DDS Abstraction Bindings

The DDS Abstraction Layer is a header-only C++20 library that provides a portable publish/subscribe API across multiple DDS vendors. Write your application once and switch DDS middleware at compile time — no source changes required.

Supported Backends

Define	Backend
LDM_ASTUTE	AstuteDDS
LDM_CYCLONE	Eclipse CycloneDDS
LDM_RTI	RTI Connext DDS
LDM_OSPL	OpenSplice DDS

Installing from the Release Tarball

Every tagged release of AstuteDDS attaches a portable bindings tarball:

astutedds-bindings-<version>.tar.gz

Download it from the GitHub Releases page.

Extract

tar -xzf astutedds-bindings-<version>.tar.gz

This produces a directory tree:

astutedds-bindings-<version>/
├── dds_abstraction/
│   ├── CMakeLists.txt
│   ├── README.md
│   ├── include/
│   │   └── dds_abstraction/
│   │       ├── dds_abstraction.hpp
│   │       ├── dds_publisher.hpp
│   │       ├── dds_subscriber.hpp
│   │       ├── message_pattern.hpp
│   │       └── ...
│   └── examples/
│       ├── hello_world/
│       └── sensor/
├── rust/
└── LICENSE

Integrate with CMake

Point your project at the extracted directory and link the interface library:

# In your top-level CMakeLists.txt
add_subdirectory(path/to/astutedds-bindings-<version>/dds_abstraction)

add_executable(my_app main.cpp)
target_link_libraries(my_app PRIVATE astutedds::dds_abstraction)

Select a Backend

Define one of the backend macros before including the header:

#define LDM_ASTUTE
#include <dds_abstraction/dds_abstraction.hpp>

Or pass it via CMake:

target_compile_definitions(my_app PRIVATE LDM_ASTUTE)

Quick Start

Publisher

#define LDM_ASTUTE
#include <dds_abstraction/dds_abstraction.hpp>

using namespace astutedds::pubsub;

int main()
{
    LdmPublisher<ShapeType> pub(0, "Square", MessagePattern::State);
    pub.open();

    ShapeType sample{};
    sample.color("BLUE");
    sample.x(100);
    sample.y(200);
    sample.shapesize(30);

    pub.publish(sample);
    pub.close();
    return 0;
}

Subscriber

#define LDM_ASTUTE
#include <dds_abstraction/dds_abstraction.hpp>

using namespace astutedds::pubsub;

class MyListener : public SubscriberListener<ShapeType>
{
    void on_data_received(ShapeType sample, dds::sub::SampleInfo info) override
    {
        std::cout << "Received: " << sample.color() << "\n";
    }
};

int main()
{
    MyListener listener;
    LdmSubscriber<ShapeType> sub(0, "Square", MessagePattern::State);
    sub.add_listener(&listener);
    sub.open();

    std::this_thread::sleep_for(std::chrono::seconds(30));
    sub.close();
    return 0;
}

GVA QoS Patterns

The MessagePattern enum maps to QoS policies per GVA Standards v2.1:

Pattern	Durability	Reliability	History
State	TransientLocal	Reliable	KeepLast(256)
Specification	TransientLocal	Reliable	KeepLast(64)
Command	Volatile	Reliable	KeepLast(256)
Alarm	TransientLocal	Reliable	KeepLast(256)
Logging	Volatile	BestEffort	KeepLast(256)
Sotas	Transient	Reliable	(default)

Topic-to-Pattern Inference

pattern_for_topic(std::string_view topic) automatically infers the correct QoS pattern from a GVA topic name using suffix heuristics and a hard-coded override table for Display Extension state-establishing commands.

Type Compatibility Macros

dds_compat.hpp provides macros (DDS_GET_FIELD, DDS_SET_FIELD, etc.) that abstract accessor-style differences between RTI (direct field assignment) and CycloneDDS/AstuteDDS (getter/setter methods).

Bundled Examples

The tarball includes ready-to-build examples:

Example	Description
hello_world	Minimal publisher and subscriber pair
sensor	Sensor telemetry with listener callbacks

Build them with:

cd astutedds-bindings-<version>/dds_abstraction/examples
mkdir build && cd build
cmake .. -DCMAKE_PREFIX_PATH=/usr/local
make -j$(nproc)