feat(rtps_embedded): embeddedRTPS integration + idiomatic espp refactor (facade, SocketReactor, protocol scheduler, Micro-CDR removal) by finger563 · Pull Request #706 · esp-cpp/espp

finger563 · 2026-08-12T13:38:51Z

Supersedes #672. This branch forked from #672's head, then integrated current main (the new reflection cdr component, SocketReactor, C++23) via a clean merge and refactored on top — so it sidesteps the painful rebase of #672 onto today's main. Targeting main directly, it is a single self-contained PR: the complete embeddedRTPS integration and its refactor toward an idiomatic espp component.

What this is

components/rtps_embedded is an RTPS/DDS stack (the embeddedRTPS port) that interoperates with FastDDS and ROS 2 over the standard RTPS wire protocol — so an esp32 can pub/sub with a PC/Jetson running ROS 2 or any DDS participant on the same network. This PR contains the original integration plus an incremental, interop-gated refactor toward an idiomatic espp component, following components/rtps_embedded/REFACTOR_PLAN.md.

The guiding invariant: never break FastDDS / ROS 2 wire compatibility. Every refactor phase is gated by a golden byte-for-byte wire test plus a dockerized ROS 2 interop matrix, and the esp32 example builds throughout. Validated on real hardware against a separate machine running FastDDS.

Refactor phases (each a commit series, individually interop-gated)

Phase	Theme	Result
0	Safety net	Host build + loopback baseline, byte-frozen golden wire tests, dockerized FastDDS/ROS 2 interop harness + CI workflow
1	`espp::RtpsParticipant` facade	espp-idiomatic API (Config structs, callbacks, bool+logger) over the engine; python bindings; example ported
2a	Port probing	Multiple participants per host (was structurally impossible); adds `Socket::disable_reuse()`
2b-i	Receive path → `SocketReactor`	3+N blocking-recv tasks → one select loop + shared pool
2b-ii	Delete the engine's ThreadPool	Queue-overflow packet drops structurally gone
2b-iii	Single deadline-scheduled protocol task	Per-participant SPDP + per-writer heartbeat threads → one task; publish piggybacks heartbeat
Micro-CDR removal	Engine serialization on the reflection `cdr`	Micro-CDR submodule deleted; payloads + protocol both on `cdr`

Measured impact (per participant process)

Threads: ~14 → 5
Reliable delivery: sub-millisecond (in-process median ~0.36 ms; DATA is sent immediately on publish()). Separately, lost-sample recovery latency dropped from up to ~2 s (a reader learned of a gap only on the next periodic HEARTBEAT, SF_WRITER_HB_PERIOD_MS) to prompt-on-next-publish via the piggyback (and ≤ the period/4 ≈ 500 ms speedup path while any sample is unacknowledged)
stop(): ~4 s → near-instant
Per-writer heartbeat stacks, per-participant SPDP stacks, per-socket recv stacks, and 4 fixed packet queues all eliminated
One fewer git submodule (Micro-CDR)

How it's verified

Golden wire tests (pc/tests/rtps_embedded_golden.cpp): byte-exact SPDP/SEDP/DATA/HEARTBEAT/ACKNACK/GAP + the SEDP parameter list. Never regenerated in this PR.
Interop harness (components/rtps_embedded/interop/, wired into CI): builds the engine on Linux and runs espp↔espp loopback + cross-process, and espp↔ROS 2 (jazzy / rmw_fastrtps) reliable both directions + best-effort. 8/8 green.
esp32 build: the example builds for esp32p4 on ESP-IDF 6.0 after every phase.

Follow-ups (separate PRs)

Remaining plan phases — de-templating / hierarchy collapse, runtime Limits, typed Publisher<T>/Subscriber<T> (now natural with reflect-cpp: publish any reflectable struct), final consolidation into a single rtps component — see REFACTOR_PLAN.md §5.

🤖 Generated with Claude Code

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

…cade The example still used the raw engine API (rtps::Domain, ucdr, xTaskCreate, ESP_LOG). Rewrite it as the facade showcase: espp::RtpsParticipant with Config callbacks (publisher/subscriber matched), espp::CdrWriter/CdrReader payloads, espp::Timer for the periodic publish, and espp logging throughout. Topics/types are unchanged so it still pairs with the FastDDS host peer (example/pc/host_pubsub.cpp); ROS 2 naming is documented inline. Snippet markers preserved for the docs. Builds for esp32 on ESP-IDF 6.0. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

…eers Multi-interface hosts (e.g. a mac with WiFi + a USB-ethernet adapter direct- attached to the esp32) need to pin the RTPS interface; auto-detect stays the default. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

…d-rtps # Conflicts: # .gitmodules # python/rtps_publisher.py # python/rtps_pubsub.py # python/rtps_subscriber.py

…ven cdr Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Migrate the engine's ~157 ucdr call sites onto the vendored reflection-cdr library's stream primitives, wire-format neutral: - New rtps/utils/CdrBuffer.hpp: thin aliases (cdr::basic_writer<xcdr1, span_sink> / cdr::reader<xcdr1>) plus small helpers reproducing ucdr's raw-bytes / clamp-to-end skip / align-to-4 semantics over the engine's fixed buffers. cdr::param_list_writer was deliberately NOT used inside the engine: it emits its own encapsulation header and requires a heap sink, neither of which matches the engine's mid-buffer fixed-array usage - byte identity outranks library purity. - TopicData / ParticipantProxyData / SPDPAgent / SEDPAgent / Locator migrated 1:1 (ucdrBuffer signatures -> span/writer parameters), preserving every wire quirk the goldens froze: lazily-zeroed alignment padding, length-4/write-2+pad PID_PROTOCOL_VERSION/PID_VENDORID, string null-in-length + pad-to-4, sentinel handling, and SEDP's historical parse of the encapsulation header as an unknown pid (now documented). - Micro-CDR submodule deleted (.gitmodules, thirdparty/, lib/espp.cmake, IDF CMakeLists); cdr added to the component's REQUIRES + manifest; golden test plumbing adapted to the new signatures with the golden bytes untouched. Gates: rtps_embedded_golden byte-identical (goldens never regenerated); engine + facade loopbacks PASS; docker interop 8/8 PASS vs ROS 2 - including SPDP/SEDP discovery announcements built entirely by the new codec; esp32 example builds. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

pc/build-linux/ is created by components/rtps_embedded/interop when it builds the espp lib inside the container against the bind-mounted source tree. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Copilot

Pull request overview

This PR continues the components/rtps_embedded refactor toward an idiomatic ESPP component, including a new espp::RtpsParticipant facade, receive-path consolidation via SocketReactor, and Micro-CDR removal in favor of the reflection-driven cdr component, plus supporting interop/golden tests and related build/docs updates.

Changes:

Add host-side golden/interop tests and a Docker-based FastDDS/ROS 2 interop harness for rtps_embedded.
Replace Micro-CDR usage with cdr stream primitives and reflection-driven serialization; remove CDR Python bindings accordingly.
Reduce RTPS engine concurrency primitives (ThreadPool removal; introduce SocketReactor/shared worker pool) and add unicast-port reuse control plumbing.

Reviewed changes

Copilot reviewed 103 out of 104 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
suppressions.txt	Suppress static analysis warnings for new vendored `detail/` trees.
python/rtps_subscriber.py	Update Python RTPS subscriber to string payloads + new facade API usage.
python/rtps_pubsub.py	Remove old in-process pub/sub Python test script.
python/rtps_publisher.py	Update Python RTPS publisher to string payloads + new facade API usage.
pc/tests/rtps_subscriber.cpp	Remove old standalone host subscriber test.
pc/tests/rtps_pubsub.cpp	Remove old standalone in-process host pub/sub test.
pc/tests/rtps_publisher.cpp	Remove old standalone host publisher test.
pc/tests/rtps_facade_pubsub.cpp	Add in-process facade loopback test (port probing / multi participant).
pc/tests/rtps_embedded_pubsub.cpp	Add host loopback pub/sub baseline test for embeddedRTPS engine.
pc/tests/rtps_embedded_interop_sub.cpp	Add host interop subscriber test for facade against DDS/ROS 2 peers.
pc/tests/rtps_embedded_interop_pub.cpp	Add host interop publisher test for facade against DDS/ROS 2 peers.
pc/tests/rtps_embedded_golden.inc	Add frozen golden wire-format byte arrays.
pc/tests/rtps_embedded_golden.cpp	Add golden wire-format tests for embeddedRTPS engine message encodings.
pc/tests/rtps_common.hpp	Migrate test helpers from `espp::CdrWriter/CdrReader` to `cdr` (expected-based).
pc/CMakeLists.txt	Bump host build standard to C++23.
lib/python_bindings/module.cpp	Remove registration of CDR Python bindings; keep RTPS + SocketReactor bindings.
lib/python_bindings/cdr_bindings.cpp	Remove hand-written pybind11 CDR bindings.
lib/include/espp.hpp	Switch public include from legacy `rtps.hpp` to `rtps_participant.hpp`.
lib/espp.cmake	Update PC build include/source lists for `rtps_embedded`, add reflect-cpp/cdr include dirs, drop old cdr/rtps sources, drop cdr bindings.
lib/CMakeLists.txt	Bump library build standard to C++23.
lib/autogenerate_bindings.py	Update notes re: excluding `cdr.hpp` from binding generation (no Python bindings).
doc/en/data/reflect_cpp.rst	Add docs page for `reflect_cpp` component.
doc/en/data/index.rst	Add `reflect_cpp` to data docs index.
doc/en/data/cdr.rst	Update CDR docs to reflection-driven `cdr` library and C++23 requirement.
doc/Doxyfile	Add `jd9365.hpp` to Doxygen inputs.
components/socket/src/socket.cpp	Add `Socket::disable_reuse()` to clear reuse flags before binding.
components/socket/include/socket.hpp	Document and expose `Socket::disable_reuse()` API.
components/rtps/src/rtps.cpp	Migrate RTPS parameter list CDR handling to reflection-driven `cdr` (and manual PL_CDR header).
components/rtps/example/main/rtps_example.cpp	Migrate example serialization to `cdr::serialize/deserialize`.
components/rtps_embedded/src/ThreadPool.cpp	Remove embeddedRTPS engine ThreadPool implementation.
components/rtps_embedded/src/rtps_participant.cpp	Add `espp::RtpsParticipant` facade implementation.
components/rtps_embedded/src/discovery/SEDPAgent.cpp	Replace Micro-CDR usage with `rtps::CdrBuffer` helpers for SEDP.
components/rtps_embedded/src/discovery/ParticipantProxyData.cpp	Replace Micro-CDR parsing with `rtps::CdrReader`-based parsing helpers.
components/rtps_embedded/src/communication/EsppTransport.cpp	Refactor transport receive path to `SocketReactor` + shared worker pool; add unicast reuse control; add stop/submit helpers.
components/rtps_embedded/README.md	Update README to reflect Micro-CDR removal and new discovery serialization approach.
components/rtps_embedded/interop/run.sh	Add host entrypoint script to build/run interop harness.
components/rtps_embedded/interop/run_interop.sh	Add container-side build + FastDDS/ROS 2 interop matrix script.
components/rtps_embedded/interop/README.md	Add documentation for the RTPS interop harness.
components/rtps_embedded/interop/Dockerfile	Add Docker image definition for interop harness (ROS jazzy base).
components/rtps_embedded/include/rtps/utils/CdrBuffer.hpp	Add Micro-CDR-compatible thin adapter over `cdr` stream primitives (discovery).
components/rtps_embedded/include/rtps/ThreadPool.hpp	Remove embeddedRTPS engine ThreadPool header.
components/rtps_embedded/include/rtps/entities/Writer.hpp	Remove ThreadPool pointer/member from Writer base.
components/rtps_embedded/include/rtps/entities/StatelessWriter.tpp	Route writer progress scheduling through transport worker pool instead of ThreadPool.
components/rtps_embedded/include/rtps/entities/StatelessWriter.hpp	Update StatelessWriter init signature (remove ThreadPool parameter).
components/rtps_embedded/include/rtps/entities/StatefulWriter.tpp	Remove per-writer heartbeat thread; schedule progress via transport pool; add heartbeat tick + protocol nudge hooks.
components/rtps_embedded/include/rtps/entities/StatefulWriter.hpp	Add heartbeat tick + protocol nudge API and state; update init signature.
components/rtps_embedded/include/rtps/entities/Domain.hpp	Replace ThreadPool usage with transport/SocketReactor receive + single protocol scheduler task.
components/rtps_embedded/include/rtps/discovery/TopicData.hpp	Replace Micro-CDR API with `readFromBuffer` / `serializeInto` using `CdrBuffer` helpers.
components/rtps_embedded/include/rtps/discovery/SPDPAgent.hpp	Replace Micro-CDR with `CdrBuffer` usage; add `announce()` and scheduler integration notes.
components/rtps_embedded/include/rtps/discovery/ParticipantProxyData.hpp	Replace Micro-CDR dependency with `CdrBuffer` reader.
components/rtps_embedded/include/rtps/config_desktop.hpp	Fix desktop GUID prefix config to avoid identity collisions (GUID_RANDOM).
components/rtps_embedded/include/rtps/communication/EsppTransport.hpp	Add reactor/worker-pool wiring, unicast reuse semantics, and stop/submit APIs.
components/rtps_embedded/include/rtps/common/Locator.hpp	Replace Micro-CDR locator read/write with `CdrBuffer` raw read helper.
components/rtps_embedded/include/rtps_participant.hpp	Add public `espp::RtpsParticipant` facade header/API.
components/rtps_embedded/idf_component.yml	Add dependency on `espp/cdr`.
components/rtps_embedded/example/sdkconfig.defaults	Adjust example defaults (perf opts, 1kHz FreeRTOS tick, CPU freq).
components/rtps_embedded/example/main/main.cpp	Port embedded example to `espp::RtpsParticipant` facade + `cdr` serialization.
components/rtps_embedded/example/main/CMakeLists.txt	Add required components for updated example (cdr/timer/etc.).
components/rtps_embedded/example/CMakeLists.txt	Add `cdr`/`timer` to example components list.
components/rtps_embedded/CMakeLists.txt	Drop Micro-CDR sources/includes; add facade source; add `cdr` dependency.
components/reflect_cpp/README.md	Add `reflect_cpp` component README.
components/reflect_cpp/idf_component.yml	Add new component manifest for reflect-cpp headers.
components/reflect_cpp/CMakeLists.txt	Register reflect-cpp header-only include dirs.
components/ethernet/idf_component.yml	Update dependency names for DM9051 / ENC28J60 components.
components/esp32-p4-nano/src/camera.cpp	Adjust SCCB/I2C frequency to 100kHz for camera reliability.
components/esp32-p4-nano/src/audio.cpp	Add `clear_audio()` and make I2S writes frame-aligned/constant cadence.
components/esp32-p4-nano/Kconfig.projbuild	Add JD9365 panel option and make it default.
components/esp32-p4-nano/include/esp32-p4-nano.hpp	Add JD9365 display support, panel params updates, touch inversion changes, backlight I2C notes, add `clear_audio()`.
components/esp32-p4-nano/example/main/gui.hpp	Add pending-point queue to make draw_circle non-blocking.
components/esp32-p4-nano/example/main/gui.cpp	Disable tab scroll flags; drain queued draw points in GUI task; implement queued draw path.
components/esp32-p4-nano/example/main/esp32_p4_nano_example.cpp	Improve touch feedback behavior; parse WAV data chunk robustly.
components/esp32-p4-function-ev-board/src/audio.cpp	Make I2S writes frame-aligned/constant cadence.
components/esp32-p4-function-ev-board/example/main/esp32_p4_function_ev_board_example.cpp	Migrate uint32 CDR helpers to `cdr::serialize/deserialize`.
components/esp32-p4-eth/src/camera.cpp	Adjust SCCB/I2C frequency to 100kHz for camera reliability.
components/esp32-p4-eth/src/audio.cpp	Add `clear_audio()` and make I2S writes frame-aligned/constant cadence.
components/esp32-p4-eth/Kconfig.projbuild	Add JD9365 panel option and make it default.
components/esp32-p4-eth/include/esp32-p4-eth.hpp	Add JD9365 display support, panel params updates, touch inversion changes, backlight I2C notes, add `clear_audio()`.
components/esp32-p4-eth/example/main/gui.hpp	Add pending-point queue to make draw_circle non-blocking.
components/esp32-p4-eth/example/main/gui.cpp	Disable tab scroll flags; drain queued draw points in GUI task; implement queued draw path.
components/esp32-p4-eth/example/main/esp32_p4_eth_example.cpp	Improve touch feedback behavior; parse WAV data chunk robustly.
components/cdr/src/cdr.cpp	Remove now-unneeded translation unit (cdr library is header-only).
components/cdr/README.md	Update README for reflection-driven `cdr` library and new feature set.
components/cdr/idf_component.yml	Update manifest for new `cdr` implementation and add `reflect_cpp` dependency + IDF>=5.2.
components/cdr/example/README.md	Update example README for new reflection-driven API and features.
components/cdr/example/main/cdr_example.cpp	Rewrite example to demonstrate `cdr::serialize/deserialize`, XCDR1/XCDR2, expected errors, serialize_into, and PL_CDR param lists.
components/cdr/example/CMakeLists.txt	Add reflect_cpp dependency and bump example to C++23.
components/cdr/CMakeLists.txt	Register header-only includes (detail+cdr) and require `reflect_cpp`.
.gitmodules	Remove Micro-CDR submodule; add reflect-cpp and cdr submodules.
.gitignore	Ignore docker interop harness build tree (`pc/build-linux/`).
.github/workflows/upload_components.yml	Add `components/reflect_cpp` to upload list.
.github/workflows/rtps_interop.yml	Add CI workflow to run dockerized RTPS interop matrix on relevant PR changes.

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Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

finger563 · 2026-08-12T14:14:37Z

Addressed all review comments in 5c1573c:

CdrBuffer.hpp — missing <algorithm> (Copilot): added the include (std::min in skipBytes/alignTo4). Real fix — would have failed on stricter toolchains.
rtps_interop.yml — token permissions (CodeQL): added a least-privilege permissions: { contents: read } block; the harness only checks out and builds.
Stale espp::CdrReader/CdrWriter comments in rtps_embedded_interop_pub.cpp, rtps_embedded_interop_sub.cpp, and the esp32 main.cpp (Copilot): corrected to the reflection-driven cdr::serialize / cdr::deserialize the code actually uses.
interop/README.md — outdated constraints (Copilot): the "start espp first / SO_REUSE without probing / ThreadPool: dropped packet" notes were superseded by unicast port probing (Phase 2a) and the SocketReactor receive path (Phase 2b); replaced with the current behavior. Also cleaned the matching stale comment in run_interop.sh.

Verified: host lib + tests build, golden wire tests byte-identical.

github-actions · 2026-08-12T14:15:12Z

✅Static analysis result - no issues found! ✅

…auto-detect Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Adding rtps_embedded to the host lib build compiles the engine with MSVC for the first time, exposing a latent portability bug: MemoryPoolIterator held a `MemoryPool&` reference member, which implicitly deletes copy-assignment. MSVC's std::find_if (used over m_proxies in the reliable writer/reader paths) requires Cpp17InputIterator, i.e. a copy-assignable iterator, so it failed with C2280; libstdc++/libc++ happened not to require the assignment and built fine. - Hold `MemoryPool*` instead of `MemoryPool&` (reseatable -> copy-assignable); deref sites updated to `->`. - Restore operator== (was commented out) as std::find_if also requires it; operator!= now defers to it. No behavior/wire change. Gates: POSIX lib + tests build; golden byte-identical; engine + facade reliable loopbacks PASS. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

guo-max added 30 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

delete thread_pool

aed1f3a

Merge branch 'main' into feat/embeddedRTPS_merge_espp

ac252c8

update example to use ethernent kit

bd9e29f

update rtps example

dbe3c42

remove unused file

99bb2cd

update kconfig

751f118

modify header file to use hpp

fb127cc

fix CodeQL scan result bug

5f259bb

Merge branch 'main' into feat/embeddedRTPS_merge_espp

eb2dcca

fix static code analysis errors

3a2c9e1

fix static analysis issue

678a842

update based on AI review

7f8ff48

fix based on AI review

e470aa1

finger563 and others added 9 commits August 11, 2026 10:44

feat(rtps_embedded): Delete the engine ThreadPool (Phase 2c)

e19e8c8

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

feat(rtps_embedded): Single deadline-scheduled protocol task (Phase 2d)

318c23f

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

improve performance of example

d1fcf74

Merge remote-tracking branch 'origin/main' into feat/refactor-embedde…

320f777

…d-rtps # Conflicts: # .gitmodules # python/rtps_publisher.py # python/rtps_pubsub.py # python/rtps_subscriber.py

feat(rtps_embedded): Port payload serialization to the reflection-dri…

ed553c9

…ven cdr Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

chore: gitignore the docker interop harness build tree

5a8f416

pc/build-linux/ is created by components/rtps_embedded/interop when it builds the espp lib inside the container against the bind-mounted source tree. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Copilot AI lite review requested due to automatic review settings August 12, 2026 13:38

Copilot started reviewing on behalf of finger563 August 12, 2026 13:39 View session

github-advanced-security AI found potential problems Aug 12, 2026

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Comment thread .github/workflows/rtps_interop.yml Fixed

Copilot AI reviewed Aug 12, 2026

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finger563 changed the base branch from feat/embeddedRTPS_merge_espp to main August 12, 2026 13:58

finger563 mentioned this pull request Aug 12, 2026

feat(rtps_embedded): Add new rtps component which wraps embeddedRTPS as an alternate implementation of rtps #672

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finger563 assigned finger563 and guo-max Aug 12, 2026

finger563 requested a review from guo-max August 12, 2026 14:06

fix(rtps_embedded): Address PR #706 review comments

5c1573c

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

finger563 and others added 2 commits August 12, 2026 09:33

fix(rtps_embedded): Windows build — guard POSIX headers in interface …

fceb9c3

…auto-detect Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

finger563 added enhancement New feature or request rtps real time publish subscribe labels Aug 12, 2026

guo-max approved these changes Aug 12, 2026

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guo-max merged commit 9f63d38 into main Aug 12, 2026
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guo-max deleted the feat/refactor-embedded-rtps branch August 12, 2026 18:08

finger563 mentioned this pull request Aug 12, 2026

refactor(rtps_embedded): De-template the engine (Phase 3) #708

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feat(rtps_embedded): embeddedRTPS integration + idiomatic espp refactor (facade, SocketReactor, protocol scheduler, Micro-CDR removal) - #706

feat(rtps_embedded): embeddedRTPS integration + idiomatic espp refactor (facade, SocketReactor, protocol scheduler, Micro-CDR removal)#706
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finger563 commented Aug 12, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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What this is

Refactor phases (each a commit series, individually interop-gated)

Measured impact (per participant process)

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✅Static analysis result - no issues found! ✅

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finger563 commented Aug 12, 2026 •

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