Zenoh pub/sub

The pub/sub half of the Zenoh connector. This cluster :satisfies: Zenoh reference connector (FEAT_0042).

Feature: Zenoh pub/sub FEAT_0043

status: open satisfies: FEAT_0042 is satisfied by: REQ_0400, REQ_0401, REQ_0402, REQ_0403, REQ_0404, REQ_0405, REQ_0406, REQ_0407, REQ_0408 is refined by: ADR_0042

The pub/sub half of the Zenoh connector. ChannelWriter and ChannelReader carry codec-encoded values through iceoryx2 SHM services to / from Zenoh publishers and subscribers running on the gateway’s tokio sidecar. Bridges between taktora-executor and tokio are bounded; saturation surfaces as BackPressure on outbound and DroppedInbound health events on inbound.

Requirement: ZenohConnector implements Connector REQ_0400

status: approved satisfies: FEAT_0043 is refined by: IMPL_0060 is implemented by: BB_0040, BB_0041 is verified by: TEST_0301

The connector crate shall expose ZenohConnector<C: PayloadCodec> that implements the Connector trait with type Routing = ZenohRouting and type Codec = C.

Requirement: ZenohRouting carries key_expr and pub/sub QoS fields REQ_0401

status: open satisfies: FEAT_0043 is refined by: IMPL_0060 is implemented by: BB_0041 is verified by: TEST_0300

The ZenohRouting struct shall carry the Zenoh key expression (key_expr: KeyExprOwned), congestion control mode (Block | Drop), priority (RealTime..Background), reliability (Reliable | BestEffort), and a boolean express flag (batching opt-out). It shall implement the Routing marker trait. Validation of the key expression shall occur on the plugin side inside create_writer / create_reader (and the query-side analogues), before any iceoryx2 service is created; an invalid expression shall yield ConnectorError::Configuration.

Requirement: JsonCodec is the default codec for Zenoh REQ_0402

status: approved satisfies: FEAT_0043 is refined by: IMPL_0060 is verified by: TEST_0302

The Zenoh connector shall accept any PayloadCodec via its C generic parameter (re-affirming Codec is a generic paramete... (REQ_0211)), with JsonCodec as the default codec used by example wiring (re-affirming JsonCodec is the default codec (REQ_0212)).

Requirement: Tokio sidecar contained inside the Zenoh connector crate REQ_0403

status: implemented satisfies: FEAT_0043 is refined by: IMPL_0060 is implemented by: BB_0042, BB_0044 is verified by: TEST_0314 links outgoing: BB_0042, BB_0044, TEST_0314

The Zenoh gateway shall host the zenoh::Session and all Zenoh async callbacks on a tokio runtime contained inside taktora-connector-zenoh. Tokio shall not leak into taktora-executor’s WaitSet thread (mirrors Tokio sidecar contained ins... (REQ_0321) and Tokio sidecar inside the ga... (REQ_0258)).

Requirement: Zenoh bridge channels are bounded REQ_0404

status: approved satisfies: FEAT_0043 is refined by: IMPL_0060 is implemented by: BB_0044 is verified by: TEST_0305

The outbound (taktora-executor → tokio) and inbound (tokio → taktora-executor) bridges between the plugin and the Zenoh gateway sidecar shall be bounded channels with capacities configurable via ZenohConnectorOptions (outbound_bridge_capacity and inbound_bridge_capacity).

Requirement: Outbound bridge saturation surfaces as BackPressure REQ_0405

status: approved satisfies: FEAT_0043 is refined by: IMPL_0060 is implemented by: BB_0044 is verified by: TEST_0305

When the outbound bridge channel is full, ChannelWriter::send (and any other plugin-side write entry-point that feeds the outbound bridge) shall return ConnectorError::BackPressure and the gateway shall report ConnectorHealth::Degraded.

Requirement: Inbound bridge saturation drops samples and signals Degraded REQ_0406

status: open satisfies: FEAT_0043 is refined by: IMPL_0060 is implemented by: BB_0044 is verified by: TEST_0306

When the inbound bridge channel is full, the gateway shall (1) increment the per-channel inbound-drop counter exposed via InboundOutcome::Dropped { count } on the bridge’s try_send return, (2) drop the offending sample for that callback, and (3) emit a ConnectorHealth::Degraded { reason: "dropped N inbound frames" } health transition when the cumulative inbound-drop count crosses the connector’s configured inbound_drop_threshold (default 1). The Degraded transition is emitted at most once until the connector recovers to Up via the underlying stack’s recovery path; the cumulative drop count itself is observable through every subsequent InboundOutcome::Dropped return.

Requirement: Zenoh zero-copy publish via iceoryx2 loan REQ_0407

status: approved satisfies: FEAT_0043 is refined by: IMPL_0060 is verified by: TEST_0302

ChannelWriter::send on a Zenoh channel shall publish envelopes via Publisher::loan so that the codec writes the payload directly into shared memory (re-affirms Zero-copy publish via iceor... (REQ_0205)).

Requirement: Zenoh gateway is byte-only on the inbound publish path REQ_0408

status: approved satisfies: FEAT_0043 is refined by: IMPL_0060 is verified by: TEST_0302

On the inbound leg (Zenoh peer → plugin), the gateway shall publish the raw payload bytes received from the Zenoh subscriber or reply callback onto the channel’s inbound iceoryx2 service as a ConnectorEnvelope without invoking the channel’s codec — codec decoding is the responsibility of the plugin-side ChannelReader::try_recv (symmetric with Inbound payload read from P... (REQ_0327)).

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