Create DDS Transport Protocol

dimos/core/transport.py

@@ -14,19 +14,23 @@
 
 from __future__ import annotations
 
-from typing import Any, TypeVar
-
-import dimos.core.colors as colors
-
-T = TypeVar("T")
-
+import threading
 from typing import (
     TYPE_CHECKING,
+    Any,
     TypeVar,
 )
 
+import dimos.core.colors as colors
 from dimos.core.stream import In, Out, Stream, Transport
 from dimos.msgs.protocol import DimosMsg
+
+try:
+    import cyclonedds as _cyclonedds  # noqa: F401
+
+    DDS_AVAILABLE = True
+except ImportError:
+    DDS_AVAILABLE = False
 from dimos.protocol.pubsub.impl.jpeg_shm import JpegSharedMemory
 from dimos.protocol.pubsub.impl.lcmpubsub import LCM, JpegLCM, PickleLCM, Topic as LCMTopic
 from dimos.protocol.pubsub.impl.rospubsub import DimosROS, ROSTopic
@@ -278,4 +282,41 @@ def stop(self) -> None:
             self._ros = None
 
 
+if DDS_AVAILABLE:
+    from dimos.protocol.pubsub.impl.ddspubsub import DDS, Topic as DDSTopic
+
+    class DDSTransport(PubSubTransport[T]):
+        def __init__(self, topic: str, type: type, **kwargs) -> None:  # type: ignore[no-untyped-def]
+            super().__init__(DDSTopic(topic, type))
+            self.dds = DDS(**kwargs)
+            self._started: bool = False
+            self._start_lock = threading.RLock()
+
+        def start(self) -> None:
+            with self._start_lock:
+                if not self._started:
+                    self.dds.start()
+                    self._started = True
+
+        def stop(self) -> None:
+            with self._start_lock:
+                if self._started:
+                    self.dds.stop()
+                    self._started = False
+
+        def broadcast(self, _, msg) -> None:  # type: ignore[no-untyped-def]
+            with self._start_lock:
+                if not self._started:
+                    self.start()
+                self.dds.publish(self.topic, msg)
+
+        def subscribe(
+            self, callback: Callable[[T], None], selfstream: Stream[T] | None = None
+        ) -> Callable[[], None]:
+            with self._start_lock:
+                if not self._started:
+                    self.start()
+                return self.dds.subscribe(self.topic, lambda msg, topic: callback(msg))
+
+
 class ZenohTransport(PubSubTransport[T]): ...

dimos/protocol/pubsub/benchmark/testdata.py

@@ -14,12 +14,20 @@
 
 from collections.abc import Generator
 from contextlib import contextmanager
+from dataclasses import dataclass
 from typing import TYPE_CHECKING, Any
 
 import numpy as np
 
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.protocol.pubsub.benchmark.type import Case
+
+try:
+    import cyclonedds as _cyclonedds  # noqa: F401
+
+    DDS_AVAILABLE = True
+except ImportError:
+    DDS_AVAILABLE = False
 from dimos.protocol.pubsub.impl.lcmpubsub import LCM, LCMPubSubBase, Topic as LCMTopic
 from dimos.protocol.pubsub.impl.memory import Memory
 from dimos.protocol.pubsub.impl.shmpubsub import (
@@ -173,6 +181,67 @@ def shm_lcm_pubsub_channel() -> Generator[LCMSharedMemory, None, None]:
     )
 )
 
+if DDS_AVAILABLE:
+    from cyclonedds.idl import IdlStruct
+    from cyclonedds.idl.types import sequence, uint8
+    from cyclonedds.qos import Policy, Qos
+
+    from dimos.protocol.pubsub.impl.ddspubsub import (
+        DDS,
+        Topic as DDSTopic,
+    )
+
+    @dataclass
+    class DDSBenchmarkData(IdlStruct):  # type: ignore[misc]
+        """DDS message type for benchmarking with variable-size byte payload."""
+
+        data: sequence[uint8]  # type: ignore[type-arg]
+
+    @contextmanager
+    def dds_high_throughput_pubsub_channel() -> Generator[DDS, None, None]:
+        """DDS with high-throughput QoS preset."""
+        HIGH_THROUGHPUT_QOS = Qos(
+            Policy.Reliability.BestEffort,
+            Policy.History.KeepLast(depth=1),
+            Policy.Durability.Volatile,
+        )
+        dds_pubsub = DDS(qos=HIGH_THROUGHPUT_QOS)
+        dds_pubsub.start()
+        yield dds_pubsub
+        dds_pubsub.stop()
+
+    @contextmanager
+    def dds_reliable_pubsub_channel() -> Generator[DDS, None, None]:
+        """DDS with reliable QoS preset."""
+        RELIABLE_QOS = Qos(
+            Policy.Reliability.Reliable(max_blocking_time=0),
+            Policy.History.KeepLast(depth=5000),
+            Policy.Durability.Volatile,
+        )
+        dds_pubsub = DDS(qos=RELIABLE_QOS)
+        dds_pubsub.start()
+        yield dds_pubsub
+        dds_pubsub.stop()
+
+    def dds_msggen(size: int) -> tuple[DDSTopic, DDSBenchmarkData]:
+        """Generate DDS message for benchmark."""
+        topic = DDSTopic(name="benchmark/dds", data_type=DDSBenchmarkData)
+        return (topic, DDSBenchmarkData(data=list(make_data_bytes(size))))  # type: ignore[arg-type]
+
+    testcases.append(
+        Case(
+            pubsub_context=dds_high_throughput_pubsub_channel,
+            msg_gen=dds_msggen,
+        )
+    )
+
+    testcases.append(
+        Case(
+            pubsub_context=dds_reliable_pubsub_channel,
+            msg_gen=dds_msggen,
+        )
+    )
+
 
 try:
     from dimos.protocol.pubsub.impl.redispubsub import Redis

dimos/protocol/pubsub/impl/ddspubsub.py

@@ -0,0 +1,161 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import annotations
+
+from collections.abc import Callable
+from dataclasses import dataclass
+import threading
+from typing import TYPE_CHECKING, Any, TypeAlias
+
+from cyclonedds.core import Listener
+from cyclonedds.pub import DataWriter as DDSDataWriter
+from cyclonedds.qos import Policy, Qos
+from cyclonedds.sub import DataReader as DDSDataReader
+from cyclonedds.topic import Topic as DDSTopic
+
+from dimos.protocol.pubsub.spec import PubSub
+from dimos.protocol.service.ddsservice import DDSService
+from dimos.utils.logging_config import setup_logger
+
+if TYPE_CHECKING:
+    from cyclonedds.idl import IdlStruct
+
+logger = setup_logger()
+
+
+@dataclass(frozen=True)
+class Topic:
+    """Represents a DDS topic."""
+
+    name: str
+    data_type: type[IdlStruct]
+
+    def __str__(self) -> str:
+        return f"{self.name}#{self.data_type.__name__}"
+
+
+MessageCallback: TypeAlias = Callable[[Any, Topic], None]
+
+
+class _DDSMessageListener(Listener):  # type: ignore[misc]
+    """Listener for DataReader that dispatches messages to callbacks."""
+
+    __slots__ = ("_callbacks", "_lock", "_topic")
+
+    def __init__(self, topic: Topic) -> None:
+        super().__init__()  # type: ignore[no-untyped-call]
+        self._topic = topic
+        self._callbacks: tuple[MessageCallback, ...] = ()
+        self._lock = threading.Lock()
+
+    def add_callback(self, callback: MessageCallback) -> None:
+        """Add a callback to the listener."""
+        with self._lock:
+            self._callbacks = (*self._callbacks, callback)
+
+    def remove_callback(self, callback: MessageCallback) -> None:
+        """Remove a callback from the listener."""
+        with self._lock:
+            self._callbacks = tuple(cb for cb in self._callbacks if cb is not callback)
+
+    def on_data_available(self, reader: DDSDataReader[Any]) -> None:
+        """Called when data is available on the reader."""
+        try:
+            samples = reader.take()
+        except Exception as e:
+            logger.error(f"Error reading from topic {self._topic}: {e}", exc_info=True)
+            return
+        for sample in samples:
+            if sample is not None:
+                for callback in self._callbacks:
+                    try:
+                        callback(sample, self._topic)
+                    except Exception as e:
+                        logger.error(f"Callback error on topic {self._topic}: {e}", exc_info=True)
+
+
+class DDS(DDSService, PubSub[Topic, Any]):
+    def __init__(self, qos: Qos | None = None, **kwargs: Any) -> None:
+        super().__init__(**kwargs)
+        self._qos = qos
+        self._writers: dict[Topic, DDSDataWriter[Any]] = {}
+        self._writer_lock = threading.Lock()
+        self._readers: dict[Topic, DDSDataReader[Any]] = {}
+        self._reader_lock = threading.Lock()
+        self._listeners: dict[Topic, _DDSMessageListener] = {}
+
+    @property
+    def qos(self) -> Qos | None:
+        """Get the QoS settings."""
+        return self._qos
+
+    def _get_writer(self, topic: Topic) -> DDSDataWriter[Any]:
+        """Get or create a DataWriter for the given topic."""
+        with self._writer_lock:
+            if topic not in self._writers:
+                dds_topic = DDSTopic(self.participant, topic.name, topic.data_type)
+                self._writers[topic] = DDSDataWriter(self.participant, dds_topic, qos=self._qos)
+            return self._writers[topic]
+
+    def publish(self, topic: Topic, message: Any) -> None:
+        """Publish a message to a DDS topic."""
+        writer = self._get_writer(topic)
+        try:
+            writer.write(message)
+        except Exception as e:
+            logger.error(f"Error publishing to topic {topic}: {e}", exc_info=True)
+
+    def _get_listener(self, topic: Topic) -> _DDSMessageListener:
+        """Get or create a listener and reader for the given topic."""
+        with self._reader_lock:
+            if topic not in self._readers:
+                dds_topic = DDSTopic(self.participant, topic.name, topic.data_type)
+                listener = _DDSMessageListener(topic)
+                self._readers[topic] = DDSDataReader(
+                    self.participant, dds_topic, qos=self._qos, listener=listener
+                )
+                self._listeners[topic] = listener
+            return self._listeners[topic]
+
+    def subscribe(self, topic: Topic, callback: MessageCallback) -> Callable[[], None]:
+        """Subscribe to a DDS topic with a callback."""
+        listener = self._get_listener(topic)
+        listener.add_callback(callback)
+        return lambda: self._unsubscribe_callback(topic, callback)
+
+    def _unsubscribe_callback(self, topic: Topic, callback: MessageCallback) -> None:
+        """Unsubscribe a callback from a topic."""
+        with self._reader_lock:
+            listener = self._listeners.get(topic)
+        if listener:
+            listener.remove_callback(callback)
+
+    def stop(self) -> None:
+        """Stop the DDS service and clean up resources."""
+        with self._reader_lock:
+            self._readers.clear()
+            self._listeners.clear()
+        with self._writer_lock:
+            self._writers.clear()
+        super().stop()
+
+
+__all__ = [
+    "DDS",
+    "MessageCallback",
+    "Policy",
+    "Qos",
+    "Topic",
+]

dimos/protocol/service/__init__.py

@@ -1,4 +1,4 @@
-from dimos.protocol.service.lcmservice import LCMService as LCMService
+from dimos.protocol.service.lcmservice import LCMService
 from dimos.protocol.service.spec import Configurable as Configurable, Service as Service
 
 __all__ = [