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Component / crate map

ZeroDDS is split into ~120 crates. Every crate has its own README with a short purpose statement. This chapter groups them by layer.

Foundation

Crate Purpose
zerodds-foundation GUID, SN, time, CRC, pool buffers, RCU cell, observability
zerodds-cdr OMG CDR / XCDR1 / XCDR2 encoder + decoder
zerodds-types Type representation, TypeObject (XTypes 1.3)
zerodds-qos All QoS policies, compatibility helpers

RTPS + Discovery

Crate Purpose
zerodds-rtps Wire types, submessages, fragmentation, reliable writer/reader, history cache
zerodds-discovery SPDP / SEDP / WLP, security-aware variants

DCPS

Crate Purpose
zerodds-dcps DomainParticipant, Publisher, Subscriber, DataWriter, DataReader, runtime event-loop
zerodds-rpc Request/Reply pattern over DDS

Security

Crate Purpose
zerodds-security SPI traits + token types
zerodds-security-pki X.509 / PKI handshake (3-way)
zerodds-security-permissions Governance + Permissions XML
zerodds-security-crypto AES-GCM transforms (ring-backed; runtime HW detect)
zerodds-security-rtps SRTPS submessage wrapping
zerodds-security-keyexchange Volatile key-exchange topic
zerodds-security-logging Logging plugin
zerodds-security-runtime Glue between SPI and DCPS

Transport

Crate Purpose
zerodds-transport Trait + Locator
zerodds-transport-udp UDP socket + multicast
zerodds-transport-tcp TCP framing
zerodds-transport-shm POSIX shared-memory ring
zerodds-transport-uds UNIX-domain sockets
zerodds-transport-tsn Time-Sensitive Networking

Bridges

Crate Purpose
zerodds-coap-bridge CoAP gateway
zerodds-websocket-bridge WebSocket gateway
zerodds-mqtt-bridge MQTT-5 gateway
zerodds-amqp-bridge AMQP-1.0 gateway (per DDS-AMQP 1.0 spec)
zerodds-amqp-endpoint AMQP DDS endpoint (the AMQP side, mirrors DDS)
zerodds-grpc-bridge gRPC gateway
zerodds-ros2-rmw ROS-2 RMW conversion helpers
rmw-zerodds-shim extern-C ROS-2 RMW plugin
zerodds-opcua-gateway OPC-UA pub/sub bridge
zerodds-soap SOAP 1.2 / WSDL Web-Profile
zerodds-xml-wire DDS-XML 1.0 wire format

CORBA + CCM

Crate Purpose
dds-corba-{giop,iiop,ior,poa,cosnaming,ir,csiv2,codegen} CORBA 3.3 stack
dds-corba-{cos-event,ccm,ccm-ejb,dnc,ccm-lib} CCM container + COS-Event-Service
zerodds-corba-dds-bridge CORBA ↔ DDS bridge

DLRL

Crate Purpose
zerodds-dlrl Data-Local-Reconstruction-Layer runtime
zerodds-dlrl-codegen DLRL codegen

XTypes / IDL

Crate Purpose
zerodds-idl OMG-IDL 4.2 parser, AST, builder, validator
zerodds-idl-cpp C++ codegen backend
zerodds-idl-csharp C# codegen backend
zerodds-idl-java Java codegen backend
zerodds-idl-ts TypeScript codegen backend (per DDS-TS 1.0 spec)
zerodds-java-omgdds Pure-Java DDS-Java-PSM (org.omg.dds.*) — runtime + InProcessBus
zerodds-c-api C-FFI: extern "C" runtime hub

CCM Containers + Misc

Crate Purpose
zerodds-ccm OMG CCM 4.0 container
zerodds-ami4ccm AMI4CCM async pattern
zerodds-rtc Robotic Technology Component
zerodds-time-service Time-Sync helper

Bindings

Crate Purpose
zerodds-rs Rust idiomatic API (re-export)
zerodds-sys C raw bindings
zerodds-cpp C++17 RAII wrapper over zerodds.h
zerodds-cs C# P/Invoke binding
zerodds-py Python pyo3 binding
zerodds-ts-wasm TypeScript WASM XCDR codec

Tooling

Crate Purpose
zerodds-lint Workspace-internal AST lints (no_panic, hot-path-realloc-free, …)
zerodds-conformance Self-audit conformance test vectors
zerodds-rt-linux Linux RT scheduler + CPU pinning (UNSAFE-FFI)
zerodds-recorder .zddsrec recording format
zerodds-monitor Live monitoring helper
zerodds-http2, zerodds-hpack HTTP/2 + HPACK stacks (gRPC backbone)
zerodds-sql-filter DDS SQL filter expression evaluator

Binary tools

Tool Purpose
zerodds-admin Runtime introspection CLI
zerodds-perf Perf bench + HW-info
zerodds-idlc IDL compiler
zerodds-xmlc DDS-XML compiler
zerodds-traceability Wire-trace decoder
zerodds-chaos Network-chaos proxy
zerodds-replay .zddsrec playback
zerodds-bench-suite::roundtrip-1us Sub-µs latency bench
amqp-dds-endpoint AMQP demo endpoint

Dependency direction

foundation  ←  cdr  ←  types  ←  qos  ←  rtps  ←  discovery  ←  dcps
                                                                  │
                              transport-* ←─────────────────────  │
                              security-*  ←─────────────────────  │
                                                                  │
                                                bridges, bindings ←

No upward dependency. Bridges depend on dcps; dcps does not depend on bridges. Bindings depend on dcps; dcps does not depend on bindings.

Crate-internal READMEs

Each crate ships a README.md with its own quick-start. Browse them via find crates -maxdepth 2 -name README.md.