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

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feat/refactor-embedded-rtps

Aug 12, 2026

Commits on Jul 8, 2026

copy from embeddedRTPS
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add submodule
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update submodule
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add example
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Commits on Jul 9, 2026

WIP; add substrct layer for platform
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Commits on Jul 10, 2026

added thread pool; removed lwip and freertos
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Commits on Jul 13, 2026

fix bug of sedp acknack; fix bug for parse topic data
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Commits on Jul 14, 2026

removed sync and fix circular buffer bug
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code clean up
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update to use base component
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Commits on Jul 16, 2026

remove micro_CDR
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add the forked micro-CDR
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update micro cdr config
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Commits on Jul 17, 2026

add pc test; fix heartbeat ping-pang bug
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Commits on Jul 21, 2026

test with reliable and add some log for testing
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fix documentation and add readme
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disable logging by default
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Commits on Aug 3, 2026

delete thread_pool
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Merge branch 'main' into feat/embeddedRTPS_merge_espp
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update example to use ethernent kit
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Commits on Aug 4, 2026

update rtps example
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remove unused file
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update kconfig
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Commits on Aug 6, 2026

modify header file to use hpp
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fix CodeQL scan result bug
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Merge branch 'main' into feat/embeddedRTPS_merge_espp
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fix static code analysis errors
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Commits on Aug 7, 2026

fix static analysis issue
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update based on AI review
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fix based on AI review
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Commits on Aug 10, 2026

remove unused files and revert back the Cmakelists
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Commits on Aug 11, 2026

doc(rtps): Add the RTPS refactor design plan (embeddedRTPS -> idiomatic espp)

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feat(rtps_embedded): Host build + loopback baseline; fix desktop GUID collisions

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test(rtps_embedded): Golden wire-format byte tests (Phase 0b)

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test(rtps_embedded): FastDDS/ROS2 interop harness (Phase 0c)

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feat(rtps_embedded): espp RtpsParticipant facade over the engine (Phase 1)

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fix(rtps_embedded): Probe participant ids for free unicast ports (Phase 2a)

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feat(rtps_embedded): Receive path on SocketReactor (Phase 2b)

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

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

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feat(rtps_embedded): Port the esp32 example to the RtpsParticipant facade

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feat(rtps_embedded): Optional interface_ip argument for the interop peers

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improve performance of example
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Commits on Aug 12, 2026

Merge remote-tracking branch 'origin/main' into feat/refactor-embedded-rtps
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feat(rtps_embedded): Port payload serialization to the reflection-driven cdr

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feat(rtps_embedded)!: Remove the Micro-CDR submodule (Phase 2b)

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chore: gitignore the docker interop harness build tree

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fix(rtps_embedded): Address PR #706 review comments

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fix(rtps_embedded): Windows build — guard POSIX headers in interface auto-detect

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fix(rtps_embedded): MSVC — make MemoryPoolIterator copy-assignable

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