Changelog for package rmw_int2dds_cpp

0.1.5 (2026-09-10)

• Build against int2DDS FFI 0.1.5, up from 0.1.4.
• No other source changes.
• Contributors: Intellectus Corp.

0.1.4 (2026-09-04)

• Build against int2DDS FFI 0.1.4, up from 0.1.3. The FFI declarations are identical, so no call site changed.
• No other source changes.
• Contributors: Intellectus Corp.

0.1.3 (2026-09-02)

• Build against int2DDS FFI 0.1.3, up from 0.1.1. Every FFI entry point this package calls kept its signature; 0.1.3 only adds new ones (filtered discovery snapshots, an endpoint discovery callback, and a writer data representation query).
• No other source changes.
• Contributors: Intellectus Corp.

0.1.1 (2026-08-28)

• Fix participant/context lifecycle: delete contained entities before the participant, release the participant when the last node is destroyed, recreate context DDS resources on node creation, and release all context resources on init failure.
• Apply requested QoS in services/clients; resolve BEST_AVAILABLE and SYSTEM_DEFAULT in the service actual QoS; apply deadline/liveliness.
• Wire localhost-only and static-peer discovery into SPDP.
• Reject STRICTLY_REQUIRED unique network flow endpoints; restore content-filter field codes; set error messages on unsupported API stubs; ignore only same-node local publications; randomize the GID process field.
• Add dynamic message type support (rosidl dynamic typesupport): primitives, string, fixed arrays, sequences and nested structs.
• Batch take_sequence into a single serialized take.
• Move development test executables into test/; align QUALITY_DECLARATION and README test status with the current state.
• Decide rmw_wait readiness before attaching to the wait set, so a call that finds work already pending skips the attach/wait/detach round trip. Guard conditions join the pre-wait scan through a non-destructive peek, and a zero-timeout poll no longer attaches at all. Saturated single-subscription throughput roughly doubles.
• Add test_rmw_wait_guards, the first automated test registered with CTest: guard condition readiness, trigger consumption, timeout handling and wake-up from another thread, all without a DDS participant.
• Cache wait set attachments across rmw_wait calls, rebuild them by delta instead of a full reset, and skip the event status mask update when it is already set.
• Harden the persistent attachment cache against teardown and concurrency: detach attachments before removing the wait set from the registry, keep the registry valid during static destruction, make the registry insert exception-safe, clean caches and delete the status condition on the detached service/client destroy path, clean caches before freeing the context guard, re-flag an entity for re-attach when its reader or event status condition is momentarily null, and close the destroy-vs-cache race in the attachments.
• Serialize the concurrent service RPC paths under a multi-threaded executor: guard the response writer in rmw_send_response and the request/response readers in rmw_take_request / rmw_take_response per entity, fixing an intermittent service round-trip hang.
• Build the graph cache from SEDP endpoint-discovery push callbacks, remove graph entities on the dispose signal instead of on absence from a snapshot, and identify the local participant by its own key.
• Default INT2DDS_DATA_FRAG_SIZE to 1344 and INT2DDS_MAX_MESSAGE_SIZE to 13440 in rmw_init, and document the loopback discovery env vars in the usage table.
• Drop key/key_len from serialized write calls and bulk-copy fixed-width primitive arrays in the CDR codec. The serialized write API lost those two arguments upstream, so this package no longer compiled without the change; the bulk copy was verified byte-identical to FastCDR for 1-, 2-, 4- and 8-byte element sequences.
• Keep the discovery listener reading when a sample outgrows its buffer. The reader is KEEP_ALL, so retrying an oversized sample at the same size spun on it forever and blocked every participant queued behind it.
• Fail cleanly instead of writing through a null element when deserializing a fixed primitive C array, matching the guard already on the serialize side.
• Move int2dds_ffi_vendor into this repository. The standalone repository is now a release host and carries no sources, so a clean checkout could not be built without this.
• Move the rclcpp-based QoS/perf probes and the dynamic message checks into the new rmw_int2dds_validation package, and drop rclcpp/rcl from this one. Depending on them closed the rclcpp -> rcl -> rmw_implementation -> rmw_int2dds_cpp build cycle.
• Declare every dependency CMakeLists.txt looks for, and require rosidl_dynamic_typesupport rather than probing it quietly - an undeclared optional dependency is how a build-farm job drops dynamic message support and still reports success.
• Decide the matched-event target from the installed rmw headers instead of $ENV{ROS_DISTRO}, which is only set where ros_environment is installed.

File truncated at 100 lines see the full file