From 8edef76c0add2bb0cc03b4fe524ce627e2abda33 Mon Sep 17 00:00:00 2001 From: Stefan Kimmer Date: Tue, 3 Nov 2026 13:06:12 +0100 Subject: [PATCH 01/12] update lock --- srcRs/DustDDS/Cargo.lock | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/srcRs/DustDDS/Cargo.lock b/srcRs/DustDDS/Cargo.lock index 07bb48f..b7b16ea 100644 --- a/srcRs/DustDDS/Cargo.lock +++ b/srcRs/DustDDS/Cargo.lock @@ -211,6 +211,8 @@ dependencies = [ [[package]] name = "dust_dds" version = "0.16.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "769e637705ab26402e67a5fdb526776eaeb444e75bcc8f88e1e32ca77cd45be0" dependencies = [ "critical-section", "dust_dds_derive", @@ -225,6 +227,8 @@ dependencies = [ [[package]] name = "dust_dds_derive" version = "0.16.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f92f2936c8627aaaf867de3862044ebf0ce979a415fbda4751b1c670c2b25778" dependencies = [ "md5", "proc-macro2", @@ -236,6 +240,8 @@ dependencies = [ [[package]] name = "dust_dds_gen" version = "0.16.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "600e174a7b2a66bc137c49946f14366c9b18679b0f35f86c55baa78076ef87ff" dependencies = [ "pest", "pest_derive", From fa984bbc54437ec2b639b3aa398ad76b6ca0f2fb Mon Sep 17 00:00:00 2001 From: Stefan Kimmer Date: Tue, 3 Nov 2026 13:47:56 +0100 Subject: [PATCH 02/12] Update DomainParticipantFactory usage --- srcRs/DustDDS/src/main.rs | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index f087b31..05665f8 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -1,6 +1,5 @@ use clap::{Parser, ValueEnum}; use dust_dds::{ - configuration::DustDdsConfigurationBuilder, dds_async::{topic::TopicAsync, topic_description::TopicDescriptionAsync}, domain::{ domain_participant::DomainParticipant, @@ -8,6 +7,7 @@ use dust_dds::{ domain_participant_listener::DomainParticipantListener, }, infrastructure::{ + configuration::DustDdsConfigurationBuilder, error::DdsError, instance::InstanceHandle, listener::NO_LISTENER, @@ -23,6 +23,8 @@ use dust_dds::{ time::{Duration, DurationKind}, }, publication::data_writer::DataWriter, + rtps_udp_transport::RtpsUdpTransport, + security::plugins::types::DdsSecurityPlugins, subscription::data_reader::DataReader, }; use rand::{Rng, random, thread_rng}; @@ -1252,16 +1254,20 @@ fn initialize(options: &Options, logger: &Logger) -> Result 0 { + let participant_factory = if options.periodic_announcement > 0 { let configuration = DustDdsConfigurationBuilder::new() .participant_announcement_interval(std::time::Duration::from_millis( options.periodic_announcement, )) .build()?; - *participant_factory.get_mut_configuration() = configuration; - } + DomainParticipantFactory::get_custom_instance( + configuration, + RtpsUdpTransport::default(), + DdsSecurityPlugins::disabled(), + ) + } else { + DomainParticipantFactory::get_instance() + }; let participant = participant_factory.create_participant( options.domain_id, From 067652238299722a464ee48f278cb777b778ec7f Mon Sep 17 00:00:00 2001 From: Stefan Kimmer Date: Tue, 3 Nov 2026 13:53:55 +0100 Subject: [PATCH 03/12] update dust-dds version --- srcRs/DustDDS/Cargo.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/srcRs/DustDDS/Cargo.toml b/srcRs/DustDDS/Cargo.toml index c7627a5..2a5750f 100644 --- a/srcRs/DustDDS/Cargo.toml +++ b/srcRs/DustDDS/Cargo.toml @@ -17,7 +17,7 @@ publish = false clap = { version = "4.5.47", features = ["derive", "string"] } rand = "0.8.5" ctrlc = "3.4" -dust_dds = { version = "0.16.0" } +dust_dds = { version = "0.17.0" } [build-dependencies] -dust_dds_gen = "0.16.0" +dust_dds_gen = "0.17.0" From 3f61a4a997b400b5e33ea54ae4f23326b0299bd0 Mon Sep 17 00:00:00 2001 From: Joao Rebelo <2730147+jrebelo@users.noreply.github.com> Date: Wed, 4 Nov 2026 12:37:21 +0100 Subject: [PATCH 04/12] Configure QoS using ordered and coherent access --- srcRs/DustDDS/src/main.rs | 63 +++++++++++++++++++-------------------- 1 file changed, 30 insertions(+), 33 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index 05665f8..e857ce5 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -15,8 +15,9 @@ use dust_dds::{ qos_policy::{ self, DataRepresentationQosPolicy, DurabilityQosPolicy, HistoryQosPolicy, HistoryQosPolicyKind, OwnershipQosPolicy, OwnershipQosPolicyKind, - OwnershipStrengthQosPolicy, PartitionQosPolicy, ReliabilityQosPolicy, - XCDR_DATA_REPRESENTATION, XCDR2_DATA_REPRESENTATION, + OwnershipStrengthQosPolicy, PartitionQosPolicy, PresentationQosPolicy, + PresentationQosPolicyAccessScopeKind, ReliabilityQosPolicy, XCDR_DATA_REPRESENTATION, + XCDR2_DATA_REPRESENTATION, }, sample_info::{ANY_INSTANCE_STATE, ANY_SAMPLE_STATE, ANY_VIEW_STATE, InstanceStateKind}, status::{InconsistentTopicStatus, NO_STATUS, StatusKind}, @@ -750,38 +751,20 @@ fn init_publisher( ) -> Result>, InitializeError> { logger.log_message("Running init_publisher() function", Verbosity::Debug); - if options.coherent { - logger.log_message( - " Presentation Coherent Access = not supported", - Verbosity::Error, - ); - return Err(InitializeError( - "Presentation Coherent Access = not supported".to_string(), - )); - } - if options.ordered { - logger.log_message( - " Presentation Ordered Access = not supported", - Verbosity::Error, - ); - return Err(InitializeError( - "Presentation Ordered Access = not supported".to_string(), - )); - } - if let Some(access_scope) = options.access_scope { - if access_scope != AccessScope::I { - logger.log_message( - " Presentation Access Scope = not supported", - Verbosity::Error, - ); - return Err(InitializeError( - "Presentation Access Scope = not supported".to_string(), - )); - } - } - let publisher_qos = QosKind::Specific(PublisherQos { partition: options.partition_qos_policy(), + presentation: PresentationQosPolicy { + access_scope: options + .access_scope + .map(|x| match x { + AccessScope::I => PresentationQosPolicyAccessScopeKind::Instance, + AccessScope::T => PresentationQosPolicyAccessScopeKind::Topic, + AccessScope::G => PresentationQosPolicyAccessScopeKind::Group, + }) + .unwrap_or(PresentationQosPolicyAccessScopeKind::Instance), + coherent_access: options.coherent, + ordered_access: options.ordered, + }, ..Default::default() }); let publisher = participant.create_publisher(publisher_qos, NO_LISTENER, NO_STATUS)?; @@ -830,7 +813,9 @@ fn init_publisher( data_writer_qos.ownership_strength = options.ownership_strength_qos_policy(); } if let Some(FinalInstanceState::U) = options.final_instance_state { - data_writer_qos.writer_data_lifecycle.autodispose_unregistered_instances = false; + data_writer_qos + .writer_data_lifecycle + .autodispose_unregistered_instances = false; } let data_writer = publisher.create_datawriter::( @@ -1017,6 +1002,18 @@ fn init_subscriber( let subscriber_qos = QosKind::Specific(SubscriberQos { partition: options.partition_qos_policy(), + presentation: PresentationQosPolicy { + access_scope: options + .access_scope + .map(|x| match x { + AccessScope::I => PresentationQosPolicyAccessScopeKind::Instance, + AccessScope::T => PresentationQosPolicyAccessScopeKind::Topic, + AccessScope::G => PresentationQosPolicyAccessScopeKind::Group, + }) + .unwrap_or(PresentationQosPolicyAccessScopeKind::Instance), + coherent_access: options.coherent, + ordered_access: options.ordered, + }, ..Default::default() }); let subscriber = participant.create_subscriber(subscriber_qos, NO_LISTENER, NO_STATUS)?; From 8e5beb072646b6c225febac3123ad3f649aca733 Mon Sep 17 00:00:00 2001 From: Joao Rebelo <2730147+jrebelo@users.noreply.github.com> Date: Wed, 4 Nov 2026 12:58:21 +0100 Subject: [PATCH 05/12] Add handling of ordered access --- srcRs/DustDDS/src/main.rs | 33 ++++++++++++++++++++++++++++----- 1 file changed, 28 insertions(+), 5 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index e857ce5..95f375a 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -23,7 +23,7 @@ use dust_dds::{ status::{InconsistentTopicStatus, NO_STATUS, StatusKind}, time::{Duration, DurationKind}, }, - publication::data_writer::DataWriter, + publication::{data_writer::DataWriter, publisher::Publisher}, rtps_udp_transport::RtpsUdpTransport, security::plugins::types::DdsSecurityPlugins, subscription::data_reader::DataReader, @@ -748,7 +748,7 @@ fn init_publisher( participant: &DomainParticipant, options: &Options, logger: &Logger, -) -> Result>, InitializeError> { +) -> Result<(Publisher, Vec>), InitializeError> { logger.log_message("Running init_publisher() function", Verbosity::Debug); let publisher_qos = QosKind::Specific(PublisherQos { @@ -828,10 +828,11 @@ fn init_publisher( data_writers.push(data_writer); } - Ok(data_writers) + Ok((publisher, data_writers)) } fn run_publisher( + publisher: &Publisher, data_writers: &[DataWriter], options: &Options, logger: &Logger, @@ -887,6 +888,16 @@ fn run_publisher( } } + if options.coherent || options.ordered { + // n also represents the number of samples written per publisher per instance + if let Some(coherent_sample_count) = options.coherent_sample_count { + if coherent_sample_count != 0 && n % coherent_sample_count == 0 { + println!("Started Coherent Set"); + publisher.begin_coherent_changes()?; + } + } + } + for (i, data_writer) in data_writers.iter().enumerate() { let topic_name = format!( "{}{}", @@ -917,6 +928,18 @@ fn run_publisher( } } + if options.coherent || options.ordered { + // n also represents the number of samples written per publisher per instance + if let Some(coherent_sample_count) = options.coherent_sample_count { + if coherent_sample_count != 0 + && n % coherent_sample_count == coherent_sample_count - 1 + { + println!("Finished Coherent Set"); + publisher.end_coherent_changes()?; + } + } + } + std::thread::sleep(std::time::Duration::from_millis(options.write_period_ms)); n += 1; @@ -1382,8 +1405,8 @@ fn run_app() -> Result<(), Return> { logger.log_message("Running ShapeApp...", Verbosity::Debug); if options.publish { - let data_writers = init_publisher(&participant, &options, &logger)?; - run_publisher(&data_writers, &options, &logger, rx)?; + let (publisher, data_writers) = init_publisher(&participant, &options, &logger)?; + run_publisher(&publisher, &data_writers, &options, &logger, rx)?; } else { let data_readers = init_subscriber(&participant, &options, &logger)?; run_subscriber(&data_readers, &options, &logger, rx)?; From 25d0d37218747ee92580a2541607b399b6c9ffcd Mon Sep 17 00:00:00 2001 From: Joao Rebelo <2730147+jrebelo@users.noreply.github.com> Date: Wed, 4 Nov 2026 13:43:24 +0100 Subject: [PATCH 06/12] Remove unsupported operations --- srcRs/DustDDS/src/main.rs | 30 ------------------------------ 1 file changed, 30 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index 95f375a..a2ceddf 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -993,36 +993,6 @@ fn init_subscriber( ) -> Result>, InitializeError> { logger.log_message("Running init_subscriber() function", Verbosity::Debug); - if options.coherent { - logger.log_message( - " Presentation Coherent Access = not supported", - Verbosity::Error, - ); - return Err(InitializeError( - "Presentation Coherent Access = not supported".to_string(), - )); - } - if options.ordered { - logger.log_message( - " Presentation Ordered Access = not supported", - Verbosity::Error, - ); - return Err(InitializeError( - "Presentation Ordered Access = not supported".to_string(), - )); - } - if let Some(access_scope) = options.access_scope { - if access_scope != AccessScope::I { - logger.log_message( - " Presentation Access Scope = not supported", - Verbosity::Error, - ); - return Err(InitializeError( - "Presentation Access Scope = not supported".to_string(), - )); - } - } - let subscriber_qos = QosKind::Specific(SubscriberQos { partition: options.partition_qos_policy(), presentation: PresentationQosPolicy { From 852592c9d82bf50cf56f3f3876eb236cd3f31123 Mon Sep 17 00:00:00 2001 From: Joao Rebelo <2730147+jrebelo@users.noreply.github.com> Date: Wed, 4 Nov 2026 17:05:18 +0100 Subject: [PATCH 07/12] Add printing on subscriber side --- srcRs/DustDDS/src/main.rs | 25 ++++++++++++++++++++----- 1 file changed, 20 insertions(+), 5 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index a2ceddf..d599e5b 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -26,7 +26,7 @@ use dust_dds::{ publication::{data_writer::DataWriter, publisher::Publisher}, rtps_udp_transport::RtpsUdpTransport, security::plugins::types::DdsSecurityPlugins, - subscription::data_reader::DataReader, + subscription::{data_reader::DataReader, subscriber::Subscriber}, }; use rand::{Rng, random, thread_rng}; use std::{ @@ -990,7 +990,7 @@ fn init_subscriber( participant: &DomainParticipant, options: &Options, logger: &Logger, -) -> Result>, InitializeError> { +) -> Result<(Subscriber, Vec>), InitializeError> { logger.log_message("Running init_subscriber() function", Verbosity::Debug); let subscriber_qos = QosKind::Specific(SubscriberQos { @@ -1092,10 +1092,11 @@ fn init_subscriber( } } - Ok(data_readers) + Ok((subscriber, data_readers)) } fn run_subscriber( + _subscriber: &Subscriber, data_readers: &[DataReader], options: &Options, logger: &Logger, @@ -1108,6 +1109,16 @@ fn run_subscriber( let mut n: u32 = 0; while all_done.try_recv().is_err() { + if options.coherent { + println!("Reading coherent sets, iteration {n}"); + } + if options.ordered { + println!("Reading with ordered access, iteration {n}"); + } + // if (options.coherent || options.ordered) { + // subscriber.begin_access() + // } + for (i, data_reader) in data_readers.iter().enumerate() { previous_handles[i] = None; loop { @@ -1210,6 +1221,10 @@ fn run_subscriber( } } + // if (options.coherent || options.ordered) { + // subscriber.end_access(); + // } + n += 1; logger.log_message(format!("Subscriber iteration: <{}>", n), Verbosity::Debug); logger.log_message( @@ -1378,8 +1393,8 @@ fn run_app() -> Result<(), Return> { let (publisher, data_writers) = init_publisher(&participant, &options, &logger)?; run_publisher(&publisher, &data_writers, &options, &logger, rx)?; } else { - let data_readers = init_subscriber(&participant, &options, &logger)?; - run_subscriber(&data_readers, &options, &logger, rx)?; + let (subscriber, data_readers) = init_subscriber(&participant, &options, &logger)?; + run_subscriber(&subscriber, &data_readers, &options, &logger, rx)?; } participant From 1bc17d3f3dda57aec1303229c83d3334e5ba24ee Mon Sep 17 00:00:00 2001 From: Joao Rebelo <2730147+jrebelo@users.noreply.github.com> Date: Thu, 5 Nov 2026 14:55:17 +0100 Subject: [PATCH 08/12] Add begin and end_access cals --- srcRs/DustDDS/src/main.rs | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index d599e5b..975de5f 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -1115,9 +1115,9 @@ fn run_subscriber( if options.ordered { println!("Reading with ordered access, iteration {n}"); } - // if (options.coherent || options.ordered) { - // subscriber.begin_access() - // } + if (options.coherent || options.ordered) { + subscriber.begin_access() + } for (i, data_reader) in data_readers.iter().enumerate() { previous_handles[i] = None; @@ -1221,9 +1221,9 @@ fn run_subscriber( } } - // if (options.coherent || options.ordered) { - // subscriber.end_access(); - // } + if (options.coherent || options.ordered) { + subscriber.end_access(); + } n += 1; logger.log_message(format!("Subscriber iteration: <{}>", n), Verbosity::Debug); From 0aa148d6e3129ede42c7489964f694f06f4ee6bd Mon Sep 17 00:00:00 2001 From: Stefan Kimmer Date: Thu, 5 Nov 2026 16:46:02 +0100 Subject: [PATCH 09/12] fix begin_access --- srcRs/DustDDS/src/main.rs | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index 975de5f..a50b1be 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -1096,7 +1096,7 @@ fn init_subscriber( } fn run_subscriber( - _subscriber: &Subscriber, + subscriber: &Subscriber, data_readers: &[DataReader], options: &Options, logger: &Logger, @@ -1115,8 +1115,8 @@ fn run_subscriber( if options.ordered { println!("Reading with ordered access, iteration {n}"); } - if (options.coherent || options.ordered) { - subscriber.begin_access() + if options.coherent || options.ordered { + let _ = subscriber.begin_access(); } for (i, data_reader) in data_readers.iter().enumerate() { @@ -1221,8 +1221,8 @@ fn run_subscriber( } } - if (options.coherent || options.ordered) { - subscriber.end_access(); + if options.coherent || options.ordered { + let _ = subscriber.end_access(); } n += 1; From c688188ef3c2f1809b20add54c57f29fb3ca0afe Mon Sep 17 00:00:00 2001 From: Joao Rebelo <2730147+jrebelo@users.noreply.github.com> Date: Fri, 6 Nov 2026 12:44:15 +0100 Subject: [PATCH 10/12] Fix compilation erros --- srcRs/DustDDS/src/main.rs | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/srcRs/DustDDS/src/main.rs b/srcRs/DustDDS/src/main.rs index 975de5f..0ede567 100644 --- a/srcRs/DustDDS/src/main.rs +++ b/srcRs/DustDDS/src/main.rs @@ -1096,7 +1096,7 @@ fn init_subscriber( } fn run_subscriber( - _subscriber: &Subscriber, + subscriber: &Subscriber, data_readers: &[DataReader], options: &Options, logger: &Logger, @@ -1115,8 +1115,8 @@ fn run_subscriber( if options.ordered { println!("Reading with ordered access, iteration {n}"); } - if (options.coherent || options.ordered) { - subscriber.begin_access() + if options.coherent || options.ordered { + subscriber.begin_access()?; } for (i, data_reader) in data_readers.iter().enumerate() { @@ -1221,8 +1221,8 @@ fn run_subscriber( } } - if (options.coherent || options.ordered) { - subscriber.end_access(); + if options.coherent || options.ordered { + subscriber.end_access()?; } n += 1; From e44ff6568e36cf5f53bfcb057310b09b92983aef Mon Sep 17 00:00:00 2001 From: Stefan Kimmer Date: Mon, 9 Nov 2026 09:31:19 +0100 Subject: [PATCH 11/12] remove Cargo.lock from source control --- .gitignore | 3 - RustDDS/Cargo.lock | 1415 -------------------------------------- srcRs/DustDDS/Cargo.lock | 854 ----------------------- 3 files changed, 2272 deletions(-) delete mode 100644 RustDDS/Cargo.lock delete mode 100644 srcRs/DustDDS/Cargo.lock diff --git a/.gitignore b/.gitignore index e435e32..4897f53 100644 --- a/.gitignore +++ b/.gitignore @@ -81,6 +81,3 @@ doc/detailed_report.rst doc/test_results.rst test_description.rst doc/test_description.rst - 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"proc-macro2", - "quote", - "syn 2.0.119", -] From bb93fff83010d689ef9c3b47415a4393d0839b82 Mon Sep 17 00:00:00 2001 From: Stefan Kimmer Date: Mon, 9 Nov 2026 09:36:05 +0100 Subject: [PATCH 12/12] revert path in Cargo.toml --- srcRs/DustDDS/Cargo.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/srcRs/DustDDS/Cargo.toml b/srcRs/DustDDS/Cargo.toml index 70d27a3..a6ec09e 100644 --- a/srcRs/DustDDS/Cargo.toml +++ b/srcRs/DustDDS/Cargo.toml @@ -17,7 +17,7 @@ publish = false clap = { version = "4.5.47", features = ["derive", "string"] } rand = "0.8.5" ctrlc = "3.4" -dust_dds = { version = "0.17.0", path = "../../../dust-dds/dds" } +dust_dds = { version = "0.17.0" } [build-dependencies] -dust_dds_gen = { version = "0.17.0", path = "../../../dust-dds/dds_gen" } +dust_dds_gen = { version = "0.17.0" }