Overview

Rust Bindings Overview

AstuteDDS ships safe Rust bindings as a pair of crates that live in bindings/rust/ of the source tree:

Crate Role
astutedds-sys Raw FFI bindings to the AstuteDDS C API (include/astutedds/c/astutedds.h).
astutedds Safe, idiomatic RAII wrappers over astutedds-sys — what application code uses.

Both crates target Rust edition 2021 and are linked against the in-tree libastutedds.a static library via the links = "astutedds" key in astutedds-sys.

What you get

  • DomainParticipant — RAII handle to a DDS domain participant, dropped on scope exit.
  • Topic, Publisher, Subscriber — entity factories with lifetimes bound to the owning participant.
  • DataWriter::write(&[u8]) — publish a CDR-encoded payload.
  • DataReader::take_next() — take the next sample from the reader cache (returns Err(Error::NoData) when empty).
  • DataReader::unread_count() — number of unread samples currently cached.
  • DataWriterQos / DataReaderQos — small, Copy QoS structs covering reliability, history, and durability.
  • Reliability, HistoryKind, Durability — enum re-exports from the C API.
  • Error — a single error enum covering DDS return codes, null-pointer returns, interior nul bytes in strings, NoData, and Timeout.

RAII and thread safety

Every wrapper implements Drop to invoke the matching astutedds_delete_* function. Lifetimes statically enforce that a DataWriter/DataReader cannot outlive its Topic, and a Topic, Publisher, or Subscriber cannot outlive its DomainParticipant.

All handles are marked Send + Sync so they can be shared across threads in Arc<…>.

Wire format

DataWriter::write and DataReader::take_next exchange raw byte buffers. Encode/decode the CDR payload yourself (or with a helper crate) — see the Sensor example for a hand-rolled XCDR1 layout.

Supported platforms

OS Architectures Toolchain
Linux (glibc ≥ 2.28 — RHEL/Alma 9+, Ubuntu 22.04+) x86_64, aarch64 stable Rust (1.75+)
macOS 11+ Intel (x86_64), Apple Silicon (arm64) stable Rust (1.75+)
Windows 10/11 x86_64-pc-windows-msvc stable Rust (1.75+) + MSVC

Next steps

  • Installation — add the crates to your Cargo.toml or build them via CMake.
  • Quick Start — first publisher and subscriber.
  • Examples — Hello World and a multi-channel Sensor demo.
  • API Surface — what's exported from the astutedds crate.