feat(rtps): endpoint priority — banded channels, dedicated SEDP-advertised ports, deferred dispatch (phase 2) - #737

Merged

finger563 merged 54 commits into

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feat/rtps-endpoint-priority

Aug 28, 2026

Commits on Aug 24, 2026

feat(rtps): banded transport channels + dedicated per-endpoint unicast ports in the engine

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f2af644
feat(rtps): band + dscp on the espp facade configs, deferred banded dispatch fallback

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414af11
feat(rtps): band/dscp on the python RtpsParticipant bindings

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e675dca
test(rtps): dedicated-port SEDP locator, banded loopbacks, deferred dispatch, ration exhaustion

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f7d1833
fix(rtps): esp32 GCC 15 -Wfree-nonheap-object + cppcheck style findings

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919aa47
doc(rtps): document priority bands, dedicated endpoint ports, and the fd ration

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4aa03b9
test(rtps): banded-subscriber entry in the FastDDS/ROS 2 interop matrix

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d4cdd1e
doc(rtps): RtpsParticipant class doc covers priority scheduling; drop stale phase-2 port-collision note

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245afcc
fix(socket): bound the reactor's UDP receive so a stale/spurious readiness can never wedge stop()

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c573c39
fix(rtps): make runtime endpoint deletion teardown-safe (CI shutdown hang)

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d7aef80
test(rtps): teardown-under-load stress (rtps_banded_churn) + interop entry

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45594f4
fix(rtps): PR review - add_reader docstring covers dscp; validate interop band arg

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ef323f4
feat(socket): removal-completion notification on SocketReactor::remove()

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057d3a5
fix(rtps): destroy retired sockets promptly via the reactor's removal completion

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c4544b5
fix(socket): a bounded read is a REQUIREMENT of add_udp_receiver registration

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18d617b
fix(rtps): dedicated-port ration is a true fd bound; failed probe window advances

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46a01fd
fix(rtps): exception boundary on deferred deliveries; transactional service/action creation

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2663af3
test(rtps): churn iterations REQUIRE live samples on their dedicated port

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d376d78
test(rtps): run rtps_service_rollback in the interop matrix

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94b1558

Commits on Aug 25, 2026

fix(rtps): hold m_mutex across the whole StatefulWriter::heartbeatTick

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48fc862
fix(rtps): deferred-work lifetime model + guaranteed arm recovery + precise composite rollback

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2b68a3e
test(rtps): deferred-arm recovery, duplicate-action precision, rollback-under-concurrency

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c495df4
test(rtps): make rtps_deferred_recovery's saturation deterministic

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8623e7c
fix(rtps): band writer progress end-to-end; guaranteed submit; engine-first removal ordering

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0b63854
test(rtps): make the banded queue-jump phase robust (CI flake)

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6c970ab
test(rtps): drop redundant order[0] recheck (cppcheck knownConditionTrueFalse)

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9487baf

Commits on Aug 26, 2026

Commits on Aug 27, 2026

Commits on Aug 28, 2026