Feat/embedded rtps merge espp by guo-max · Pull Request #672 · esp-cpp/espp

guo-max · 2026-07-21T19:53:55Z

Description

integrates the embeddedRTPS RTPS/DDS stack into the ESPP ecosystem.

Motivation and Context

Try to have an embedded rtps that could be used to talk between embedded board as well as a PC/Jetson that running ROS2 or any other DDS participant on the same network using the standard RTPS wire protocal

How has this been tested?

Tested pub/sub between
ESP32 <-----> ESP32
ESP32 <-----> PC (embedded rtps)
ESP32 <-----> PC (fastRTPS)
ESP32 <-----> PC (ROS2)

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

ROS:

ESP32:

Types of changes

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to not work as expected)
Documentation Update
Hardware (schematic, board, system design) change
Software change

Checklist:

My change requires a change to the documentation.
I have added / updated the documentation related to this change via either README or WIKI

Software

I have added tests to cover my changes.
I have updated the .github/workflows/build.yml file to add my new test to the automated cloud build github action.
All new and existing tests passed.
My code follows the code style of this project.

Hardware

I have updated the design files (schematic, board, libraries).
I have attached the PDFs of the SCH / BRD to this PR
I have updated the design output (GERBER, BOM) files.

github-actions · 2026-07-21T19:54:38Z

⚡ Static analysis result ⚡

🔴 cppcheck found 43 issues! Click here to see details.

espp/components/rtps_embedded/include/rtps/ThreadPool.h

Lines 39 to 44 in 751f118

    
           namespace rtps { 
        
           class Writer; 
        
           } // namespace rtps

!Line: 39 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/rtps.h

Lines 31 to 34 in 751f118

    
           namespace rtps { 
        
           } // namespace rtps 
        
           #endif // RTPS_RTPS_H

!Line: 31 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/config_desktop.h

Lines 31 to 36 in 751f118

    
           namespace rtps { 
        
           #define IS_LITTLE_ENDIAN 1 
        
           namespace Config { 
        
           const VendorId_t VENDOR_ID = {13, 37};

!Line: 31 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/config_esp32.h

Lines 31 to 36 in 751f118

    
           namespace rtps { 
        
           #define IS_LITTLE_ENDIAN 1 
        
           #define OS_IS_FREERTOS 
        
           namespace Config {

!Line: 31 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/utils/hash.h

Lines 31 to 36 in 751f118

    
           namespace rtps { 
        
           inline size_t hashCharArray(const char *p, size_t s) { 
        
             size_t result = 0; 
        
             const size_t prime = 31; 
        
             for (size_t i = 0; i < s; ++i) { 
        
               result = p[i] + (result * prime);

!Line: 31 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/utils/printutils.h

Lines 14 to 19 in 751f118

    
             printf("%x", static_cast<uint8_t>(id.entityKind)); 
        
             printf("\n"); 
        
           } 
        
           inline void printGuidPrefix(rtps::GuidPrefix_t prefix) {

!Line: 14 - error: Code 'C++ cast <...' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/utils/Diagnostics.h

Lines 31 to 36 in 751f118

    
           namespace rtps { 
        
           namespace Diagnostics { 
        
           namespace ThreadPool { 
        
           extern uint32_t dropped_incoming_packets_usertraffic; 
        
           extern uint32_t dropped_incoming_packets_metatraffic;

!Line: 31 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/utils/sysFunctions.h

Lines 33 to 38 in 751f118

    
           namespace rtps { 
        
           inline Time_t getCurrentTimeStamp() { 
        
             static const auto start = std::chrono::steady_clock::now(); 
        
             const auto elapsed = std::chrono::steady_clock::now() - start; 
        
             const auto nowMs = 
        
                 std::chrono::duration_cast<std::chrono::milliseconds>(elapsed).count();

!Line: 33 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/utils/udpUtils.h

Lines 33 to 38 in 751f118

    
           namespace rtps { 
        
           namespace { 
        
           const uint16_t PB = 7400; // Port Base Number 
        
           const uint16_t DG = 250;  // DomainId Gain 
        
           const uint16_t PG = 2;    // ParticipantId Gain 
        
           // Additional Offsets

!Line: 33 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/common/Locator.h

Lines 35 to 40 in 751f118

    
           namespace rtps { 
        
           #if defined(_MSC_VER) 
        
           #define RTPS_EMBEDDED_PACKED 
        
           #pragma pack(push, 1) 
        
           #else

!Line: 35 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/common/types.h

Lines 36 to 41 in 751f118

    
           namespace rtps { 
        
           // TODO move types to where they are needed! 
        
           typedef uint16_t Ip4Port_t; 
        
           typedef uint16_t DataSize_t;

!Line: 36 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/messages/MessageReceiver.h

Lines 35 to 40 in 751f118

    
           namespace rtps { 
        
           class Reader; 
        
           class Writer; 
        
           class Participant; 
        
           class MessageProcessingInfo;

!Line: 35 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/messages/MessageTypes.h

Lines 34 to 39 in 751f118

    
           namespace rtps { 
        
           #if defined(_MSC_VER) 
        
           #define RTPS_EMBEDDED_PACKED 
        
           #pragma pack(push, 1) 
        
           #else

!Line: 34 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/messages/MessageFactory.h

Lines 40 to 45 in 751f118

    
           namespace rtps { 
        
           namespace MessageFactory { 
        
           const std::array<uint8_t, 4> PROTOCOL_TYPE{'R', 'T', 'P', 'S'}; 
        
           const uint8_t numBytesUntilEndOfLength = 
        
               4; // The first bytes incl. submessagelength don't count

!Line: 40 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/storages/SimpleHistoryCache.h

Lines 32 to 37 in 751f118

    
           namespace rtps { 
        
           /** 
        
            * Simple version of a history cache. It sets consecutive sequence numbers 
        
            * automatically which allows an easy and fast approach of dropping acknowledged 
        
            * changes. Furthermore, disposing of arbitrary changes is not possible.

!Line: 32 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/storages/ThreadSafeCircularBuffer.h

Lines 34 to 39 in 751f118

    
           namespace rtps { 
        
           template <typename T, uint16_t SIZE> class ThreadSafeCircularBuffer { 
        
           public: 
        
             bool init();

!Line: 34 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/storages/MemoryPool.h

Lines 33 to 38 in 751f118

    
           namespace rtps { 
        
           template <class TYPE, uint32_t SIZE> class MemoryPool { 
        
           public: 
        
             template <typename IT_TYPE> class MemoryPoolIterator { 
        
             public:

!Line: 33 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/storages/CacheChange.h

Lines 34 to 39 in 751f118

    
           namespace rtps { 
        
           struct CacheChange { 
        
             using TimePoint = std::chrono::steady_clock::time_point; 
        
             ChangeKind_t kind = ChangeKind_t::INVALID; 
        
             bool inLineQoS = false;

!Line: 34 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/storages/PayloadBuffer.h

Lines 33 to 38 in 751f118

    
           namespace rtps { 
        
           struct PayloadBuffer { 
        
             std::vector<uint8_t> bytes; 
        
             bool isValid() const { return true; }

!Line: 33 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/storages/HistoryCacheWithDeletion.h

Lines 32 to 37 in 751f118

    
           namespace rtps { 
        
           /** 
        
            * Extension of the SimpleHistoryCache that allows for deletion operation at the 
        
            * cost of efficieny 
        
            * TODO: Replace with something better in the future!

!Line: 32 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/ReaderProxy.h

Lines 32 to 37 in 751f118

    
           namespace rtps { 
        
           struct ReaderProxy { 
        
             Guid_t remoteReaderGuid; 
        
             Count_t ackNackCount = {0}; 
        
             LocatorIPv4 remoteLocator; 
        
             bool is_reliable = false;

!Line: 32 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/StatefulWriter.h

Lines 38 to 43 in 751f118

    
           namespace rtps { 
        
           class EsppTransport; 
        
           template <class NetworkDriver> class StatefulWriterT final : public Writer { 
        
           public:

!Line: 38 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/Domain.h

Lines 42 to 47 in 751f118

    
           namespace rtps { 
        
           class Domain : public espp::BaseComponent { 
        
           public: 
        
             explicit Domain(const Ip4AddressBytes &localIpAddress); 
        
             Domain(EsppTransport &transport, 
        
                    const Ip4AddressBytes &localIpAddress);

!Line: 42 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/StatefulReader.h

Lines 36 to 41 in 751f118

    
           namespace rtps { 
        
           class EsppTransport; 
        
           struct SubmessageHeartbeat; 
        
           template <class NetworkDriver> class StatefulReaderT final : public Reader { 
        
           public:

!Line: 36 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/Writer.h

Lines 55 to 60 in 751f118

    
           namespace rtps { 
        
           class Writer : public espp::BaseComponent { 
        
           public: 
        
             TopicData m_attributes; 
        
             virtual bool addNewMatchedReader(const ReaderProxy &newProxy);

!Line: 55 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/Participant.h

Lines 40 to 45 in 751f118

    
           namespace rtps { 
        
           class Writer; 
        
           class Reader; 
        
           class Participant : public espp::BaseComponent {

!Line: 40 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/Reader.h

Lines 38 to 43 in 751f118

    
           namespace rtps { 
        
           struct SubmessageHeartbeat; 
        
           struct SubmessageGap; 
        
           class ReaderCacheChange {

!Line: 38 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/StatelessWriter.h

Lines 36 to 41 in 751f118

    
           namespace rtps { 
        
           class EsppTransport; 
        
           template <typename NetworkDriver> class StatelessWriterT : public Writer { 
        
           public:

!Line: 36 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/StatelessReader.h

Lines 31 to 36 in 751f118

    
           namespace rtps { 
        
           class StatelessReader final : public Reader { 
        
           public: 
        
             bool init(const TopicData &attributes); 
        
             void newChange(const ReaderCacheChange &cacheChange) override; 
        
             bool onNewHeartbeat(const SubmessageHeartbeat &msg,

!Line: 31 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/entities/WriterProxy.h

Lines 32 to 37 in 751f118

    
           namespace rtps { 
        
           struct WriterProxy { 
        
             Guid_t remoteWriterGuid; 
        
             SequenceNumber_t expectedSN; 
        
             Count_t ackNackCount; 
        
             Count_t hbCount;

!Line: 32 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/discovery/ParticipantProxyData.h

Lines 39 to 44 in 751f118

    
           namespace rtps { 
        
           class Participant; 
        
           using SMElement::ParameterId; 
        
           using BuiltinEndpointSet_t = uint32_t;

!Line: 39 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/discovery/SPDPAgent.h

Lines 48 to 53 in 751f118

    
           namespace rtps { 
        
           class Participant; 
        
           class Writer; 
        
           class Reader; 
        
           class ReaderCacheChange;

!Line: 48 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/discovery/TopicData.h

Lines 37 to 42 in 751f118

    
           namespace rtps { 
        
           struct BuiltInTopicKey { 
        
             std::array<uint32_t, 3> value; 
        
           };

!Line: 37 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/discovery/SEDPAgent.h

Lines 37 to 42 in 751f118

    
           namespace rtps { 
        
           class Participant; 
        
           class ReaderCacheChange; 
        
           class Writer; 
        
           class Reader;

!Line: 37 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/discovery/BuiltInEndpoints.h

Lines 34 to 39 in 751f118

    
           namespace rtps { 
        
           struct BuiltInEndpoints { 
        
             Writer *spdpWriter = nullptr; 
        
             Reader *spdpReader = nullptr; 
        
             Writer *sedpPubWriter = nullptr;

!Line: 34 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/communication/EsppTransport.h

Lines 41 to 46 in 751f118

    
           namespace rtps { 
        
           class EsppTransport : public espp::BaseComponent { 
        
           public: 
        
             using RxCallback = ReceiveCallback;

!Line: 41 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/include/rtps/communication/PacketInfo.h

Lines 37 to 42 in 751f118

    
           namespace rtps { 
        
           struct PacketInfo { 
        
             Ip4Port_t srcPort; // TODO Do we need that? 
        
             std::array<uint8_t, 4> destAddr = {0, 0, 0, 0}; 
        
             Ip4Port_t destPort;

!Line: 37 - error: Code 'namespacertps{' is invalid C code. [syntaxError]

espp/components/rtps_embedded/src/discovery/SEDPAgent.cpp

Lines 361 to 366 in 751f118

    
             SEDP_LOG("Added new change to sedpPubWriter.\n"); 
        
           #endif 
        
           } 
        
           template <typename A> 
        
           bool SEDPAgent::disposeEndpointInSEDPHistory(A *local_endpoint,

!Line: 361 - style: inconclusive: Statements following 'return' will never be executed. [unreachableCode]

espp/components/rtps_embedded/src/discovery/SEDPAgent.cpp

Lines 504 to 506 in 751f118

    
             SEDP_LOG("Added new change to sedpSubWriter.\n"); 
        
           #endif 
        
           }

!Line: 504 - style: inconclusive: Statements following 'return' will never be executed. [unreachableCode]

espp/components/rtps_embedded/src/communication/EsppTransport.cpp

Lines 140 to 145 in 751f118

    
           if (!channel.socket || !channel.socket->is_valid()) { 
        
             logger_.error("Failed to create valid UDP socket for port {}", receivePort); 
        
             channel.socket.reset(); 
        
             return nullptr; 
        
           }

!Line: 140 - style: Condition '!channel.socket' is always false [knownConditionTrueFalse]

espp/components/rtps_embedded/src/communication/EsppTransport.cpp

Lines 78 to 83 in 751f118

    
               if (channel.in_use && channel.port == port) { 
        
                 return &channel; 
        
               } 
        
             } 
        
             return nullptr; 
        
           }

!Line: 78 - style: Consider using std::find_if algorithm instead of a raw loop. [useStlAlgorithm]

espp/components/rtps_embedded/src/communication/EsppTransport.cpp

Lines 87 to 92 in 751f118

    
               if (channel.in_use && channel.port == port) { 
        
                 return &channel; 
        
               } 
        
             } 
        
             return nullptr; 
        
           }

!Line: 87 - style: Consider using std::find_if algorithm instead of a raw loop. [useStlAlgorithm]

espp/components/rtps_embedded/src/communication/EsppTransport.cpp

Lines 197 to 202 in 751f118

    
           for (const auto &existing : m_multicastGroups) { 
        
             if (existing == group) { 
        
               return true; 
        
             } 
        
           }

!Line: 197 - style: Consider using std::any_of algorithm instead of a raw loop. [useStlAlgorithm]

+
+rtps::Writer *Participant::getWriter(EntityId_t id) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_writers.size(); ++i) {


+
+rtps::Reader *Participant::getReader(EntityId_t id) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_readers.size(); ++i) {


+
+rtps::Reader *Participant::getReaderByWriterId(const Guid_t &guid) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_readers.size(); ++i) {


+
+rtps::Writer *Participant::getMatchingWriter(const TopicData &readerTopicData) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_writers.size(); ++i) {


+
+rtps::Reader *Participant::getMatchingReader(const TopicData &writerTopicData) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_readers.size(); ++i) {


+rtps::Writer *
+Participant::getMatchingWriter(const TopicDataCompressed &readerTopicData) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_writers.size(); ++i) {


+rtps::Reader *
+Participant::getMatchingReader(const TopicDataCompressed &writerTopicData) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_readers.size(); ++i) {


+bool Participant::hasReaderWithMulticastLocator(
+    const std::array<uint8_t, 4> &address) {
+  std::lock_guard<std::recursive_mutex> lock(m_mutex);
+  for (uint8_t i = 0; i < m_readers.size(); i++) {


Copilot

Pull request overview

Integrates the embeddedRTPS RTPS/DDS stack into ESPP as a new component (rtps_embedded), adds a new reusable thread_pool component, and introduces PC-side standalone publisher/subscriber tests to exercise the stack outside ESP-IDF.

Changes:

Add components/rtps_embedded with ESPP-based transport/task/threading adapters plus an ESP-IDF example app.
Add components/thread_pool as a reusable worker-queue abstraction with an ESP-IDF example.
Extend pc/ build to compile embeddedRTPS-based host tests and include the necessary sources (including Micro-CDR).

Reviewed changes

Copilot reviewed 82 out of 83 changed files in this pull request and generated 8 comments.

Show a summary per file

File	Description
pc/tests/rtps_embedded_subscriber.cpp	Adds standalone PC subscriber test for embeddedRTPS.
pc/tests/rtps_embedded_publisher.cpp	Adds standalone PC publisher test for embeddedRTPS.
pc/CMakeLists.txt	Adds embeddedRTPS + Micro-CDR sources to PC tests; enables C compilation for those tests.
components/thread_pool/src/thread_pool.cpp	Implements `espp::ThreadPool`.
components/thread_pool/README.md	Documents the new thread pool component.
components/thread_pool/include/thread_pool.hpp	Public API for the new thread pool component.
components/thread_pool/idf_component.yml	IDF Component Manager manifest for `thread_pool`.
components/thread_pool/example/sdkconfig.defaults	Example sdkconfig enabling C++ exceptions.
components/thread_pool/example/README.md	Build instructions for the thread_pool example.
components/thread_pool/example/main/thread_pool_example.cpp	Example showing how to submit jobs and await completion.
components/thread_pool/example/main/CMakeLists.txt	Registers example main component.
components/thread_pool/example/CMakeLists.txt	ESP-IDF project CMake for the thread_pool example.
components/thread_pool/CMakeLists.txt	Registers the `thread_pool` component sources/includes.
components/socket/CMakeLists.txt	Adjusts socket component requirements list.
components/rtps_embedded/src/utils/Diagnostics.cpp	Adds embeddedRTPS diagnostics storage definitions.
components/rtps_embedded/src/messages/MessageTypes.cpp	Adds embeddedRTPS message (de)serialization implementation.
components/rtps_embedded/src/messages/MessageReceiver.cpp	Adds RTPS submessage processing/dispatch.
components/rtps_embedded/src/entities/Writer.cpp	Adds Writer proxy management and base Writer logic.
components/rtps_embedded/src/entities/StatelessReader.cpp	Adds StatelessReader implementation.
components/rtps_embedded/src/entities/Reader.cpp	Adds Reader callback/proxy management implementation.
components/rtps_embedded/src/discovery/ParticipantProxyData.cpp	Adds SPDP participant proxy deserialization and locator parsing.
components/rtps_embedded/src/communication/EsppTransport.cpp	Implements ESPP-backed UDP transport adapter for embeddedRTPS.
components/rtps_embedded/README.md	High-level component documentation (architecture/config/quick-start).
components/rtps_embedded/include/rtps/utils/udpUtils.h	Port/address helper utilities.
components/rtps_embedded/include/rtps/utils/sysFunctions.h	Platform timestamp helper implementation.
components/rtps_embedded/include/rtps/utils/printutils.h	Debug print helpers for RTPS IDs.
components/rtps_embedded/include/rtps/utils/Log.h	Compile-time verbosity switches for embeddedRTPS logging.
components/rtps_embedded/include/rtps/utils/hash.h	Hash utility used for compressed topic matching.
components/rtps_embedded/include/rtps/utils/Diagnostics.h	Diagnostics extern declarations.
components/rtps_embedded/include/rtps/utils/constants.h	Placeholder constants header.
components/rtps_embedded/include/rtps/ThreadPool.h	embeddedRTPS threadpool facade integrating with `espp::ThreadPool`.
components/rtps_embedded/include/rtps/storages/ThreadSafeCircularBuffer.tpp	Thread-safe circular buffer implementation.
components/rtps_embedded/include/rtps/storages/ThreadSafeCircularBuffer.h	Thread-safe circular buffer API.
components/rtps_embedded/include/rtps/storages/SimpleHistoryCache.h	Stateless history cache implementation.
components/rtps_embedded/include/rtps/storages/PayloadBuffer.h	Payload buffer wrapper around `std::vector<uint8_t>`.
components/rtps_embedded/include/rtps/storages/MemoryPool.h	Fixed-size memory pool container for embeddedRTPS entities.
components/rtps_embedded/include/rtps/storages/HistoryCacheWithDeletion.h	Deletable history cache used by stateful endpoints.
components/rtps_embedded/include/rtps/storages/CacheChange.h	CacheChange model for payload + sequencing.
components/rtps_embedded/include/rtps/rtps.h	Convenience header for `rtps::Domain`.
components/rtps_embedded/include/rtps/messages/MessageReceiver.h	MessageReceiver API.
components/rtps_embedded/include/rtps/messages/MessageFactory.h	RTPS message construction helpers.
components/rtps_embedded/include/rtps/entities/WriterProxy.h	WriterProxy model and missing-sequence computation.
components/rtps_embedded/include/rtps/entities/Writer.h	Writer base class interface.
components/rtps_embedded/include/rtps/entities/StatelessWriter.tpp	Stateless writer implementation template.
components/rtps_embedded/include/rtps/entities/StatelessWriter.h	Stateless writer API.
components/rtps_embedded/include/rtps/entities/StatelessReader.h	Stateless reader API.
components/rtps_embedded/include/rtps/entities/StatefulWriter.h	Stateful writer API.
components/rtps_embedded/include/rtps/entities/StatefulReader.h	Stateful reader API.
components/rtps_embedded/include/rtps/entities/ReaderProxy.h	ReaderProxy model.
components/rtps_embedded/include/rtps/entities/Reader.h	Reader base class interface + ReaderCacheChange definition.
components/rtps_embedded/include/rtps/entities/Participant.h	Participant API including discovery agents and endpoint management.
components/rtps_embedded/include/rtps/entities/Domain.h	Domain API for participants/readers/writers plus lifecycle methods.
components/rtps_embedded/include/rtps/discovery/TopicData.h	Topic metadata structures and matching logic.
components/rtps_embedded/include/rtps/discovery/SPDPAgent.h	SPDP discovery agent API.
components/rtps_embedded/include/rtps/discovery/SEDPAgent.h	SEDP discovery agent API.
components/rtps_embedded/include/rtps/discovery/ParticipantProxyData.h	ParticipantProxyData model + liveliness checks.
components/rtps_embedded/include/rtps/discovery/BuiltInEndpoints.h	Built-in endpoint pointers used by discovery.
components/rtps_embedded/include/rtps/config.h	Selects config header based on build target.
components/rtps_embedded/include/rtps/config_esp32.h	ESP32-focused config constants.
components/rtps_embedded/include/rtps/config_desktop.h	Desktop-focused config constants.
components/rtps_embedded/include/rtps/communication/PacketInfo.h	PacketInfo structure for transport send/receive.
components/rtps_embedded/include/rtps/communication/EsppTransport.h	Transport adapter API wrapping `espp::UdpSocket`.
components/rtps_embedded/include/rtps/common/Locator.h	Locator types and helpers for IPv4 locators.
components/rtps_embedded/example/sdkconfig.defaults	Example sdkconfig for rtps_embedded (partition table, stacks).
components/rtps_embedded/example/partitions.csv	Custom partition table for the rtps_embedded example.
components/rtps_embedded/example/main/main.cpp	ESP-IDF example app integrating WiFi + RTPS pub/sub demo.
components/rtps_embedded/example/main/Kconfig.projbuild	Menuconfig options for role/topics/multicast/network settings.
components/rtps_embedded/example/main/CMakeLists.txt	Registers example main component and dependencies.
components/rtps_embedded/example/CMakeLists.txt	ESP-IDF project CMake for rtps_embedded example.
components/rtps_embedded/CMakeLists.txt	Registers `rtps_embedded` component sources/includes and dependencies.
.gitmodules	Adds Micro-CDR as a submodule under rtps_embedded thirdparty.
.gitignore	Ignores generated Micro-CDR config header under the submodule.

+  bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
+    if (ucdr_buffer_remaining(&buffer) < sizeof(FullLengthLocator)) {
+      return false;
+    } else {
+      ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
+                                   sizeof(FullLengthLocator));
+    }
+  }


+#include <chrono>
+#include <cstdint>
+#include <cstdlib>
+#include <thread>


+  // Keep topic/type names short because embeddedRTPS desktop config caps lengths.
+  rtps::Writer *writer =
+      domain.createWriter(*participant, topic.c_str(), "UInt32", false);
+  if (writer == nullptr) {


+  uint32_t value = 0;
+  while (true) {
+    ++value;
+    const rtps::CacheChange *change =
+        writer->newChange(rtps::ChangeKind_t::ALIVE,
+                          reinterpret_cast<const uint8_t *>(&value),
+                          static_cast<rtps::DataSize_t>(sizeof(value)));
+    logger.info("publish {} -> {}", value, change != nullptr ? "queued" : "dropped");
+    std::this_thread::sleep_for(std::chrono::milliseconds(period_ms));
+  }


+- Configurable worker count
+- Bounded or unbounded queue
+- Optional blocking submit mode for backpressure
+- Graceful stop (drains queued jobs)


+[submodule "components/rtps_embedded/thirdparty/Micro-CDR"]
+	path = components/rtps_embedded/thirdparty/Micro-CDR
+	url = git@github.com:esp-cpp/Micro-CDR.git


+idf_component_register(
+  SRCS
+    "src/ThreadPool.cpp"
+    "src/communication/EsppTransport.cpp"
+    "src/discovery/ParticipantProxyData.cpp"
+    "src/discovery/SEDPAgent.cpp"
+    "src/discovery/SPDPAgent.cpp"
+    "src/discovery/TopicData.cpp"
+    "src/entities/Domain.cpp"
+    "src/entities/Participant.cpp"
+    "src/entities/Reader.cpp"
+    "src/entities/StatelessReader.cpp"
+    "src/entities/Writer.cpp"
+    "src/messages/MessageReceiver.cpp"
+    "src/messages/MessageTypes.cpp"
+    "src/utils/Diagnostics.cpp"
+    "thirdparty/Micro-CDR/src/c/common.c"
+    "thirdparty/Micro-CDR/src/c/types/array.c"
+    "thirdparty/Micro-CDR/src/c/types/basic.c"
+    "thirdparty/Micro-CDR/src/c/types/sequence.c"
+    "thirdparty/Micro-CDR/src/c/types/string.c"
+  INCLUDE_DIRS
+    "include"
+    "thirdparty/Micro-CDR/include"
+  REQUIRES
+    base_component cdr task thread_pool socket
+)


+idf_component_register(
+  INCLUDE_DIRS "include"
+  SRC_DIRS "src"
+  REQUIRES base_component task)


Copilot

Pull request overview

Copilot reviewed 72 out of 73 changed files in this pull request and generated no new comments.

Suppressed comments (7)

components/rtps_embedded/include/rtps/common/Locator.h:96

FullLengthLocator::serializeIntoUdcrBuffer is declared to return bool but does not return a value on the success path, which can lead to undefined return values (and may fail builds with -Werror).

  bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
    if (ucdr_buffer_remaining(&buffer) < sizeof(FullLengthLocator)) {
      return false;

pc/tests/rtps_embedded_publisher.cpp:20

This file uses std::sscanf, but it never includes <cstdio>. With the current include set, std::sscanf is not declared and this test won't compile reliably.
.gitmodules:42
The Micro-CDR submodule URL is using an SSH form (git@github.com:...), which will break anonymous CI checkouts and developers without configured SSH keys. Prefer an HTTPS URL here.

[submodule "components/rtps_embedded/thirdparty/Micro-CDR"]
	path = components/rtps_embedded/thirdparty/Micro-CDR
	url = git@github.com:esp-cpp/Micro-CDR.git

components/rtps_embedded/src/entities/Domain.cpp:118

User-traffic multicast forwarding filters participants using packet.destAddr, but the receive pipeline populates that field with the sender address (see ThreadPool::onDatagram / EsppTransport::onReceive). This means user multicast packets will typically not be delivered to any participant whose reader is bound to a multicast group.
components/rtps_embedded/example/main/main.cpp:50
copy_len is computed as a bounded size, but copyInto is still called with sizeof(buffer). Since copyInto requires destSize >= change.getDataSize(), any message larger than the buffer will be silently dropped and copy_len becomes misleading. Either explicitly reject oversized payloads with a clear log or allocate a buffer sized to change.getDataSize().

  const rtps::DataSize_t copy_len =
      (change.getDataSize() < static_cast<rtps::DataSize_t>(sizeof(buffer) - 1))
          ? change.getDataSize()
          : static_cast<rtps::DataSize_t>(sizeof(buffer) - 1);

  if (copy_len == 0 ||
      !change.copyInto(reinterpret_cast<uint8_t *>(buffer), sizeof(buffer))) {
    return;

components/rtps_embedded/example/main/Kconfig.projbuild:8

The help text says the example verifies "UInt32 sample exchange", but the example code publishes/receives std_msgs::msg::String (see example/main/main.cpp). This is confusing when configuring the demo.

            Build one board as the initiator and a second board as the responder
            to verify RTPS discovery and end-to-end UInt32 sample exchange.

components/rtps_embedded/include/rtps/storages/CacheChange.h:67

CacheChange::reset() clears metadata but leaves the payload buffer intact, so large samples can stay resident in memory even after the change is "reset" (e.g., when history slots are reclaimed). Clearing the payload helps avoid unbounded memory retention on long runs.

Copilot

Pull request overview

Copilot reviewed 71 out of 72 changed files in this pull request and generated 2 comments.

Suppressed comments (9)

pc/tests/rtps_embedded_publisher.cpp:9

parse_ipv4 uses std::sscanf, but this file does not include <cstdio>, which can fail to compile on stricter toolchains.
components/rtps_embedded/include/rtps/common/Locator.h:98
FullLengthLocator::serializeIntoUdcrBuffer does not return true on the success path, which will trigger “control reaches end of non-void function” (and can be treated as an error).

  bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
    if (ucdr_buffer_remaining(&buffer) < sizeof(FullLengthLocator)) {
      return false;
    } else {
      ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),

.gitmodules:42

The Micro-CDR submodule URL uses an SSH-style remote (git@github.com:...). This will fail for users/CI environments without GitHub SSH keys; HTTPS is the more portable default for public submodules.

[submodule "components/rtps_embedded/thirdparty/Micro-CDR"]
	path = components/rtps_embedded/thirdparty/Micro-CDR
	url = git@github.com:esp-cpp/Micro-CDR.git

components/rtps_embedded/src/entities/Participant.cpp:170

deleteWriter() dereferences m_writers[i] without checking for nullptr, and also doesn't handle a null writer argument. This can crash when the array contains empty slots.
components/rtps_embedded/src/entities/Domain.cpp:442
Same overflow issue as createWriter(): strlen(...) == MAX_*_LENGTH passes the current check but strcpy will overflow by writing the null terminator. Use >= and bounded copies.
pc/tests/rtps_embedded_subscriber.cpp:70
The subscriber defaults to topic rtps_emb_pub but uses a String type (std_msgs::msg::String). The publisher test also defaults to rtps_emb_pub but publishes a UInt32, so running both with defaults will not interoperate and is confusing.
components/rtps_embedded/include/rtps/discovery/ParticipantProxyData.h:169
Duration_t.fraction is encoded as seconds / 2^32 (see sysFunctions.h), but isAlive() treats it as microseconds by multiplying by 1e-6. This inflates lease durations and breaks liveliness expiration logic.

bool ParticipantProxyData::isAlive() const {
  uint32_t lease_in_ms =
      m_leaseDuration.seconds * 1000 + m_leaseDuration.fraction * 1e-6;

  uint32_t max_lease_in_ms =
      Config::SPDP_MAX_REMOTE_LEASE_DURATION.seconds * 1000 +
      Config::SPDP_MAX_REMOTE_LEASE_DURATION.fraction * 1e-6;

components/rtps_embedded/src/communication/EsppTransport.cpp:212

joinMultiCastGroup() returns success for the first multicast group even if all existing sockets fail to join (because m_multicastGroups.size() == 1). That can hide real join failures when channels already exist.
components/rtps_embedded/src/entities/Participant.cpp:159
deleteReader() dereferences m_readers[i] without checking for nullptr, and also doesn't handle a null reader argument. This can crash when deleting readers if the array contains empty slots.

This issue also appears on line 161 of the same file.

+  if (strlen(topicName) > Config::MAX_TOPICNAME_LENGTH ||
+      strlen(typeName) > Config::MAX_TYPENAME_LENGTH) {
+    return nullptr;
+  }
+  strcpy(attributes.topicName, topicName);
+  strcpy(attributes.typeName, typeName);


+#include "rtps/ThreadPool.h"
+
+#include "rtps/entities/Domain.h"
+#include "rtps/entities/Writer.h"
+#include "rtps/utils/Diagnostics.h"
+#include "rtps/utils/Log.h"
+#include "rtps/utils/udpUtils.h"
+#include "thread_pool.hpp"


Copilot

Pull request overview

Copilot reviewed 73 out of 74 changed files in this pull request and generated 2 comments.

Suppressed comments (6)

components/rtps_embedded/include/rtps/common/Locator.h:101

FullLengthLocator::serializeIntoUdcrBuffer() can reach the end of a non-void function without returning a value, which will fail compilation under stricter warnings/settings (and is undefined behavior if used).

    } else {
      ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
                                   sizeof(FullLengthLocator));
    }
  }

pc/tests/rtps_embedded_publisher.cpp:9

This file uses std::sscanf and std::string but does not include / . This can fail to compile depending on transitive includes.
.gitmodules:42
The Micro-CDR submodule URL uses an SSH form (git@github.com:...), which typically fails in CI/for contributors without GitHub SSH keys configured. Prefer an https:// URL for public submodules.

[submodule "components/rtps_embedded/thirdparty/Micro-CDR"]
	path = components/rtps_embedded/thirdparty/Micro-CDR
	url = git@github.com:esp-cpp/Micro-CDR.git

components/rtps_embedded/include/rtps/storages/CacheChange.h:67

CacheChange::reset() does not clear the PayloadBuffer, so caches that reuse CacheChange instances can retain large payload allocations indefinitely (and can keep stale data around longer than intended).
pc/tests/rtps_embedded_subscriber.cpp:11
This file uses std::string and std::mutex but does not include / . Relying on transitive includes is brittle and can break compilation.
components/rtps_embedded/README.md:8
This PR adds a new component, but the repo’s component conventions appear incomplete here: there is no components/rtps_embedded/idf_component.yml, and the docs/CI registries don’t reference rtps_embedded (no entries in doc/Doxyfile, .github/workflows/build.yml matrix, or .github/workflows/upload_components.yml). Without these, docs generation, CI example builds, and component-registry uploads will likely miss/fail this component.

# rtps_embedded

ESPP component that integrates the [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
RTPS/DDS stack into the ESPP ecosystem.  
Any platform that can build ESPP — including ESP32, Linux, and desktop PCs —
can use this component to discover and exchange typed messages with ROS 2 nodes
or any other DDS participant on the same network using the standard RTPS wire
protocol.

+
+    reference operator*() const { return m_pool.m_data[m_bit]; }
+
+    reference operator->() const { return m_pool.m_data[m_bit]; }


+      if (valid_locators == Config::SPDP_MAX_NUM_LOCATORS) {
+        buffer.iterator += sizeof(FullLengthLocator);
+        PPD_LOG("Max number of valid locators exceeded, ignoring this locator as we have at least one valid locator");
+        return true;
+      }


Copilot

Pull request overview

Copilot reviewed 73 out of 74 changed files in this pull request and generated 2 comments.

Suppressed comments (10)

pc/tests/rtps_embedded_publisher.cpp:1

This file uses std::sscanf and std::string but does not include and . Relying on transitive includes is fragile and can break builds on different standard library implementations; add the missing standard headers explicitly.
pc/tests/rtps_embedded_subscriber.cpp:1
This file uses std::mutex and std::string but does not include and . It may compile depending on transitive includes today, but can fail on other platforms/toolchains; include the required headers explicitly.
components/rtps_embedded/src/messages/MessageReceiver.cpp:1
processMessage() ignores the return value of processSubmessage(). As written, processing failures (including unsupported submessages where processSubmessage returns false) will be silently ignored and processMessage will still return true, which can lead to hard-to-debug dropped/partial parsing. Make processMessage propagate failure (or have processSubmessage always return true for 'skipped but OK' cases).
components/rtps_embedded/include/rtps/storages/CacheChange.h:1
CacheChange::reset() does not clear the payload buffer (data). Since HistoryCacheWithDeletion::incrementTail() calls reset() when dropping entries, payload vectors can retain (and potentially grow) capacity over time, increasing memory usage. Consider calling data.reset() (or otherwise clearing/shrinking as appropriate) as part of reset(), or documenting that payload memory retention is intentional.
components/rtps_embedded/src/discovery/ParticipantProxyData.cpp:1
This branch advances ucdrBuffer by mutating buffer.iterator directly without updating the buffer bookkeeping (e.g., last_data_size/alignment). Other parts of the file use ucdr_advance_buffer() for safe skipping. Use ucdr_advance_buffer(&buffer, sizeof(FullLengthLocator)) here too to avoid deserialization state corruption.
components/rtps_embedded/include/rtps/storages/ThreadSafeCircularBuffer.h:1
The method name peakFirst appears to be a typo for peekFirst (peek at the first element without removing it). If this is a new API surface, consider correcting the name now to avoid long-term public API drift.
components/rtps_embedded/include/rtps/utils/udpUtils.h:1
The header guard is RTPS_UDP_UTILS_H but the trailing #endif comment says RTPS_UDP_H. Keeping these consistent reduces confusion during debugging and maintenance.
components/rtps_embedded/src/communication/EsppTransport.cpp:1
New channels force the underlying UDP socket log level to DEBUG. This can produce very noisy logs and degrade runtime performance in deployments. Consider defaulting this to WARN/INFO (or making it configurable via rtps::Config) and only enabling DEBUG when explicitly requested.
.gitmodules:42
The submodule URL uses the SSH form (git@github.com:...), which requires developers/CI environments to have SSH keys configured. For broader accessibility (and fewer CI failures), prefer an HTTPS URL (https://github.com/...).

[submodule "components/rtps_embedded/thirdparty/Micro-CDR"]
	path = components/rtps_embedded/thirdparty/Micro-CDR
	url = git@github.com:esp-cpp/Micro-CDR.git

components/rtps_embedded/include/rtps/discovery/TopicData.h:68

The default constructor hard-codes a non-local IP (192.168.0.42) into unicastLocator. If any code path accidentally uses a default-constructed TopicData before overriding locators, it can advertise invalid endpoints on the wire. Prefer initializing locators as invalid/zero (or using the local interface IP) to make unsafe defaults less likely.

  TopicData()
      : endpointGuid(GUID_UNKNOWN), typeName{'\0'}, topicName{'\0'},
        reliabilityKind(ReliabilityKind_t::BEST_EFFORT),
        durabilityKind(DurabilityKind_t::VOLATILE) {
    rtps::FullLengthLocator someLocator =
        rtps::FullLengthLocator::createUDPv4Locator(
            192, 168, 0, 42, rtps::getUserUnicastPort(0));
    unicastLocator = someLocator;
    multicastLocator = FullLengthLocator();
  };

+  bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
+    if (ucdr_buffer_remaining(&buffer) < sizeof(FullLengthLocator)) {
+      return false;
+    } else {
+      ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
+                                   sizeof(FullLengthLocator));
+    }
+  }


+bool ParticipantProxyData::isAlive() const {
+  uint32_t lease_in_ms =
+      m_leaseDuration.seconds * 1000 + m_leaseDuration.fraction * 1e-6;
+
+  uint32_t max_lease_in_ms =
+      Config::SPDP_MAX_REMOTE_LEASE_DURATION.seconds * 1000 +
+      Config::SPDP_MAX_REMOTE_LEASE_DURATION.fraction * 1e-6;
+
+  auto heatbeat_age_in_ms = getAliveSignalAgeInMilliseconds();


guo-max added 17 commits July 8, 2026 13:22

copy from embeddedRTPS

3b59906

add submodule

bf22a30

update submodule

bc85052

add example

734c114

WIP; add substrct layer for platform

f81ef55

added thread pool; removed lwip and freertos

c223c55

fix bug of sedp acknack; fix bug for parse topic data

ea3f3a5

removed sync and fix circular buffer bug

939acff

code clean up

c3c7062

update to use base component

a0edd0a

remove micro_CDR

1738184

add the forked micro-CDR

c069ef6

update micro cdr config

ed2e8e5

add pc test; fix heartbeat ping-pang bug

291ddd6

test with reliable and add some log for testing

d9524eb

fix documentation and add readme

9cdb1e6

disable logging by default

ca54404

Copilot AI lite review requested due to automatic review settings July 21, 2026 19:53

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delete thread_pool

aed1f3a

guo-max marked this pull request as draft August 3, 2026 13:34

Copilot AI review requested due to automatic review settings August 3, 2026 13:35

Merge branch 'main' into feat/embeddedRTPS_merge_espp

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update example to use ethernent kit

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update rtps example

dbe3c42

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Comment thread components/rtps_embedded/example/host_pubsub.py Fixed

Comment thread components/rtps_embedded/example/host_pubsub.py Fixed

remove unused file

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Copilot started reviewing on behalf of guo-max August 4, 2026 21:14 View session

update kconfig

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Feat/embedded rtps merge espp - #672

Feat/embedded rtps merge espp#672
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		reference operator*() const { return m_pool.m_data[m_bit]; }

		reference operator->() const { return m_pool.m_data[m_bit]; }

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guo-max commented Jul 21, 2026

Description

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How has this been tested?

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

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