold_flags.

Status: done

§8.3.8 Submessages

8.3.8.1 AckNack

Spec: §8.3.8.1.

Repo: submessages/acknack.rs.

Tests: AckNack-Tests.

Status: done

8.3.8.2 Data

Spec: §8.3.8.2 — InlineQos/Data/Key/NonStandardPayload-Flags.

Repo: crates/rtps/src/submessages.rs::DataSubmessage mit explicit key_flag + non_standard_flag (Spec §8.3.8.2 Tab. 8.43). write_body setzt D/Q/K/N-Flag-Bits nach den Feldern; read_body_with_flags extrahiert sie aus dem Submessage-Header (siehe crates/rtps/src/datagram.rs::decode_datagram).

Tests: submessages::tests::data_submessage_roundtrip_le, data_submessage_roundtrip_be_with_empty_payload, data_submessage_octets_to_inline_qos_is_16, data_submessage_decode_rejects_truncated (Negativ), data_submessage_key_flag_roundtrip, data_submessage_non_standard_flag_roundtrip, data_submessage_all_flags_combined_roundtrip (alle 5 E/Q/D/K/N).

Status: done

8.3.8.3 DataFrag (Re-Assembly)

Spec: §8.3.8.3.

Repo: submessages/data_frag.rs + fragment_assembler.rs.

Tests: Frag-Tests.

Status: done

8.3.8.4 Gap (gapStart + gapList + GroupInfoFlag)

Spec: §8.3.8.4.

Repo: crates/rtps/src/submessages.rs::GapSubmessage mit gapStart + gapList + optional filteredCount (K-Flag) und GroupInfo-Sektion (G-Flag, Spec §8.3.8.4.2).

Tests: submessages::tests::gap_submessage_roundtrip_le, gap_decode_rejects_truncated_header (Negativ), gap_with_filtered_count_roundtrip_le, gap_with_group_info_roundtrip_be, gap_with_group_info_and_filtered_count_combined (beide Flags), gap_filtered_count_zero_is_distinct_from_none, gap_decode_rejects_truncated_filtered_count (Negativ).

Status: done

8.3.8.5 HeaderExtension (siehe §8.3.7)

Spec: §8.3.8.5 — Verweis auf die Submessage-Definition in §8.3.7.

Repo: Identisch zu §8.3.3.2 / §8.3.7.3 / §8.3.7.4 — siehe die dortigen Items.

Tests: Siehe §8.3.3.2 / §8.3.7.3 / §8.3.7.4.

Status: done

8.3.8.6 Heartbeat (firstSN/lastSN/count + Final/Liveliness/GroupInfo Flags)

Spec: §8.3.8.6.

Repo: crates/rtps/src/submessages.rs::HeartbeatSubmessage mit firstSN + lastSN + count + Final-Flag + Liveliness-Flag + GroupInfo- Flag (alle 3 Submessage-Flags), optional GroupInfo-Sektion mit writerSet + secureWriterSet (Spec §8.3.8.6.1).

Tests: submessages::tests::heartbeat_submessage_roundtrip_le, heartbeat_submessage_no_final_flag_when_disabled (Negativ), heartbeat_submessage_liveliness_flag_roundtrip, heartbeat_decode_rejects_truncated (Negativ), heartbeat_with_empty_group_info_roundtrip_le, heartbeat_with_writer_set_roundtrip_be.

Status: done

8.3.8.7 HeartbeatFrag

Spec: §8.3.8.7.

Repo: submessages/heartbeat_frag.rs.

Tests: —

Status: done

8.3.8.8 InfoDestination

Spec: §8.3.8.8.

Repo: submessages.rs::InfoDstSubmessage.

Tests: —

Status: done

8.3.8.9 InfoReply

Spec: §8.3.8.9.

Repo: crates/rtps/src/submessages.rs::InfoReplySubmessage mit unicast_locators + optional multicast_locators (M-Flag); crates/rtps/src/datagram.rs::decode_datagram matched SubmessageId::InfoReply. crates/rtps/src/receiver_state.rs:: ReceiverState::apply_info_reply propagiert die Locator-Listen in den Reply-Pfad.

Tests: submessages::tests::info_reply_unicast_only_roundtrip_le, info_reply_with_multicast_roundtrip_le, info_reply_with_multicast_roundtrip_be, info_reply_empty_unicast_list_is_valid, info_reply_decode_rejects_oversized_locator_list_length (Negativ), info_reply_decode_rejects_truncated_length_field (Negativ).

Status: done

8.3.8.10 InfoSource

Spec: §8.3.8.10.

Repo: crates/rtps/src/submessages.rs::InfoSourceSubmessage mit allen 4 Wire-Feldern (unused / protocolVersion / vendorId / guidPrefix). crates/rtps/src/receiver_state.rs::ReceiverState:: apply_info_source ueberschreibt source_version + source_vendor_id + source_guid_prefix UND resetted Reply-Locator-Listen + setzt have_timestamp = false (Spec §8.3.8.9.4 Schritt 4).

Tests: submessages::tests::info_source_roundtrip_le, info_source_roundtrip_be, info_source_wire_size_is_20, info_source_decode_rejects_truncated (Negativ), info_source_unused_field_roundtrips. receiver_state::tests::apply_info_source_resets_reply_locators_and_timestamp.

Status: done

8.3.8.11 InfoTimestamp

Spec: §8.3.8.11.

Repo: crates/rtps/src/submessages.rs::InfoTimestampSubmessage (neu in K3b-B) mit Time_t-Body + I-Flag (INFO_TIMESTAMP_FLAG_INVALIDATE). crates/rtps/src/datagram.rs::decode_datagram matched SubmessageId::InfoTs. crates/rtps/src/receiver_state.rs:: ReceiverState::apply_info_timestamp setzt timestamp + have_timestamp = true; bei invalidate=true wird have_timestamp = false. Skew-Korrektur ueber note_clock_skew(now_seconds, threshold) setzt clock_skew_detected-Flag (Spec §8.3.4.1 Receiver-Rule 4).

Tests: submessages::tests::info_timestamp_roundtrip_le, info_timestamp_roundtrip_be, info_timestamp_invalidate_flag_yields_empty_body, info_timestamp_decode_rejects_truncated_when_no_invalidate (Negativ), info_timestamp_decode_with_invalidate_ignores_body. receiver_state::tests::apply_info_timestamp_sets_value, apply_info_timestamp_with_invalidate_clears, note_clock_skew_skipped_without_timestamp (Negativ), note_clock_skew_within_threshold_does_not_flag (Negativ), note_clock_skew_above_threshold_flags.

Status: done

8.3.8.12 NackFrag

Spec: §8.3.8.12.

Repo: submessages/nack_frag.rs.

Tests: —

Status: done

8.3.8.13 Pad

Spec: §8.3.8.13.

Repo: submessages.rs::PadSubmessage.

Tests: —

Status: done

§8.4 Behavior Module

8.4.2.1 Comm-Pfad (Messages, Receiver-Rules, Timing-Konfigurabel, SPDP+SEDP)

Spec: §8.4.2.1.

Repo: Verteilt auf datagram.rs+writer.rs+reader.rs+ crates/discovery/src/{spdp,sedp/}.

Tests: —

Status: done

8.4.2.2 Writer-Verhalten (No Out-of-Order; Heartbeats; Inline-QoS; NACK-Antworten)

Spec: §8.4.2.2.

Repo: crates/rtps/src/writer.rs (Best-Effort) + reliable_writer.rs (Reliable StatefulWriter mit handle_acknack + periodischem Heartbeat-Tick + Inline-QoS-Pfad ueber DataSubmessage.inline_qos). Writer sendet streng monoton steigende SequenceNumbers (No-Out-of-Order); HEARTBEAT enthaelt firstSN/lastSN/ count + Final/Liveliness/GroupInfo-Flags (Spec §8.3.8.6). Group-Info-Sektion mit writerSet + secureWriterSet ueber HeartbeatSubmessage.group_info-Felder.

Tests: reliable_writer::tests (39 Tests inkl. handle_acknack- Variantenpfade + retransmits + heartbeat-tick + group-info); writer::tests (Best-Effort-Pfad); inline_qos::tests::reply_inline_qos_writer_side_serialisation.

Status: done

8.4.2.3 Reader-Verhalten (ACKNACK auf HEARTBEAT; once-acked-always-acked)

Spec: §8.4.2.3.

Repo: crates/rtps/src/reliable_reader.rs::ReliableReader mit periodischem ACKNACK-Tick, Pre-Emptive-ACKNACK beim Add-Writer-Proxy (Spec §8.4.12.5, “if the Reader received no DATA or HEARTBEAT yet it sends a preemptive ACKNACK”), count_modular-Counter (wraps u32), highest_received_sn-Once-Acked-Buchhaltung im writer_proxy. crates/rtps/src/reader.rs Best-Effort-Pfad.

Tests: reliable_reader::tests::pre_emptive_acknack_emitted_after_add_writer_proxy, no_pre_emptive_acknack_without_proxy (Negativ), initial_proxy_from_config_does_not_send_pre_emptive (Negativ), pre_emptive_acknack_carries_info_dst. Plus 30+ weitere Tests fuer ACKNACK-Generation, Heartbeat-Reaction, Once-Acked-Persistenz.

Status: done

8.4.3 Stateless+Stateful Reference-Implementations

Spec: §8.4.3.

Repo: - Stateful Best-Effort + Reliable: crates/rtps/src/{writer,reliable_writer,reader,reliable_reader}.rs. - Stateless Best-Effort: crates/discovery/src/spdp.rs::SpdpBeacon (Multicast-Beacon, kein Reader-Proxy-State) + crates/discovery/src/security/stateless.rs::StatelessMessageWriter (Multi-Reader-Fan-out fuer BUILTIN_PARTICIPANT_STATELESS_MESSAGE_WRITER, kein Cache, kein Resend, kein HEARTBEAT). - Stateless Reliable: crates/rtps/src/reliable_stateless_writer.rs:: ReliableStatelessWriter (siehe §8.4.8.2).

Tests: spdp::tests, security::stateless::tests (Stateless); reliable_writer::tests, reliable_reader::tests (Stateful); reliable_stateless_writer::tests (Stateless-Reliable).

Status: done

8.4.4 Reliability-Kombinationen

Spec: §8.4.4.

Repo: endpoint_match.rs (in discovery/).

Tests: —

Status: done

8.4.6 Types: Duration_t, Change*StatusKind, InstanceHandle_t, ParticipantMessageData

Spec: §8.4.6.

Repo: Duration_t in crates/qos/src/duration.rs::Duration (DDS-PSM) + crates/rtps/src/header_extension.rs::HeTimestamp (RTPS-Wire); ChangeKind/Change*StatusKind in crates/rtps/src/history_cache.rs::ChangeKind mit allen 5 Spec-Varianten + is_relevant/is_alive_kind-Predicates; InstanceHandle_t in crates/dcps/src/instance_handle.rs::InstanceHandle; ParticipantMessageData in crates/rtps/src/participant_message_data.rs::ParticipantMessageData mit AUTOMATIC + MANUAL_BY_PARTICIPANT + ZeroDDS-Vendor-Kind.

Tests: qos::duration::tests::*, history_cache::tests::change_kind_*, participant_message_data::tests::*.

Status: done

8.4.7.1 Writer-Attrs (pushMode/heartbeatPeriod/nackResponseDelay/etc.)

Spec: §8.4.7.1.

Repo: writer.rs.

Tests: —

Status: done

8.4.7.1.1 Default-Timing (nackResponseDelay=200ms, nackSuppressionDuration=0)

Spec: §8.4.7.1.1.

Repo: Konstanten in writer.rs.

Tests: —

Status: done

8.4.7.1.3 new_change(kind/data/inlineQos/handle)

Spec: §8.4.7.1.3.

Repo: writer.rs::new_change.

Tests: —

Status: done

8.4.7.2 StatelessWriter

Spec: §8.4.7.2.

Repo: Best-Effort-Stateless in crates/discovery/src/spdp.rs:: SpdpBeacon (SPDP-Multicast) + crates/discovery/src/security/stateless.rs::StatelessMessageWriter (DDS-Security stateless message). Reliable-Stateless in crates/rtps/src/reliable_stateless_writer.rs::ReliableStatelessWriter (siehe §8.4.8.2).

Tests: spdp::tests::*, security::stateless::tests::*, reliable_stateless_writer::tests::*.

Status: done

8.4.7.3 ReaderLocator (highestSentChangeSN/requestedChanges/locator/expectsInlineQos + Ops)

Spec: §8.4.7.3.

Repo: crates/rtps/src/reader_proxy.rs::ReaderProxy (Stateful) + crates/discovery/src/security/stateless.rs::StatelessMessageWriter:: reader_proxies (Stateless-Vector). ReaderLocator-aequivalente Felder in ReaderProxy: remote_reader_guid, unicast_locators, multicast_locators, expects_inline_qos, highest_sent_change_sn, requested_changes, acked_changes. Ops: add_proxy/remove_proxy/ update_locators. Stateless-ReaderLocator-Pool ueber ReliableStatelessWriter::set_locators.

Tests: reader_proxy::tests::* (12 Tests fuer alle Ops), reliable_stateless_writer::tests::set_locators_t11_replaces_list, security::stateless::tests::add_remove_reader_proxy_idempotent.

Status: done

8.4.7.4 StatefulWriter (matched_readers + is_acked_by_all)

Spec: §8.4.7.4.

Repo: reliable_writer.rs.

Tests: —

Status: done

8.4.7.5 ReaderProxy (alle Felder + Ops)

Spec: §8.4.7.5.

Repo: reader_proxy.rs.

Tests: —

Status: done

8.4.8.1 Best-Effort StatelessWriter (T1-T5)

Spec: §8.4.8.1.

Repo: SPDP-Sender (Multicast-Best-Effort).

Tests: —

Status: done

8.4.8.2 Reliable StatelessWriter (T1-T12)

Spec: §8.4.8.2 — Reliable-Stateless Writer-State-Machine mit 12 Transitions (Tab. 8.46).

Repo: crates/rtps/src/reliable_stateless_writer.rs:: ReliableStatelessWriter mit allen 12 Transitions: - T1 new_change(kind, payload) → SequenceNumber. - T2/T3 tick(now) → DATA-Burst + periodischer HEARTBEAT. - T4/T5 handle_acknack(ack) → lowest_unacked advance, requested- Pool fuellen. - T6 tick (NACK-Drain) → Retransmits aus dem Pool senden. - T7 is_acked_to(sn) → once-acked-always-acked Predicate. - T8 purge_acked() → Cache-LowWater-Cleanup. - T9 KeepLast in HistoryCache::insert (existing). - T10 shutdown() → Cache + Retransmit-Pool leeren. - T11 set_locators(locators) → Reply-Locator-List Update. - T12 stats() → Diagnose-Snapshot.

max_per_tick-Cap (default 16) als DoS-Schutz gegen ueberbordende ACKNACK-Anfragen. heartbeat_count wraps u32 (siehe §8.4.15.7).

Tests: reliable_stateless_writer::tests: new_change_assigns_monotonic_sn_t1, handle_acknack_advances_lowest_unacked_t4, handle_acknack_only_advances_t4_once_acked_always_acked, handle_acknack_with_requested_bits_queues_retransmits_t6, is_acked_to_t7, purge_acked_t8_removes_acked_samples, tick_emits_heartbeat_t3, tick_does_not_emit_heartbeat_when_cache_empty (Negativ), tick_emits_retransmits_for_requested_sns_t6, tick_caps_retransmits_at_max_per_tick, shutdown_clears_state_t10, set_locators_t11_replaces_list, heartbeat_count_wraps_at_u32_max_t3_modular, stats_snapshot_t12.

Status: done

8.4.9.1 Best-Effort StatefulWriter (T1-T6)

Spec: §8.4.9.1.

Repo: crates/rtps/src/writer.rs::Writer (Best-Effort StatefulWriter mit per-target Reader-ID + ReaderProxy-Liste in SPDP/SEDP). T1-T6 Transitions: pushing → DATA, neuer Sample → new_change, ChangeFromWriter-Status updates, Filter-Drop via ChangeKind::AliveFiltered.

Tests: writer::tests (Best-Effort-Lifecycle), writer_proxy::tests::change_from_writer_*, history_cache::tests::change_kind_alive_filtered_is_alive_but_not_relevant.

Status: done

8.4.9.2 Reliable StatefulWriter (T1-T16)

Spec: §8.4.9.2.

Repo: crates/rtps/src/reliable_writer.rs::ReliableWriter mit allen 16 Transitions: tick → DATA-Push, periodischer HEARTBEAT (FinalFlag default NOT_SET → ACKNACK erforderlich), handle_acknack mit GAP-Handling, retransmit-Pfad, AckedByAll-Aussage, filteredCount-Tracking via AliveFiltered-ChangeKind in ReaderProxy.

Tests: reliable_writer::tests (40+ Tests fuer alle 16 Transitions inkl. handle_acknack-Variantenpfade, heartbeat-tick, retransmits, AckedByAll). Plus tests/reliable_e2e.rs E2E-Pfad mit 0%/10%/30% Packet-Loss.

Status: done

§8.4.10-12 RTPS Reader / StatelessReader / StatefulReader

8.4.10.1 Reader-Attrs (heartbeatResponseDelay/heartbeatSuppressionDuration/expectsInlineQos)

Spec: §8.4.10.1 — Default heartbeatResponseDelay=500ms, heartbeatSuppressionDuration=0.

Repo: reliable_reader.rs.

Tests: —

Status: done

8.4.10.2 StatelessReader

Spec: §8.4.10.2.

Repo: SPDP-Reader in crates/discovery/src/spdp.rs.

Tests: —

Status: done

8.4.10.3 StatefulReader (matched_writers)

Spec: §8.4.10.3.

Repo: reliable_reader.rs.

Tests: —

Status: done

8.4.10.4 WriterProxy (remoteWriterGuid + Locator-Lists + dataMaxSize + changes_from_writer)

Spec: §8.4.10.4.

Repo: writer_proxy.rs.

Tests: —

Status: done

8.4.10.4.2 available_changes_max

Spec: §8.4.10.4.2.

Repo: writer_proxy.rs.

Tests: —

Status: done

8.4.10.4.3 not_available_change_set + filteredCount (NA_FILTERED/NA_REMOVED/NA_UNSPECIFIED)

Spec: §8.4.10.4.3.

Repo: crates/rtps/src/writer_proxy.rs::WriterProxy:: mark_not_available mit allen 3 Reasons. filteredCount wird via ChangeKind::AliveFiltered gefuehrt: crates/rtps/src/history_cache.rs::ChangeKind::is_relevant liefert false fuer AliveFiltered, sodass diese SNs als “not_available” mit Reason NA_FILTERED zaehlen ohne erneute NACKs auszuloesen. GAP-Submessages mit filtered_count (K-Flag) tragen den Counter zwischen Writer und Reader.

Tests: writer_proxy::tests::not_available_*, history_cache::tests::change_kind_alive_filtered_is_alive_but_not_relevant, submessages::tests::gap_with_filtered_count_roundtrip_le, gap_filtered_count_zero_is_distinct_from_none.

Status: done

8.4.10.4.4-7 lost_changes_update / missing_changes / received_change_set

Spec: §8.4.10.4.4-7.

Repo: reliable_reader.rs.

Tests: —

Status: done

8.4.10.5 ChangeFromWriter (status + is_relevant)

Spec: §8.4.10.5.

Repo: crates/rtps/src/writer_proxy.rs::ChangeFromWriter mit status (Missing/Received/Lost/Unknown) + is_relevant: bool. is_relevant=false zeigt einen Filter-gedroppten Sample an (TIME_BASED_FILTER, ContentFilteredTopic, oder ChangeKind::AliveFiltered). crates/rtps/src/history_cache.rs:: ChangeKind::is_relevant ist die kanonische Quelle der Truth (false nur fuer AliveFiltered).

Tests: writer_proxy::tests (12+ Tests inkl. gap_marks_irrelevant, received_change_set etc.), history_cache::tests::change_kind_alive_is_relevant_and_alive, change_kind_alive_filtered_is_alive_but_not_relevant, change_kind_not_alive_kinds_are_not_alive.

Status: done

8.4.11 StatelessReader Behavior

Spec: §8.4.11.

Repo: SPDP-Reader.

Tests: —

Status: done

8.4.12 StatefulReader Behavior

Spec: §8.4.12.

Repo: crates/rtps/src/reliable_reader.rs::ReliableReader mit matched_writers (Vec), pre-emptive ACKNACK, periodischem ACKNACK-Tick, GAP-Verarbeitung. Requested-Sub-State ist im WriterProxy.requested_changes (BTreeSet von SNs ohne Status-Update) modelliert.

Tests: reliable_reader::tests::pre_emptive_acknack_emitted_after_add_writer_proxy, writer_proxy::tests::missing_changes_respects_max_count, received_removes_from_missing, gap_marks_irrelevant, plus 30+ weitere ReliableReader-Tests.

Status: done

§8.4.13 Writer Liveliness Protocol

8.4.13 WLP via ParticipantMessageData

Spec: §8.4.13.

Repo: crates/rtps/src/participant_message_data.rs:: ParticipantMessageData mit allen 3 Kinds: PARTICIPANT_MESSAGE_DATA_KIND_AUTOMATIC_LIVELINESS_UPDATE (kind=0), PARTICIPANT_MESSAGE_DATA_KIND_MANUAL_BY_PARTICIPANT_LIVELINESS_UPDATE (kind=1), PARTICIPANT_MESSAGE_DATA_KIND_ZERODDS_MANUAL_BY_TOPIC (0x80000001 vendor-kind). DCPS-Wiring in crates/dcps/src/wlp.rs::WlpEndpoint mit periodischem AUTOMATIC- Beat (Tick-getrieben), Manual-Pulse-Queue (MAX_QUEUED_PULSES=32), Per-Peer-Tracking + Lease-Expiry via lost_peers(now, lease).

Tests: participant_message_data::tests (Wire-Roundtrip aller 3 Kinds), dcps::wlp::tests: wlp_first_tick_emits_automatic_heartbeat, wlp_assert_participant_emits_manual_pulse, wlp_assert_topic_emits_vendor_kind_with_token, wlp_handle_datagram_updates_peer_state, wlp_lost_peers_returns_only_expired, wlp_pending_queue_caps_at_max (DoS-Cap).

Status: done

§8.4.14 Optional Behavior (Large Data / Fragmentation)

8.4.14 Fragmentation via DATA_FRAG/NACK_FRAG/HEARTBEAT_FRAG

Spec: §8.4.14.

Repo: fragment_assembler.rs + Frag-Submessages.

Tests: Frag-Tests inkl. DoS-Cap.

Status: done

§8.4.15 Implementation Guidelines

8.4.15.6 Inactive-Reader-Reclaim (Strict-Reliability-Aussetzer)

Spec: §8.4.15.6 — Writer DARF einen Reader-Proxy reclaimen, wenn dieser laenger als inactive_threshold keine ACKNACK / NACK_FRAG geliefert hat (Strict-Reliability-Aussetzer als DoS-Schutz gegen stalled Reader).

Repo: crates/rtps/src/reader_proxy.rs::ReaderProxy.last_activity + Methoden note_activity(now) (vom ACKNACK/NACK_FRAG-Receive-Pfad gerufen), is_inactive(now, threshold) (Reclaim-Predicate), last_activity() (Diagnose). Caller (ReliableWriter) ruft is_inactive periodisch auf und kann den Proxy aus matched_readers entfernen.

Tests: reader_proxy::tests::proxy_is_inactive_initially_when_threshold_is_short, proxy_is_active_after_note_activity, proxy_becomes_inactive_after_threshold_elapses, proxy_inactivity_not_reported_when_now_before_last_activity (Negativ).

Status: done

8.4.15.7 Count-Modular-Arithmetik

Spec: §8.4.15.7 — Heartbeat/AckNack/NackFrag Counter MUSS wrap-around-tolerant sein (modulo 2^32, in Rust via wrapping_add).

Repo: crates/rtps/src/reliable_writer.rs::ReliableWriter. heartbeat_count + nackfrag_count nutzen i32::wrapping_add(1) bei jedem Increment. reliable_stateless_writer.rs::ReliableStatelessWriter. heartbeat_count nutzt u32::wrapping_add(1). Spec-konform: bei Erreichen des Maximums wird auf MIN/0 gewrapped.

Tests: reliable_writer::tests::heartbeat_count_increments, heartbeat_count_wraps_around_at_i32_max_per_spec_8_4_15_7, reliable_stateless_writer::tests::heartbeat_count_wraps_at_u32_max_t3_modular.

Status: done

§8.5 Discovery Module

8.5.1 SPDP — Simple Participant Discovery Protocol

Spec: §8.5.1, S. 117-120.

Repo: crates/discovery/src/spdp.rs.

Tests: SPDP-Tests + Cyclone-Live-SPDP.

Status: done

8.5.2 SEDP — Simple Endpoint Discovery Protocol

Spec: §8.5.2, S. 121-127.

Repo: crates/discovery/src/sedp/.

Tests: SEDP-Tests + Cyclone-Live-SEDP.

Status: done

8.5.3 ParticipantBuiltinTopicData / PublicationBuiltinTopicData / SubscriptionBuiltinTopicData / TopicBuiltinTopicData

Spec: §8.5.3.

Repo: Alle 4 Builtin-Topic-Data-Strukturen voll spec-konform: - crates/rtps/src/participant_data.rs::ParticipantBuiltinTopicData - crates/rtps/src/publication_data.rs::PublicationBuiltinTopicData - crates/rtps/src/subscription_data.rs::SubscriptionBuiltinTopicData (inkl. content_filter: Option<ContentFilterProperty>) - crates/dcps/src/builtin_topics.rs::TopicBuiltinTopicData (DCPS-Sicht; SEDP-Topic-Endpoint wird als optionaler Endpoint in §8.5.4 announced).

Tests: crates/rtps/src/participant_data.rs::tests::*, publication_data::tests::*, subscription_data::tests::*, crates/dcps/src/builtin_topics.rs::tests::* (Wire-Roundtrip aller 4).

Status: done

8.5.4 Built-in Endpoints (Reader/Writer pro PDP/SEDP-Topic)

Spec: §8.5.4.

Repo: Alle Standard-Builtin-Endpoint-Paare als EntityId-Konstanten in crates/rtps/src/wire_types.rs: - SPDP-W/R: SPDP_BUILTIN_PARTICIPANT_{WRITER,READER} (0x000100C2/C7). - SEDP-Pub-W/R: SEDP_BUILTIN_PUBLICATIONS_{WRITER,READER} (0x000003C2/C7). - SEDP-Sub-W/R: SEDP_BUILTIN_SUBSCRIPTIONS_{WRITER,READER} (0x000004C2/C7). - WLP-W/R: BUILTIN_PARTICIPANT_MESSAGE_{WRITER,READER} (0x000200C2/C7). - DDS-Security: SPDP-Secure / SEDP-Pub/Sub-Secure / Stateless / Volatile- Secure (12 Endpoints, alle in wire_types.rs).

Tests: wire_types::tests::spdp_builtin_*, sedp_builtin_*, all_12_secure_entityids_roundtrip, crates/discovery/src/sedp/stack::tests::*, spdp::tests::*.

Status: done

8.5.5 Lease-Renewal + Cleanup bei Expiry

Spec: §8.5.5.

Repo: crates/discovery/src/spdp.rs::DiscoveredParticipantsCache mit last_seen-Tracking + Lease-Expiry-Iteration. crates/dcps/src/wlp.rs::WlpEndpoint::lost_peers(now, lease) liefert expired Peers an den Caller.

Tests: wlp::tests::wlp_lost_peers_returns_only_expired, wlp_handle_datagram_updates_peer_state, wlp_forget_peer_removes_state, spdp::tests::* (cache lifecycle).

Status: done

§8.6 Versioning and Extensibility

8.6 Vendor-Extensions + Submessage-Erweiterungen

Spec: §8.6 — Vendor-spezifische Submessage-IDs (0x80-0xFF) sowie Vendor-spezifische PIDs (PID-Bit 15 gesetzt) MUESSEN von Receivers ohne Must-Understand-Bit ignoriert werden; mit Must-Understand-Bit darf der Receiver die Message verwerfen.

Repo: crates/rtps/src/submessage_header.rs::SubmessageId-Enum mit Standard-Range + Pass-through fuer Vendor-Range via SUBMESSAGE_ID_HEADER_EXTENSION (0x80) und Unknown-Variante. Vendor-spezifischer PID-Pfad in crates/rtps/src/parameter_list.rs::VENDOR_SPECIFIC_BIT (0x8000) + validate_must_understand_in_data_pipeline (silent-skip fuer vendor-spezifische MU-PIDs, Spec §9.6.2).

Tests: datagram::tests::decode_marks_unknown_submessage_id_without_failing, decode_skips_unknown_submessage_without_must_understand, decode_rejects_unknown_submessage_with_must_understand (Negativ), parameter_list::tests::must_understand_vendor_pid_with_must_understand_rejects, validate_must_understand_in_data_pipeline_vendor_specific_pid_passes, datagram::tests::decode_accepts_vendor_specific_must_understand_pid.

Status: done

§8.7 DDS QoS via RTPS

8.7.1 PID-Tabelle (alle DDS-QoS-PIDs)

Spec: §8.7.1, S. 131-138.

Repo: crates/rtps/src/parameter_list.rs::pid mit allen Standard- PIDs inkl. neu in K3b-F: TYPE_MAX_SIZE_SERIALIZED (0x0060), ORIGINAL_WRITER_INFO (0x0061), WRITER_GROUP_INFO (0x0062). Plus COHERENT_SET / GROUP_COHERENT_SET / GROUP_SEQ_NUM / DIRECTED_WRITE / KEY_HASH / STATUS_INFO etc. (50+ PIDs total). is_standard_pid(pid) als Klassifikator fuer Must-Understand-Reject.

Tests: parameter_list::tests::is_standard_pid_recognises_dds_security_pids, is_standard_pid_unknown_pid_returns_false (Negativ), plus alle ParameterList-Roundtrip-Tests pro PID-Familie.

Status: done

8.7.2 LIVELINESS Wire-Mapping (ParticipantMessageData + Heartbeat-LivelinessFlag)

Spec: §8.7.2.

Repo: AUTOMATIC + MANUAL_BY_PARTICIPANT als ParticipantMessageData-DATA-Sample im BUILTIN_PARTICIPANT_MESSAGE_WRITER-Stream (crates/rtps/src/participant_message_data.rs::ParticipantMessageData). MANUAL_BY_TOPIC via Heartbeat-LivelinessFlag (L-Bit, Spec §8.3.8.6) + ZeroDDS-Vendor-Kind (PARTICIPANT_MESSAGE_DATA_KIND_ZERODDS_MANUAL_BY_TOPIC) mit Topic-Token. Reliable-Writer setzt L-Flag auf Heartbeats fuer MANUAL_BY_TOPIC-konfigurierte Writers.

Tests: participant_message_data::tests::*, submessages::tests::heartbeat_submessage_liveliness_flag_roundtrip, dcps::wlp::tests::wlp_assert_topic_emits_vendor_kind_with_token, wlp_assert_participant_emits_manual_pulse.

Status: done

8.7.3 Content-filtered Topics (Reader-side Filter + ContentFilterProperty_t)

Spec: §8.7.3.

Repo: crates/rtps/src/subscription_data.rs::ContentFilterProperty + Wire-Encode/Decode (encode_content_filter_property_le / decode_content_filter_property). PID CONTENT_FILTER_PROPERTY (0x0035) in SubscriptionBuiltinTopicData. Reader-side Filter via crates/dcps/src/topic.rs::ContentFilteredTopic mit SQL-Filter ueber zerodds-sql-filter-Crate (siehe DCPS K3a §2.2.2.5.4 + ContentFilteredTopic-Tests).

Tests: crates/rtps/src/subscription_data.rs::tests::* (ContentFilterProperty Wire-Roundtrip), crates/dcps/src/topic.rs::tests::cft_* (Filter-Logik).

Status: done

8.7.4 Instance-State-Transitions

Spec: §8.7.4.

Repo: crates/dcps/src/instance_tracker.rs::InstanceTracker + InstanceState. Spec-Transitions ALIVE → NOT_ALIVE_DISPOSED / NOT_ALIVE_NO_WRITERS / ALIVE_FILTERED ueber dispose(), unregister(), should_deliver_under_time_based_filter. Tracking ueber disposed_at, no_writers_at, current_owner mit generation-Counters. ChangeKind::AliveFiltered zaehlt im filteredCount aber bleibt instance-aktiv.

Tests: instance_tracker::tests::dispose_transitions_to_disposed, re_register_after_dispose_bumps_disposed_generation, unregister_decrements_writer_count, time_based_filter_* (5 Tests), autopurge_* (5 Tests), exclusive_* (8 Tests Strength-Selection).

Status: done

8.7.5 Group-Ordered Access (PID_GROUP_SEQ_NUM/PID_WRITER_GROUP_INFO/Heartbeat.GSN)

Spec: §8.7.5.

Repo: PIDs in crates/rtps/src/parameter_list.rs::pid:: {GROUP_SEQ_NUM, WRITER_GROUP_INFO}. Heartbeat-GroupInfo-Sektion (GSN + group_first/last) in crates/rtps/src/submessages.rs::HeartbeatSubmessage::group_info (G-Flag). DCPS-side GROUP-coherent-Pfad in crates/dcps/src/coherent_set.rs::GroupAccessScope.snapshot_generation (siehe DCPS K3a §2.2.3.6).

Tests: submessages::tests::heartbeat_with_writer_set_roundtrip_be, heartbeat_with_empty_group_info_roundtrip_le, coherent_set::tests::snapshot_generation_* (DCPS), is_standard_pid_recognises_* (PID-Acceptance).

Status: done

8.7.6 Coherent Sets (PID_COHERENT_SET/PID_GROUP_COHERENT_SET/ECS-Sample)

Spec: §8.7.6.

Repo: Inline-QoS-PIDs COHERENT_SET (0x0056) + GROUP_COHERENT_SET (0x0063) in crates/rtps/src/parameter_list.rs::pid. DCPS-side Coherent-Scope-Wiring in crates/dcps/src/coherent_set.rs::{CoherentScope, CoherentSetMarker, GroupAccessScope} mit snapshot_generation (atomic Cut beim GROUP-coherent begin_access). End-of-Coherent-Set (ECS) Sample wird durch end_access mit Generation-Bump signalisiert.

Tests: coherent_set::tests::* (snapshot-generation + multi-reader-shared-scope + nested begin/end).

Status: done

8.7.7 Directed Write

Spec: §8.7.7 / §9.6.2.2.5 — Inline-QoS PID_DIRECTED_WRITE adressiert ein Sample auf einen einzigen Reader-GUID; andere Reader, die das Sample (z.B. via Multicast) empfangen, MUESSEN verwerfen.

Repo: crates/rtps/src/parameter_list.rs::pid::DIRECTED_WRITE (0x0057). Encoder/Filter in crates/rtps/src/inline_qos.rs::directed_write_param, find_directed_write, directed_write_matches_reader.

Tests: inline_qos::tests::directed_write_param_carries_target_guid, find_directed_write_returns_target_when_present, find_directed_write_returns_none_when_absent (Negativ), find_directed_write_rejects_truncated_value (Negativ), directed_write_matches_reader_returns_true_for_matching_target, directed_write_matches_reader_returns_false_for_other_target (Negativ), directed_write_matches_reader_returns_true_when_no_directed_write.

Status: done

8.7.8 Inline-QoS-Pfad

Spec: §8.7.8.

Repo: crates/rtps/src/inline_qos.rs mit Helper-Funktionen fuer alle Standard-Inline-QoS-PIDs: reply_inline_qos (PID_RELATED_SAMPLE_IDENTITY) + find_* Decoder, directed_write_param (PID_DIRECTED_WRITE) + find_directed_write + directed_write_matches_reader, original_writer_info_param (PID_ORIGINAL_WRITER_INFO) + find_original_writer_info. PID_KEY_HASH Inline-QoS in crates/dcps/src/dds_type.rs::DdsType::compute_key_hash. PID_STATUS_INFO + PID_PROPERTY_LIST in crates/rtps/src/property_list.rs + crates/dcps/src/dds_type.rs.

Tests: inline_qos::tests::* (28 Tests inkl. Directed-Write, OriginalWriterInfo, RelatedSampleIdentity Roundtrip).

Status: done

8.7.9 OriginalWriterInfo (fuer Persistence-Service-Forwarding)

Spec: §8.7.9 — Inline-QoS PID_ORIGINAL_WRITER_INFO (24 byte: GUID + i64 SequenceNumber). Persistence-Service setzt das auf weitergeleiteten Late-Joiner-Replay-Samples.

Repo: crates/rtps/src/parameter_list.rs::pid::ORIGINAL_WRITER_INFO (0x0061), crates/rtps/src/inline_qos.rs::original_writer_info_param (Encoder), find_original_writer_info (Decoder mit LE/BE-Support). Persistence-Service-Backend in crates/dcps/src/durability_service.rs (siehe DCPS K3a §2.2.3.5).

Tests: inline_qos::tests::original_writer_info_param_24_byte_layout_le, original_writer_info_roundtrip_le, original_writer_info_roundtrip_be, find_original_writer_info_returns_none_when_absent (Negativ), find_original_writer_info_rejects_truncated (Negativ).

Status: done

§9 PSM UDP/IP

9.1-9.3 Notational Conventions / RTPS Types Mapping

Spec: §9.1-9.3, S. 143-152.

Repo: wire_types.rs.

Tests: —

Status: done

9.3.1 GUID-PSM-Mapping (auto-generated von DDS-Implementation)

Spec: §9.3.1.

Repo: wire_types.rs::Guid.

Tests: —

Status: done

9.3.2 IDL-Definitionen / SubmessageElement-Typen

Spec: §9.3.2 — Built-in Endpoint-Set Bits 0-29.

Repo: crates/rtps/src/participant_data.rs::BuiltinEndpointSet- Bitfeld mit allen Bits: SPDP-W/R (0/1), SEDP-Pub-W/R (2/3), SEDP- Sub-W/R (4/5), SEDP-Topic-W/R (6/7), Participant-Message W/R (10/11), DDS-Security-Endpoints (16-23), Topic-Discovery (28/29).

Tests: participant_data::tests::* (BuiltinEndpointSet Wire-Roundtrip pro Bit).

Status: done

9.4 Mapping der Messages (Wire-Encoding aller Submessages)

Spec: §9.4 — Wire-Layout pro Submessage.

Repo: crates/rtps/src/submessages.rs + header_extension.rs + datagram.rs mit kompletten Encode/Decode-Pfaden fuer alle Submessage-Klassen (DATA, DATA_FRAG, HEARTBEAT, HEARTBEAT_FRAG, ACKNACK, NACK_FRAG, GAP, INFO_TS, INFO_SRC, INFO_DST, INFO_REPLY, PAD, HEADER_EXTENSION). InfoReplyIp4 wird als generisches InfoReplySubmessage mit IPv4-Locator-Variante codiert.

Tests: submessages::tests::* (60+ Wire-Roundtrip-Tests), header_extension::tests::* (16 HE-Roundtrip-Tests), datagram::tests::* (Datagram-Composition).

Status: done

9.4.2.11.2 Must-Understand-Bit (PID & 0x4000)

Spec: §9.4.2.11.2 — “If the receiver does not understand a parameter and the must_understand bit (0x4000) is set, the entire RTPS message carrying this ParameterList MUST be discarded.”

Repo: crates/rtps/src/parameter_list.rs::ParameterList:: validate_must_understand_in_data_pipeline mit is_standard_pid(masked_pid)-Klassifikator (alle 50+ Spec-PIDs inkl. DDS-Security 1.2). Wire-Hot-Path-Aktivierung in crates/rtps/src/datagram.rs::decode_datagram — sowohl auf der DATA-Submessage’s inline_qos als auch auf der HE.parameters. Vendor-spezifische PIDs (oberstes Bit gesetzt) werden auch mit Must-Understand-Bit ignoriert (Spec §9.6.2).

Tests: parameter_list::tests::must_understand_known_pid_passes, must_understand_unknown_pid_rejects (Negativ), must_understand_vendor_pid_with_must_understand_rejects (Negativ), validate_must_understand_in_data_pipeline_known_pid_passes, validate_must_understand_in_data_pipeline_unknown_pid_rejects (Negativ), validate_must_understand_in_data_pipeline_vendor_specific_pid_passes, validate_must_understand_in_data_pipeline_optional_unknown_pid_passes, is_standard_pid_recognises_dds_security_pids, is_standard_pid_unknown_pid_returns_false (Negativ), datagram::tests::decode_rejects_data_with_unknown_must_understand_pid_in_inline_qos (Negativ), decode_accepts_data_with_known_must_understand_pid_in_inline_qos, decode_accepts_vendor_specific_must_understand_pid.

Status: done

9.4.2.15 Checksum-Pfad (CRC-32C / CRC-64-XZ / MD5-128)

Spec: §9.4.2.15 — alle 3 Checksum-Algorithmen via HeaderExtension.C-Flag-Paerchen (C0+C1).

Repo: crates/rtps/src/header_extension.rs::ChecksumKind mit allen 4 Werten (None/Crc32c/Crc64/Md5) + ChecksumValue Enum-Variants mit dem Hash-Wert (4/8/16 byte). Wire-Encode/Decode in decode_body + flag_byte.

Compute/Verify: ChecksumValue::compute(kind, payload) und ChecksumValue::verify(payload) berechnen die Checksum bzw. pruefen einen empfangenen Wert gegen einen Payload-Slice. Die drei Algorithmen sind durchgehend pure-Rust no_std implementiert via zerodds_foundation::{crc32c, crc64_xz, md5} — keine externe Crypto-Crate- Abhaengigkeit (Pillar 9 Zero-Dependency).

Tests: header_extension::tests::roundtrip_with_crc32c_le, roundtrip_with_crc64_be, roundtrip_with_md5_le, checksum_kind_roundtrip (alle 4 Kinds), checksum_kind_wire_size, decode_rejects_truncated_md5_checksum_body (Negativ), checksum_compute_crc32c_matches_rfc4960_vector (RFC 4960 App. B Test-Vector), checksum_compute_crc64_xz_matches_known_vector (XZ utils Standard-Vector), checksum_compute_md5_matches_rfc1321_vector (RFC 1321 §A.5 Test-Vector), checksum_verify_round_trip_crc32c_succeeds, checksum_verify_detects_tampered_payload (Negativ), checksum_verify_none_kind_always_succeeds, checksum_verify_crc64_round_trip, checksum_verify_md5_round_trip, checksum_compute_none_yields_none.

Status: done

9.5 Mapping zu UDP/IP Transport Messages

Spec: §9.5.

Repo: crates/transport-udp/.

Tests: Transport-Tests.

Status: done

9.6 RTPS Protocol Mapping (Port-Berechnung PB=7400/DG=250/PG=2/d0..d3 + Multicast-Locator)

Spec: §9.6.

Repo: crates/discovery/src/spdp.rs::well_known_port.

Tests: Port-Tests.

Status: done

9.6.3 Optimization-Omit (MUSS-omit redundante Felder bei SPDP/SEDP)

Spec: §9.6.3 — Felder die beim Default-Wert nicht in PL-CDR serialisiert werden duerfen (Bandbreiten-Optimierung).

Repo: crates/rtps/src/participant_data.rs::ParticipantBuiltinTopicData:: to_pl_cdr_le + crates/rtps/src/publication_data.rs / subscription_data.rs lassen Default-QoS-Werte weg (if let Some(...) Pattern), schreiben nur explizit gesetzte QoS-Policies. PIDs IGNORE (0x3F03) als Padding-Marker.

Tests: participant_data::tests::* (Wire-Roundtrip ohne Default-Werte byte-identisch zu Cyclone-Sample).

Status: done

9.6.4.3 KeyHash-Berechnung (PLAIN_CDR2-BE-Serialization)

Spec: §9.6.4.3 + XTypes 1.3 §7.6.8 — KeyHash = PLAIN_CDR2-BE- Serialization der @key-Member, sortiert nach memberId. Bei max_size > 16: MD5(stream)[0..16]. Sonst zero-padded.

Repo: crates/cdr/src/key_hash.rs::compute_key_hash mit beiden Pfaden (zero-pad + MD5). XCDR2-BE-Serialization mit Member-Reorder durch dds_type::DdsType::encode_key_holder_be (proc-macro generiert sortierte Reihenfolge in K2 XTypes-Voll-Stack).

Tests: cdr::key_hash::tests::* (16+ Tests fuer beide Pfade, zero-pad + MD5), dds_type::tests::small_keyed_produces_zero_padded_keyhash, large_keyed_produces_md5_hashed_keyhash, keyed_member_order_matters (Sort-Stability).

Status: done

§10 SerializedPayload Representation

10.1-10.7 SerializedPayloadHeader + Repr-Identifier (CDR/PL_CDR/CDR2/D_CDR/XML)

Spec: §10, S. 193-199.

Repo: crates/cdr/src/representation.rs::RepresentationIdentifier mit allen Spec-Werten (CDR_BE/LE, PL_CDR_BE/LE, CDR2_BE/LE, PL_CDR2_BE/LE, D_CDR_BE/LE, XML, RTPS_HE 0xC0xx). 4-byte Encapsulation-Header (RID + Options) als Prefix jeder SerializedPayload. D-CDR (Delimited) als Length-Prefix-Wrapper ueber XCDR2 (XTypes 1.3 §7.4.3.5.4) im DCPS-CDR-Layer implementiert.

Tests: cdr::representation::tests::* (Wire-Roundtrip aller Identifier inkl. Options-Bits), cdr::xcdr2::tests::* (XCDR2-BE + LE), cdr::tests::pl_cdr::* (PL_CDR-Pfad).

Status: done

Audit-Status

121 done / 0 partial / 0 open / 3 n/a (informative) / 0 n/a (rejected).

Test-Lauf: