DDS-OPC UA Gateway 1.0 — Spec Coverage

Spec: OMG DDS-OPC UA Gateway 1.0 — formal/2020-01-01 →

Context: the DDS-OPC-UA gateway bridges between DDS topics and the OPC-UA address space (IEC 62541). ZeroDDS implements the type-system mapping layer (§8.2 + §9.2) and the address-space mapping (§9.3) as a pure-Rust no_std+alloc library. Subscription behavior + the OPC-UA binary wire encoding are caller-layer (typically an external OPC-UA stack).

Implementation:

§1 Scope

§1 Bidirectional bridge OPC UA ↔︎ DDS

Spec: §1, p. 1 (PDF) — “This specification overcomes this situation by defining a standard, vendor-independent, configurable gateway that enables interoperability and information exchange between systems that use DDS and systems that use OPC UA.”

Repo: crates/opcua-gateway/src/lib.rs crate doc.

Tests: the two directions the quote names as the bridge — OPC UA to DDS: crates/opcua-gateway/src/types.rs::tests::primitive_mapping_matches_spec_table_8_1, crates/opcua-gateway/src/subscription_mapping/variant_dds.rs::tests::builtin_scalar_mappings_match_spec; DDS to OPC UA: crates/opcua-gateway/src/dds_to_ua/walker.rs::tests::primitive_dds_to_opc_ua_names_match_spec_tab_92, crates/opcua-gateway/src/address_space.rs::tests::topic_node_carries_parent_domain_reference; that both directions are declared at once: crates/opcua-gateway/src/conformance.rs::tests::declares_all_four_conformance_points.

Status: done

§2 Conformance

§2 Conformance point 1: OPC UA to DDS mapping basic

Spec: §2 point 1 (p. 1) — UA type system + UA subscription mapping.

Repo: type-system mapping in crates/opcua-gateway/src/types.rs + dds_to_ua/walker.rs; subscription mapping in crates/opcua-gateway/src/subscription_mapping/{behavior,config,variant_dds}.rs.

Tests: UA type system: crates/opcua-gateway/src/types.rs::tests::{builtin_type_kind_values_match_spec, primitive_mapping_matches_spec_table_8_1, xtypes_names_match_spec_table_8_1}; UA subscription model: crates/opcua-gateway/src/subscription_mapping/variant_dds.rs::tests::{primitive_scalar_mappings_match_spec_tab_816, builtin_scalar_mappings_match_spec, classify_scalar_array_matrix, array_1d_wraps_in_sequence, matrix_returns_named_struct, all_25_builtins_have_matrix_alias}; crates/opcua-gateway/src/conformance.rs::tests::points_are_numbered_one_to_four_uniquely.

Status: done

§2 Conformance point 2: OPC UA to DDS mapping complete

Spec: §2 point 2 — basic + UA service sets.

Repo: point 1 + service sets in crates/opcua-gateway/src/service_sets/{attribute, method, query, view}.rs.

Tests: crates/opcua-gateway/src/service_sets/mod.rs::tests::{idl_module_paths_match_spec, all_service_sets_covers_four_sets, filter_operator_values_match_spec, timestamps_to_return_values_match_spec, filter_operand_kind_discriminant_roundtrip}; crates/opcua-gateway/src/conformance.rs::tests::complete_points_subsume_their_basic.

Status: done

§2 Conformance point 3: DDS to OPC UA mapping basic

Spec: §2 point 3 — DDS type system + DDS global data space (without historical).

Repo: type system via dds_to_ua/walker.rs (see §9.2); GDS mapping in crates/opcua-gateway/src/address_space.rs::{DomainNode, TopicNode, SampleVariable} (see §9.3).

Tests: DDS type system: crates/opcua-gateway/src/dds_to_ua/walker.rs::tests::{struct_emits_data_type_and_variable_type, enum_emits_enumeration_subtype, union_emits_union_subtype_with_switchfield, primitive_dds_to_opc_ua_names_match_spec_tab_92}; DDS global data space: crates/opcua-gateway/src/address_space.rs::tests::{domain_node_for_zero_yields_browse_name_domain0, topic_node_carries_parent_domain_reference, scalar_topic_sample_is_a_leaf}.

Status: done

§2 Conformance point 4: DDS to OPC UA mapping complete

Spec: §2 point 4 — basic + historical access.

Repo: point 3 + historical access in crates/opcua-gateway/src/historical/{adapter, config, qos}.rs with a DDS-DurabilityService → UA-HistoryRead mapping.

Tests: crates/opcua-gateway/src/historical/adapter.rs::tests::{raw_read_returns_samples_in_range, at_time_returns_nearest_prior_sample}; crates/opcua-gateway/src/historical/config.rs::tests::{historical_default_has_history_and_current_read_bits, history_read_bit_value_matches_spec}; crates/opcua-gateway/src/conformance.rs::tests::complete_points_subsume_their_basic.

Status: done

§2 Multi-point conformance marker

Spec: §2 — an implementation may satisfy several conformance points at once (“multi-point”).

Repo: crates/opcua-gateway/src/conformance.rs — an explicit, machine-queryable marker: the ConformancePoint enum (all four points with title + number + subsumes_basic), DECLARED_CONFORMANCE (= all four) + is_multi_point_conformant() / declares(). A server-stack integrator can query the conformance status programmatically instead of reading prose.

Tests: crates/opcua-gateway/src/conformance.rs::tests::{declares_all_four_conformance_points, is_multi_point, points_are_numbered_one_to_four_uniquely, complete_points_subsume_their_basic, every_point_has_a_distinct_title} (5).

Status: done

§3 Normative references

§3 References (DDS/DDSI/XTypes/IDL/OPCUA)

Spec: §3, p. 2-3 — DDS 1.4, DDS-RPC 1.0, DDS-Security 1.1, DDS-WEB, DDS-XML, DDS-XTYPES 1.2, DDSI-RTPS 2.3, IDL 4.2, OPCUA-01..-12.

Repo: cross-ref all the own spec-coverage files (zerodds-dcps-1.4.md, ddsi-rtps-2.5.md, dds-xtypes-1.3.md, omg-time-1.1.md, idl-4.2.md, etc.).

Tests: —

Status: n/a (informative) — an external normative reference list; the OPCUA/DDS specs are fulfilled operationally in the consumer items §8/§9.

§4-§7 Terminology + informative sections

§4 Terms and definitions

Spec: §4 (PDF) — glossary.

Repo: —

Tests: —

Status: n/a (informative) — glossary; without a code mapping.

§5 Symbols and abbreviations

Spec: §5 (PDF) — abbreviations (DDS, OPC-UA, GDS, etc.).

Repo: —

Tests: —

Status: n/a (informative) — symbol table; without a code mapping.

§6 Additional information

Spec: §6 (PDF) — informative annex (roadmap, acknowledgements).

Repo: —

Tests: —

Status: n/a (informative) — §6.1 Acknowledgements; no requirement.

§7 UA/DDS overview (informative)

Spec: §7 (PDF) — non-normative overview material on UA + DDS.

Repo: —

Tests: —

Status: n/a (informative) — the spec marks §7 explicitly as a non-normative overview.

§8 OPC UA to DDS bridge

§8.1 OPC UA to DDS bridge overview

Spec: §8.1 (PDF) — bridge architecture overview (informative).

Repo: —

Tests: —

Status: n/a (informative) — marked “Overview (non-normative)” in the spec; the requirements are in §8.2–§8.4.

§8.2 OPC UA type system mapping

Spec: §8.2, p. 11-12 (PDF) — a BuiltinTypeKind enum with all 25 OPC-UA built-in type IDs (Boolean=1, …, DiagnosticInfo=25).

Repo: crates/opcua-gateway/src/types.rs::BuiltinTypeKind with all 25 values + a value() method.

Tests: crates/opcua-gateway/src/types.rs::tests::builtin_type_kind_values_match_spec, crates/opcua-gateway/src/types.rs::tests::node_class_values_match_bit_flags.

Status: done

§8.2.1 Built-in primitive types

Spec: §8.2.1, p. 12 Tab 8.1 — primitive mapping (Boolean→Boolean, SByte→Byte/int8, Byte→Byte/uint8, Int16/UInt16/Int32/UInt32/Int64/UInt64 1:1, Float→Float32, Double→Float64, String→String8).

Repo: crates/opcua-gateway/src/types.rs::{dds_idl_primitive, dds_xtypes_name, map_primitive_to_dds}.

Tests: types::tests::primitive_mapping_matches_spec_table_8_1, xtypes_names_match_spec_table_8_1, sbyte_and_byte_both_map_to_dds_byte_in_xtypes, composite_types_have_no_primitive_mapping, map_primitive_to_dds_helper_yields_token.

Status: done

§8.2.2 Built-in complex types

Spec: §8.2.2, p. 13-15 Tab 8.2 — DateTime/Guid/ByteString/XmlElement/ NodeId/ExpandedNodeId/StatusCode/QualifiedName/LocalizedText/ ExtensionObject/DataValue/Variant/DiagnosticInfo with the exact IDL-equivalent structures.

Repo: fully modeled in: * crates/opcua-gateway/src/types.rs::{Guid, StatusCode, ByteString, QualifiedName, LocalizedText}. * node_id.rs::{NodeId, NodeIdentifier, NodeIdentifierKind, ExpandedNodeId} with all 4 identifier cases (Numeric/String/Guid/Opaque) + a 4096-byte limit validation. * data_value.rs::{Variant, VariantValue, DataValue, ExtensionObject, ExtensionObjectBody, BodyEncoding} with all 21 VariantValue cases.

Tests: types::tests::guid_round_trips_via_bytes, qualified_name_carries_namespace_and_name, localized_text_supports_optional_fields; node_id::tests::* (8 tests incl. the canonical string format ns=N;<kind>=<id>); data_value::tests::* (8 tests incl. round-trip of all VariantValue cases + scalar/1d_array/multi-dim detection).

Status: done — DiagnosticInfo is exposed as a ScopedName reference point; the mutable @optional-field model would be extendable analogous to LocalizedText.

§8.3 OPC UA service sets mapping

Spec: §8.3, p. 16-30 — the four service sets View, Query, Attribute and Method are mapped onto DDS-RPC interfaces; the spec fixes the method list per set (View 5, Query 2, Attribute 4, Method 1), the IDL module paths and the enum values for BrowseDirection, TimestampsToReturn and the filter operators.

Repo: crates/opcua-gateway/src/service_sets/{view,query,attribute, method}.rs with DDS-RPC bindings via crates/rpc/; the shared enums and module paths in crates/opcua-gateway/src/service_sets/mod.rs.

Tests: method count per set: crates/opcua-gateway/src/service_sets/view.rs::tests::view_set_has_five_methods_per_spec, crates/opcua-gateway/src/service_sets/query.rs::tests::query_set_has_two_methods_per_spec, crates/opcua-gateway/src/service_sets/attribute.rs::tests::attribute_set_has_four_methods_per_spec, crates/opcua-gateway/src/service_sets/method.rs::tests::method_set_has_one_method_per_spec; signatures and enum values: crates/opcua-gateway/src/service_sets/view.rs::tests::{browse_method_first_param_is_server_id, browse_method_carries_view_description, browse_direction_uses_spec_values_with_gap, all_methods_return_response_header}, crates/opcua-gateway/src/service_sets/query.rs::tests::{query_first_carries_content_filter_inputs, query_next_uses_release_continuation_flag}, crates/opcua-gateway/src/service_sets/attribute.rs::tests::{read_carries_timestamps_to_return, history_update_uses_extensible_details_sequence, history_read_details_kind_discriminant, history_update_details_kind_discriminant, perform_update_type_values_match_spec, history_update_type_values_match_spec}, crates/opcua-gateway/src/service_sets/method.rs::tests::{call_carries_methods_to_call_input, call_method_request_holds_node_ids_and_variants}, crates/opcua-gateway/src/service_sets/mod.rs::tests::{idl_module_paths_match_spec, all_service_sets_covers_four_sets, filter_operator_values_match_spec, timestamps_to_return_values_match_spec, filter_operand_kind_discriminant_roundtrip}.

Status: done

§8.4 OPC UA subscription model mapping

Spec: §8.4, p. 31-48 — OPC-UA subscriptions are mapped onto DDS DataReader listeners: a MonitoredItem carries exactly one filter, the subscription lifetime is bound to the publishing interval, and Table 8.16 fixes the Variant-to-DDS-type assignment for scalar, 1-D array and matrix.

Repo: crates/opcua-gateway/src/subscription_mapping/{behavior,config,variant_dds}.rs.

Tests: configuration constraints: crates/opcua-gateway/src/subscription_mapping/config.rs::tests::{data_item_with_two_filters_is_invalid, data_item_with_one_filter_is_valid, subscription_protocol_lifetime_constraint, monitored_item_kind_discriminants, assignment_input_kind_discriminants}; push behaviour: crates/opcua-gateway/src/subscription_mapping/behavior.rs::tests::{constant_assignment_writes_single_field, data_change_finds_and_assigns_value, data_change_unknown_handle_is_error, event_field_assignment_picks_correct_index, event_field_index_out_of_range_is_error, build_client_handles_indexes_correctly}; Variant to DDS type (Table 8.16): crates/opcua-gateway/src/subscription_mapping/variant_dds.rs::tests::{classify_scalar_array_matrix, primitive_scalar_mappings_match_spec_tab_816, builtin_scalar_mappings_match_spec, array_1d_wraps_in_sequence, matrix_returns_named_struct, all_25_builtins_have_matrix_alias}.

Status: done

§9 DDS to OPC UA bridge

§9.1 DDS to OPC UA bridge overview

Spec: §9.1 (PDF) — bridge architecture DDS→UA (informative).

Repo: —

Tests: —

Status: n/a (informative) — marked “Overview (non-normative)” in the spec; the requirements are in §9.2–§9.3.

§9.2 DDS type system mapping

Spec: §9.2, p. 49-93 — DDS primitive/string/enum/aggregated/collection/nested/alias/keyed types → OPC-UA variables.

Repo: full DDS→UA type walking in crates/opcua-gateway/src/dds_to_ua/walker.rs::{walk_dds_type, DdsType, WalkOutput} and crates/opcua-gateway/src/dds_to_ua/node_spec.rs::NodeSpec with recursive aggregated (struct/union) and collection handling (sequence-of-struct, Map<String, Sequence>); the inverse mapping symmetric via BuiltinTypeKind. Instance side: crates/opcua-gateway/src/address_space.rs::build_sample_instance recursively decomposes a structured sample into an InstanceNode variable hierarchy (HasComponent member components, nested; collections as array/object variables) — mirroring the §9.2 type recursion on the §9.3 instance side. SampleVariable::scalar remains for the simple scalar value path.

Tests: type walker: crates/opcua-gateway/src/dds_to_ua/walker.rs::tests::{struct_emits_data_type_and_variable_type, struct_dt_subtypes_structure, nested_struct_recurses, enum_emits_enumeration_subtype, bitmask_emits_optionset_subtype, union_emits_union_subtype_with_switchfield, union_with_invalid_discriminator_is_rejected, array_of_struct_recurses_into_struct, sequence_of_struct_recurses, map_recurses_into_key_and_value, alias_is_transparent, member_modeling_rule_reflects_optional, primitive_dds_to_opc_ua_names_match_spec_tab_92, alias_resolve_unwraps_recursively} (14); naming: crates/opcua-gateway/src/dds_to_ua/naming.rs::tests::{struct_data_type_appends_suffix, struct_variable_type_appends_suffix, array_element_single_dim_uses_underscore, array_element_multi_dim_concatenates_with_underscore, array_element_zero_dim_returns_bare_name, undefined_position_uses_decimal_index}; instance builder: crates/opcua-gateway/src/address_space.rs::tests::{struct_sample_decomposes_into_component_variables, nested_struct_sample_recurses_into_components, array_member_is_an_array_variable, sequence_member_is_a_one_dim_array_variable, sequence_of_struct_is_an_array_not_decomposed, union_sample_has_switchfield_and_case_components, key_and_optional_members_surface_on_instance, alias_member_is_transparent_on_instance}.

Status: done — data model + scalar mapping + aggregated/collection/ nested recursion in both the type walker and the instance builder.

§9.3 DDS global data space mapping

Spec: §9.3, p. 94-107 — DDS domain → OPC-UA ObjectNode with BrowseName Domain<id>; DDS topic → OPC-UA ObjectNode with BrowseName = topic name; DDS sample → OPC-UA variable.

Repo: crates/opcua-gateway/src/address_space.rs::{DomainNode, TopicNode, SampleVariable, mangle_topic_node_browse_name}.

Tests: crates/opcua-gateway/src/address_space.rs::tests::{domain_node_for_zero_yields_browse_name_domain0, domain_node_for_42_yields_browse_name_domain42, mangle_topic_node_browse_name_is_pass_through, topic_node_carries_parent_domain_reference, sample_variable_scalar_has_value_rank_minus_1} (5).

Status: done

§9.3.4 Reading historical data from instance nodes

Spec: §9.3.4 — historical access on instance nodes (conformance point 4 “complete”): an instance node is historizing only when Historizing is set and the HistoryRead bit (value 4) is present in AccessLevel; the DataReader history QoS has to be deep enough; ReadRawModified returns the samples of a time range, ReadAtTime the sample preceding each requested time.

Repo: crates/opcua-gateway/src/historical/{adapter,config,qos}.rs.

Tests: AccessLevel + Historizing: crates/opcua-gateway/src/historical/config.rs::tests::{historical_default_has_history_and_current_read_bits, historizing_false_fails_validation, missing_history_read_bit_fails_validation, history_read_bit_value_matches_spec}; history QoS depth: crates/opcua-gateway/src/historical/qos.rs::tests::{keep_all_always_valid, keep_last_with_sufficient_depth_valid, keep_last_below_minimum_violates}; read paths: crates/opcua-gateway/src/historical/adapter.rs::tests::{raw_read_returns_samples_in_range, raw_read_truncates_at_num_values_per_node, raw_read_invalid_range_errors, at_time_returns_nearest_prior_sample, at_time_empty_req_times_errors, unknown_instance_errors}.

Status: done

§10 OPC UA/DDS gateway configuration

§10.1 Gateway configuration overview

Spec: §10.1, p. 109 — “The syntax to configure the OPC UA/DDS Gateway is specified in two normative XSD files”: dds-opcua_definitions_nonamespace.xsd and dds-opcua_configuration.xsd (root element, namespace http://www.omg.org/spec/DDS-OPCUA); “This is the schema file that shall be used to validate OPC UA/DDS Gateway XML configuration files.”

Repo: —

Tests: —

Status: open — the two XSD files are not in the tree; crates/opcua-gateway/src/xml.rs validates against no schema and reads a syntax of its own (item §10.2).

§10.2 XML configuration

Spec: §10.2, pp. 109–113, Table 10.1 — configuration elements: root <dds> (rootType) with <types>, <qos_libraries> and <ddsopcua_gateway>, containing <opcua_connection>, <domain_participant>, <opcua_to_dds_bridge> (<service_set>, <subscription>, <opcua_input>, <dds_output>, <mapping>) and <dds_to_opcua_bridge> (<domain>, <topic>, <topic_group>); attributes and details per the normative XSD.

Repo: —

Tests: —

Status: open — crates/opcua-gateway/src/xml.rs (parse_gateway_config) reads a syntax of its own with the root <zerodds_opcua_gateway>, <bridge>, <ua_to_dds_connection> and <dds_to_ua_connection> and refuses the spec root <dds>; the tests in xml.rs check that own syntax.

Audit status

14 done / 0 partial / 2 open / 0 blocked / 7 n/a (informative).

Test run: cargo test -p zerodds-opcua-gateway — 133 lib tests green, 0 failed. Modules with tests: address_space, conformance, data_value, dds_to_ua::naming, dds_to_ua::node_spec, dds_to_ua::walker, historical::adapter, historical::config, historical::qos, node_id, service_sets (+ attribute/method/query/view), subscription_mapping (+ behavior/config/variant_dds), types, xml.

Open items: dds-opcua-1.0.open.en.md.

DDS-OPC UA Gateway 1.0 — Spec-Coverage

Spec: OMG DDS-OPC UA Gateway 1.0 — formal/2020-01-01 →

Kontext: DDS-OPC-UA-Gateway bridge zwischen DDS-Topics und OPC-UA-AddressSpace (IEC 62541). ZeroDDS implementiert die Type-System-Mapping-Layer (§8.2 + §9.2) sowie das AddressSpace-Mapping (§9.3) als pure-Rust no_std+alloc Library. Subscription-Behavior + OPC-UA-Binary- Wire-Encoding sind Caller-Layer (typisch externer OPC-UA-Stack).

Implementation:

§1 Scope

§1 Bidirectional Bridge OPC UA ↔︎ DDS

Spec: §1, S. 1 (PDF) — “This specification overcomes this situation by defining a standard, vendor-independent, configurable gateway that enables interoperability and information exchange between systems that use DDS and systems that use OPC UA.”

Repo: crates/opcua-gateway/src/lib.rs Crate-Doc.

Tests: die beiden Richtungen, die das Zitat als Brücke benennt — OPC UA → DDS: crates/opcua-gateway/src/types.rs::tests::primitive_mapping_matches_spec_table_8_1, crates/opcua-gateway/src/subscription_mapping/variant_dds.rs::tests::builtin_scalar_mappings_match_spec; DDS → OPC UA: crates/opcua-gateway/src/dds_to_ua/walker.rs::tests::primitive_dds_to_opc_ua_names_match_spec_tab_92, crates/opcua-gateway/src/address_space.rs::tests::topic_node_carries_parent_domain_reference; dass beide Richtungen zugleich deklariert sind: crates/opcua-gateway/src/conformance.rs::tests::declares_all_four_conformance_points.

Status: done

§2 Conformance

§2 Conformance Point 1: OPC UA to DDS Mapping Basic

Spec: §2 Punkt 1 (S. 1) — UA Type-System + UA Subscription Mapping.

Repo: Type-System-Mapping in crates/opcua-gateway/src/types.rs + dds_to_ua/walker.rs; Subscription-Mapping in crates/opcua-gateway/src/subscription_mapping/{behavior,config, variant_dds}.rs.

Tests: UA-Type-System: crates/opcua-gateway/src/types.rs::tests::{builtin_type_kind_values_match_spec, primitive_mapping_matches_spec_table_8_1, xtypes_names_match_spec_table_8_1}; UA-Subscription-Modell: crates/opcua-gateway/src/subscription_mapping/variant_dds.rs::tests::{primitive_scalar_mappings_match_spec_tab_816, builtin_scalar_mappings_match_spec, classify_scalar_array_matrix, array_1d_wraps_in_sequence, matrix_returns_named_struct, all_25_builtins_have_matrix_alias}; crates/opcua-gateway/src/conformance.rs::tests::points_are_numbered_one_to_four_uniquely.

Status: done

§2 Conformance Point 2: OPC UA to DDS Mapping Complete

Spec: §2 Punkt 2 — Basic + UA Service-Sets.

Repo: Punkt 1 + Service-Sets in crates/opcua-gateway/src/service_sets/{attribute, method, query, view}.rs.

Tests: crates/opcua-gateway/src/service_sets/mod.rs::tests::{idl_module_paths_match_spec, all_service_sets_covers_four_sets, filter_operator_values_match_spec, timestamps_to_return_values_match_spec, filter_operand_kind_discriminant_roundtrip}; crates/opcua-gateway/src/conformance.rs::tests::complete_points_subsume_their_basic.

Status: done

§2 Conformance Point 3: DDS to OPC UA Mapping Basic

Spec: §2 Punkt 3 — DDS Type-System + DDS Global Data Space (without Historical).

Repo: Type-System via dds_to_ua/walker.rs (siehe §9.2); GDS-Mapping in crates/opcua-gateway/src/address_space.rs::{DomainNode, TopicNode, SampleVariable} (siehe §9.3).

Tests: DDS-Type-System: crates/opcua-gateway/src/dds_to_ua/walker.rs::tests::{struct_emits_data_type_and_variable_type, enum_emits_enumeration_subtype, union_emits_union_subtype_with_switchfield, primitive_dds_to_opc_ua_names_match_spec_tab_92}; DDS-Global-Data-Space: crates/opcua-gateway/src/address_space.rs::tests::{domain_node_for_zero_yields_browse_name_domain0, topic_node_carries_parent_domain_reference, scalar_topic_sample_is_a_leaf}.

Status: done

§2 Conformance Point 4: DDS to OPC UA Mapping Complete

Spec: §2 Punkt 4 — Basic + Historical Access.

Repo: Punkt 3 + Historical-Access in crates/opcua-gateway/src/historical/{adapter, config, qos}.rs mit DDS-DurabilityService → UA-HistoryRead-Mapping.

Tests: crates/opcua-gateway/src/historical/adapter.rs::tests::{raw_read_returns_samples_in_range, at_time_returns_nearest_prior_sample}; crates/opcua-gateway/src/historical/config.rs::tests::{historical_default_has_history_and_current_read_bits, history_read_bit_value_matches_spec}; crates/opcua-gateway/src/conformance.rs::tests::complete_points_subsume_their_basic.

Status: done

§2 Multi-Point Conformance Marker

Spec: §2 — eine Implementierung kann mehrere Conformance-Points gleichzeitig erfüllen (“multi-point”).

Repo: crates/opcua-gateway/src/conformance.rs — expliziter, maschinen-abfragbarer Marker: ConformancePoint-Enum (alle vier Punkte mit Titel + Nummer + subsumes_basic), DECLARED_CONFORMANCE (= alle vier) + is_multi_point_conformant() / declares(). Damit kann ein Server-Stack-Integrator den Conformance-Stand programmatisch abfragen statt Prosa zu lesen.

Tests: crates/opcua-gateway/src/conformance.rs::tests::{declares_all_four_conformance_points, is_multi_point, points_are_numbered_one_to_four_uniquely, complete_points_subsume_their_basic, every_point_has_a_distinct_title}.

Status: done

§3 Normative References

§3 References (DDS/DDSI/XTypes/IDL/OPCUA)

Spec: §3, S. 2-3 — DDS 1.4, DDS-RPC 1.0, DDS-Security 1.1, DDS-WEB, DDS-XML, DDS-XTYPES 1.2, DDSI-RTPS 2.3, IDL 4.2, OPCUA-01..-12.

Repo: Cross-Ref alle eigenen Spec-Coverage-Files (zerodds-dcps-1.4.md, ddsi-rtps-2.5.md, dds-xtypes-1.3.md, omg-time-1.1.md, idl-4.2.md, etc.).

Tests: —

Status: n/a (informative) — Externe normative Referenz-Liste; OPCUA-/DDS-Specs werden in den Konsumenten-Items §8/§9 operativ erfüllt.

§4-§7 Terminologie + informative Abschnitte

§4 Terms and Definitions

Spec: §4 (PDF) — Glossar.

Repo: —

Tests: —

Status: n/a (informative) — Glossar; ohne Code-Mapping.

§5 Symbols and Abbreviations

Spec: §5 (PDF) — Abkürzungen (DDS, OPC-UA, GDS, etc.).

Repo: —

Tests: —

Status: n/a (informative) — Symbol-Tabelle; ohne Code-Mapping.

§6 Additional Information

Spec: §6 (PDF) — informativer Anhang (Roadmap, Acknowledgements).

Repo: —

Tests: —

Status: n/a (informative) — §6.1 Acknowledgements; keine Anforderung.

§7 UA/DDS Overview (Informative)

Spec: §7 (PDF) — non-normative Overview-Material zu UA + DDS.

Repo: —

Tests: —

Status: n/a (informative) — Spec markiert §7 explizit als non-normative Overview.

§8 OPC UA to DDS Bridge

§8.1 OPC UA to DDS Bridge Overview

Spec: §8.1 (PDF) — Bridge-Architektur-Überblick (informativ).

Repo: —

Tests: —

Status: n/a (informative) — in der Spec als “Overview (non-normative)” gekennzeichnet; die Anforderungen stehen in §8.2–§8.4.

§8.2 OPC UA Type System Mapping

Spec: §8.2, S. 11-12 (PDF) — BuiltinTypeKind Enum mit allen 25 OPC-UA-Built-in-Type-IDs (Boolean=1, …, DiagnosticInfo=25).

Repo: crates/opcua-gateway/src/types.rs::BuiltinTypeKind mit allen 25 Werten + value()-Methode.

Tests: crates/opcua-gateway/src/types.rs::tests::builtin_type_kind_values_match_spec, crates/opcua-gateway/src/types.rs::tests::node_class_values_match_bit_flags.

Status: done

§8.2.1 Built-in Primitive Types

Spec: §8.2.1, S. 12 Tab 8.1 — Primitive-Mapping (Boolean→Boolean, SByte→Byte/int8, Byte→Byte/uint8, Int16/UInt16/Int32/UInt32/Int64/ UInt64 1:1, Float→Float32, Double→Float64, String→String8).

Repo: crates/opcua-gateway/src/types.rs::{dds_idl_primitive, dds_xtypes_name, map_primitive_to_dds}.

Tests: types::tests::primitive_mapping_matches_spec_table_8_1, xtypes_names_match_spec_table_8_1, sbyte_and_byte_both_map_to_dds_byte_in_xtypes, composite_types_have_no_primitive_mapping, map_primitive_to_dds_helper_yields_token.

Status: done

§8.2.2 Built-in Complex Types

Spec: §8.2.2, S. 13-15 Tab 8.2 — DateTime/Guid/ByteString/ XmlElement/NodeId/ExpandedNodeId/StatusCode/QualifiedName/ LocalizedText/ExtensionObject/DataValue/Variant/DiagnosticInfo mit den exakten IDL-Equivalent-Strukturen.

Repo: Voll modelliert in: * crates/opcua-gateway/src/types.rs::{Guid, StatusCode, ByteString, QualifiedName, LocalizedText}. * node_id.rs::{NodeId, NodeIdentifier, NodeIdentifierKind, ExpandedNodeId} mit allen 4 Identifier-Cases (Numeric/String/Guid/ Opaque) + 4096-Byte-Limit-Validation. * data_value.rs::{Variant, VariantValue, DataValue, ExtensionObject, ExtensionObjectBody, BodyEncoding} mit allen 21 VariantValue-Cases.

Tests: types::tests::guid_round_trips_via_bytes, qualified_name_carries_namespace_and_name, localized_text_supports_optional_fields; node_id::tests::* (8 Tests inkl. canonical-string-Format ns=N;<kind>=<id>); data_value::tests::* (8 Tests inkl. round-trip aller VariantValue- Cases + scalar/1d_array/multi-dim Detection).

Status: done — DiagnosticInfo ist als ScopedName-Bezugspunkt exposed; das mutable @optional-Felder-Modell wäre analog zu LocalizedText ergänzbar.

§8.3 OPC UA Service Sets Mapping

Spec: §8.3, S. 16-30 — die vier Service-Sets View, Query, Attribute und Method werden als DDS-RPC-Interfaces abgebildet; die Spec gibt je Set die Methoden-Liste (View 5, Query 2, Attribute 4, Method 1), die IDL-Modulpfade und die Enum-Werte für BrowseDirection, TimestampsToReturn und die Filter-Operatoren vor.

Repo: crates/opcua-gateway/src/service_sets/{view,query,attribute, method}.rs mit DDS-RPC-Bindings über crates/rpc/; die gemeinsamen Enums und Modulpfade in crates/opcua-gateway/src/service_sets/mod.rs.

Tests: Methodenzahl je Set: crates/opcua-gateway/src/service_sets/view.rs::tests::view_set_has_five_methods_per_spec, crates/opcua-gateway/src/service_sets/query.rs::tests::query_set_has_two_methods_per_spec, crates/opcua-gateway/src/service_sets/attribute.rs::tests::attribute_set_has_four_methods_per_spec, crates/opcua-gateway/src/service_sets/method.rs::tests::method_set_has_one_method_per_spec; Signaturen und Enum-Werte: crates/opcua-gateway/src/service_sets/view.rs::tests::{browse_method_first_param_is_server_id, browse_method_carries_view_description, browse_direction_uses_spec_values_with_gap, all_methods_return_response_header}, crates/opcua-gateway/src/service_sets/query.rs::tests::{query_first_carries_content_filter_inputs, query_next_uses_release_continuation_flag}, crates/opcua-gateway/src/service_sets/attribute.rs::tests::{read_carries_timestamps_to_return, history_update_uses_extensible_details_sequence, history_read_details_kind_discriminant, history_update_details_kind_discriminant, perform_update_type_values_match_spec, history_update_type_values_match_spec}, crates/opcua-gateway/src/service_sets/method.rs::tests::{call_carries_methods_to_call_input, call_method_request_holds_node_ids_and_variants}, crates/opcua-gateway/src/service_sets/mod.rs::tests::{idl_module_paths_match_spec, all_service_sets_covers_four_sets, filter_operator_values_match_spec, timestamps_to_return_values_match_spec, filter_operand_kind_discriminant_roundtrip}.

Status: done

§8.4 OPC UA Subscription Model Mapping

Spec: §8.4, S. 31-48 — OPC-UA-Subscriptions werden auf DDS-DataReader-Listener abgebildet: ein MonitoredItem trägt genau einen Filter, die Subscription-Lifetime ist an das Publishing-Intervall gebunden, und Tab 8.16 gibt die Variant-nach-DDS-Typ-Zuordnung für Skalar, 1D-Array und Matrix vor.

Repo: crates/opcua-gateway/src/subscription_mapping/{behavior, config,variant_dds}.rs.

Tests: Konfigurations-Constraints: crates/opcua-gateway/src/subscription_mapping/config.rs::tests::{data_item_with_two_filters_is_invalid, data_item_with_one_filter_is_valid, subscription_protocol_lifetime_constraint, monitored_item_kind_discriminants, assignment_input_kind_discriminants}; Push-Verhalten: crates/opcua-gateway/src/subscription_mapping/behavior.rs::tests::{constant_assignment_writes_single_field, data_change_finds_and_assigns_value, data_change_unknown_handle_is_error, event_field_assignment_picks_correct_index, event_field_index_out_of_range_is_error, build_client_handles_indexes_correctly}; Variant→DDS-Typ (Tab 8.16): crates/opcua-gateway/src/subscription_mapping/variant_dds.rs::tests::{classify_scalar_array_matrix, primitive_scalar_mappings_match_spec_tab_816, builtin_scalar_mappings_match_spec, array_1d_wraps_in_sequence, matrix_returns_named_struct, all_25_builtins_have_matrix_alias}.

Status: done

§9 DDS to OPC UA Bridge

§9.1 DDS to OPC UA Bridge Overview

Spec: §9.1 (PDF) — Bridge-Architektur DDS→UA (informativ).

Repo: —

Tests: —

Status: n/a (informative) — in der Spec als “Overview (non-normative)” gekennzeichnet; die Anforderungen stehen in §9.2–§9.3.

§9.2 DDS Type System Mapping

Spec: §9.2, S. 49-93 — DDS-Primitive/String/Enum/Aggregated/ Collection/Nested/Alias/Keyed-Types → OPC-UA-Variables.

Repo: Vollständiges DDS→UA-Type-Walking in crates/opcua-gateway/src/dds_to_ua/walker.rs::{walk_dds_type, DdsType, WalkOutput} und crates/opcua-gateway/src/dds_to_ua/node_spec.rs::NodeSpec mit rekursiver Aggregated- (Struct/Union) und Collection- Behandlung (Sequence-of-Struct, Map<String, Sequence>); inverses Mapping symmetrisch via BuiltinTypeKind. Instance-Seite: crates/opcua-gateway/src/address_space.rs::build_sample_instance zerlegt ein strukturiertes Sample rekursiv in eine InstanceNode-Variablen-Hierarchie (HasComponent-Komponenten pro Member, verschachtelt; Collections als Array-/Object-Variablen) — spiegelt die §9.2-Typ-Rekursion auf der §9.3-Instance-Seite. SampleVariable::scalar bleibt für den einfachen Skalar-Wert-Pfad.

Tests: Typ-Walker: crates/opcua-gateway/src/dds_to_ua/walker.rs::tests::{struct_emits_data_type_and_variable_type, struct_dt_subtypes_structure, nested_struct_recurses, enum_emits_enumeration_subtype, bitmask_emits_optionset_subtype, union_emits_union_subtype_with_switchfield, union_with_invalid_discriminator_is_rejected, array_of_struct_recurses_into_struct, sequence_of_struct_recurses, map_recurses_into_key_and_value, alias_is_transparent, member_modeling_rule_reflects_optional, primitive_dds_to_opc_ua_names_match_spec_tab_92, alias_resolve_unwraps_recursively} (14); Namensbildung: crates/opcua-gateway/src/dds_to_ua/naming.rs::tests::{struct_data_type_appends_suffix, struct_variable_type_appends_suffix, array_element_single_dim_uses_underscore, array_element_multi_dim_concatenates_with_underscore, array_element_zero_dim_returns_bare_name, undefined_position_uses_decimal_index}; Instanz-Builder: crates/opcua-gateway/src/address_space.rs::tests::{struct_sample_decomposes_into_component_variables, nested_struct_sample_recurses_into_components, array_member_is_an_array_variable, sequence_member_is_a_one_dim_array_variable, sequence_of_struct_is_an_array_not_decomposed, union_sample_has_switchfield_and_case_components, key_and_optional_members_surface_on_instance, alias_member_is_transparent_on_instance}.

Status: done — Datenmodell + Scalar-Mapping + Aggregated/Collection/ Nested-Recursion im Typ-Walker UND im Instance-Builder abgedeckt.

§9.3 DDS Global Data Space Mapping

Spec: §9.3, S. 94-107 — DDS-Domain → OPC-UA-ObjectNode mit BrowseName Domain<id>; DDS-Topic → OPC-UA-ObjectNode mit BrowseName = Topic-Name; DDS-Sample → OPC-UA-Variable.

Repo: crates/opcua-gateway/src/address_space.rs::{DomainNode, TopicNode, SampleVariable, mangle_topic_node_browse_name}.

Tests: address_space::tests::domain_node_for_zero_yields_browse_name_domain0, domain_node_for_42_yields_browse_name_domain42, mangle_topic_node_browse_name_is_pass_through, topic_node_carries_parent_domain_reference, sample_variable_scalar_has_value_rank_minus_1.

Status: done

§9.3.4 Reading Historical Data from Instance Nodes

Spec: §9.3.4 — Historical-Access auf Instance-Nodes (Conformance-Point 4 “Complete”): ein Instance-Node ist nur dann historisierend, wenn Historizing gesetzt und das HistoryRead-Bit (Wert 4) im AccessLevel vorhanden ist; die DataReader-History-QoS muss tief genug sein; ReadRawModified liefert die Samples eines Zeitintervalls, ReadAtTime das jeweils zeitlich vorangehende Sample.

Repo: crates/opcua-gateway/src/historical/{adapter,config, qos}.rs.

Tests: AccessLevel + Historizing: crates/opcua-gateway/src/historical/config.rs::tests::{historical_default_has_history_and_current_read_bits, historizing_false_fails_validation, missing_history_read_bit_fails_validation, history_read_bit_value_matches_spec}; History-QoS-Tiefe: crates/opcua-gateway/src/historical/qos.rs::tests::{keep_all_always_valid, keep_last_with_sufficient_depth_valid, keep_last_below_minimum_violates}; Lese-Pfade: crates/opcua-gateway/src/historical/adapter.rs::tests::{raw_read_returns_samples_in_range, raw_read_truncates_at_num_values_per_node, raw_read_invalid_range_errors, at_time_returns_nearest_prior_sample, at_time_empty_req_times_errors, unknown_instance_errors}.

Status: done

§10 OPC UA/DDS Gateway Configuration

§10.1 Gateway Configuration Overview

Spec: §10.1, S. 109 — “The syntax to configure the OPC UA/DDS Gateway is specified in two normative XSD files”: dds-opcua_definitions_nonamespace.xsd und dds-opcua_configuration.xsd (Wurzelelement, Namespace http://www.omg.org/spec/DDS-OPCUA); “This is the schema file that shall be used to validate OPC UA/DDS Gateway XML configuration files.”

Repo: —

Tests: —

Status: open — im Baum liegen die beiden XSD-Dateien nicht; crates/opcua-gateway/src/xml.rs validiert gegen kein Schema und liest eine eigene Syntax (Item §10.2).

§10.2 XML Configuration

Spec: §10.2, S. 109–113, Table 10.1 — Konfigurationselemente: Wurzel <dds> (rootType) mit <types>, <qos_libraries> und <ddsopcua_gateway>, darin <opcua_connection>, <domain_participant>, <opcua_to_dds_bridge> (<service_set>, <subscription>, <opcua_input>, <dds_output>, <mapping>) und <dds_to_opcua_bridge> (<domain>, <topic>, <topic_group>); Attribute und Details nach der normativen XSD.

Repo: —

Tests: —

Status: open — crates/opcua-gateway/src/xml.rs (parse_gateway_config) liest eine eigene Syntax mit Wurzel <zerodds_opcua_gateway>, <bridge>, <ua_to_dds_connection> und <dds_to_ua_connection> und weist die Wurzel <dds> der Spec ab; die Tests in xml.rs prüfen diese eigene Syntax.

Audit-Status

14 done / 0 partial / 2 open / 0 blocked / 7 n/a (informative).

Test-Lauf: cargo test -p zerodds-opcua-gateway — 133 lib-Tests grün, 0 failed. Module mit Tests: address_space, conformance, data_value, dds_to_ua::naming, dds_to_ua::node_spec, dds_to_ua::walker, historical::adapter, historical::config, historical::qos, node_id, service_sets (+ attribute/method/query/view), subscription_mapping (+ behavior/config/variant_dds), types, xml.

Offene Punkte: dds-opcua-1.0.open.md.