Python bindings for Dust DDS.

Dust DDS is a native Rust implementation of the OMG Data Distribution Services (DDS) and Real-time Publisher-Subscriber (RTPS) developed by S2E Software Systems.

These bindings are a feature complete thin wrapper of the original Dust DDS implementation.

A brief introduction to DDS

DDS is a middleware protocol and API standard designed for data-centric connectivity. At its core, DDS aims to facilitate the seamless sharing of pertinent data precisely where and when it's needed, even across publishers and subscribers operating asynchronously in time. With DDS, applications can exchange information through the reading and writing of data-objects identified by user-defined names (Topics) and keys. One of its defining features is the robust control it offers over Quality-of-Service (QoS) parameters, encompassing reliability, bandwidth, delivery deadlines, and resource allocations.

The DDS standard "defines both the Application Interfaces (APIs) and the Communication Semantics (behavior and quality of service) that enable the efficient delivery of information from information producers to matching consumer". Complementing this standard is the DDSI-RTPS specification, which defines an interoperability wire protocol for DDS. Its primary aim is to ensure that applications based on different vendors' implementations of DDS can interoperate. The implementation of Dust DDS primarily centers around the DDS and DDSI-RTPS standards.

Example

A basic example on how to use Dust DDS:

from dataclasses import dataclass
import dust_dds

@dataclass
class MyDataType:
    data: bytes

class MyReaderListener:
    def on_data_available(reader):
        received_data = reader.read(max_samples = 1)
        print(f"On data available, data: {received_data[0].get_data()}")

participant_factory = dust_dds.DomainParticipantFactory.get_instance()
participant = participant_factory.create_participant(domain_id = 100)
topic = participant.create_topic(topic_name = "TestTopic", type_ = MyDataType)

publisher = participant.create_publisher()
data_writer = publisher.create_datawriter(topic)

subscriber = participant.create_subscriber()
data_reader = subscriber.create_datareader(topic, a_listener = MyReaderListener, mask=[dust_dds.StatusKind.DataAvailable] )

# Wait for discovery
ws = dust_dds.WaitSet()
cond = data_writer.get_statuscondition()
cond.set_enabled_statuses([dust_dds.StatusKind.PublicationMatched])
ws.attach_condition(dust_dds.Condition.StatusCondition(cond))

data = MyDataType(bytes([0,1,2,3,4]))
data_writer.write(data)

# Wait for data to be received
ws_data_available = dust_dds.WaitSet()
cond = data_reader.get_statuscondition()
cond.set_enabled_statuses([dust_dds.StatusKind.DataAvailable])
ws_data_available.attach_condition(dust_dds.Condition.StatusCondition(cond))

ws_data_available.wait(dust_dds.Duration(sec=2, nanosec=0))

received_data = data_reader.read(max_samples = 1)
print(f"Received data {received_data[0].get_data()}")

DDS REST API

If you want to interact with your DDS data using a REST API you can use our Nebula DDS WebLink software. Nebula DDS WebLink provides a server implementing the Object Management Group (OMG) Web-Enabled DDS v1.0 standard.

Shapes demo

DDS interoperability is typically tested using a shapes demo. The Dust DDS Shapes Demo is available on our repository.

Dust DDS Shapes demo screenshot

Release schedule

Dust DDS doesn't follow a fixed release schedule but we will make releases as new features are implemented.

License

This project is licensed under the Apache License Version 2.0.

Project links

Key dates

PyPI data
Data sourced directly from PyPI's database.
  • Released:
Latest release

2 maintainers

PyPI data
Data sourced directly from PyPI's database.
Avatar for jrebelo from gravatar.com jrebelo Avatar for s2e-skimmer from gravatar.com s2e-skimmer

Credits

Author: Joao Rebelo

License

Apache Software License

Requires

Python >=3.8

Classifiers

Report project as malware

Metadata

Project links

Key dates

PyPI data
Data sourced directly from PyPI's database.
  • Released:
Latest release

2 maintainers

PyPI data
Data sourced directly from PyPI's database.
Avatar for jrebelo from gravatar.com jrebelo Avatar for s2e-skimmer from gravatar.com s2e-skimmer

Credits

Author: Joao Rebelo

License

Apache Software License

Requires

Python >=3.8

Classifiers

Report project as malware

Release files for dust-dds 0.16.0

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for dust-dds 0.16.0
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Built distributions (wheels)

Table of built distributions (wheels) for dust-dds 0.16.0
File
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dust_dds-0.16.0-pp311-pypy311_pp73-musllinux_1_2_i686.whl 2.2 MB PyPy 3.11 PyPy 3.11 7.3 Linux musl 1.2+ x86-32 Details
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dust_dds-0.16.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl 2.0 MB CPython 3.8 CPython 3.8 Linux glibc 2.17+ IBM System/390x Details
dust_dds-0.16.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl 2.2 MB CPython 3.8 CPython 3.8 Linux glibc 2.17+ PowerPC 64-le Details
dust_dds-0.16.0-cp38-cp38-manylinux_2_17_armv7l.manylinux2014_armv7l.whl 1.9 MB CPython 3.8 CPython 3.8 Linux glibc 2.17+ ARMv7l Details
dust_dds-0.16.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 2.0 MB CPython 3.8 CPython 3.8 Linux glibc 2.17+ ARM64 Details

Total release size: 217.5 MB

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Size 2.2 MB
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Size 1.7 MB
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Release files / dust_dds-0.16.0-cp312-cp312-win_amd64.whl

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Release files / dust_dds-0.16.0-cp312-cp312-musllinux_1_2_x86_64.whl

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Release files / dust_dds-0.16.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl

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Release files / dust_dds-0.16.0-cp39-cp39-musllinux_1_2_x86_64.whl

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Size 2.2 MB
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Release files / dust_dds-0.16.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

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0.16.0 This release

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