Module traits 

Transport abstraction traits.

Defines the backend-agnostic interface that transport implementations (zenoh-pico, XRCE-DDS) must satisfy. The core trait hierarchy is:

• Session — connection lifecycle and handle creation
• Publisher / Subscriber — pub/sub data transport
• ServiceServerTrait / ServiceClientTrait — request/reply
• Rmw — top-level factory that creates sessions

Structs

ActionInfo

Action information for action client/server

QosOverride

Phase 211.H — one per-topic QoS override, lowered from a ROS 2 qos_overrides.<topic>.<role>.<policy> launch parameter by the planner and baked into a &'static [QosOverride] table by the entry codegen. The node folds the matching entries into the entity’s QosSettings at create_publisher / create_subscription time (setup-time, single linear scan, no alloc), before the backend-compat validate_against — so an override the active RMW can’t honour still errors loudly, never a silent downgrade.

QosPolicyMask

Bitmask of QoS policies a backend can honour. See Session::supported_qos_policies.

QosSettings

Full DDS-shaped QoS profile. Matches the field set of upstream rmw_qos_profile_t.

RmwConfig

Middleware-agnostic session configuration.

ServiceInfo

Service information for service client/server

ServiceRequest

Service request from a client

TopicInfo

Topic information for pub/sub

TransportConfig

Transport session configuration

Enums

LocatorProtocol

Locator transport protocol

QosDurabilityPolicy

QoS durability policy

QosHistoryPolicy

QoS history policy

QosLivelinessPolicy

QoS liveliness policy. Matches DDS LIVELINESS semantics.

QosOverrideRole

Phase 211.H — which side of a topic a QosOverride targets. Mirrors the <role> segment of a ROS 2 qos_overrides.<topic>.<role>.<policy> launch parameter.

QosOverrideValue

Phase 211.H — a single policy value a QosOverride sets. A typed enum (not a string) so the codegen that bakes these from the plan catches an unknown policy / mistyped value at generation time rather than silently no-op-ing at runtime.

QosReliabilityPolicy

QoS reliability policy

SessionMode

Session mode

TransportError

Transport error types.

Traits

Publisher

Publisher trait for sending messages.

Rmw

Factory trait for compile-time middleware selection.

ServiceClientTrait

Service client trait for sending requests.

ServiceServerTrait

Service server trait for handling requests.

Session

Transport session trait — the per-process anchor an RMW backend gives to the executor.

Subscriber

Subscriber trait for receiving messages.

Transport

Transport backend trait (legacy).

Functions

locator_protocol

Parse the protocol from a locator string

validate_locator

Validate a locator string format.