STD Rules

This page describes the QoS dependency and consistency rules derived from the OMG DDS and ROS 2 Standard specifications. Violation of these rules typically results in entity creation failure or immediate communication incompatibility.

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Stage 1

Intra-entity Dependency Validation

1 HIST ↔ RESLIM Structural

[HIST.kind = KEEP_LAST] ∧ [HIST.depth > RESLIM.mpi]

Entity Pub, Sub

Basis STD

2 RESLIM ↔ RESLIM Structural

[max_samples < max_samples_per_instance]

Entity Pub, Sub

Basis STD

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Stage 2

Inter-entity Dependency Validation

21 PART ↔ PART Structural

[Writer.PART ∩ Reader.PART] = ∅

Entity Pub ↔ Sub

Basis STD

22 RELIAB ↔ RELIAB Structural

[Writer.RELIAB < Reader.RELIAB]

Entity Pub ↔ Sub

Basis STD

23 DURABL ↔ DURABL Structural

[Writer.DURABL < Reader.DURABL]

Entity Pub ↔ Sub

Basis STD

24 DEADLN ↔ DEADLN Structural

[Writer.DEADLN.period > Reader.DEADLN.period]

Entity Pub ↔ Sub

Basis STD

25 LIVENS ↔ LIVENS Structural

[W.LIVENS < R.LIVENS] ∨ [W.lease > R.lease]

Entity Pub ↔ Sub

Basis STD

26 OWNST ↔ OWNST Structural

[Writer.OWNST ≠ Reader.OWNST]

Entity Pub ↔ Sub

Basis STD

27 DESTORD ↔ DESTORD Structural

[Writer.DESTORD < Reader.DESTORD]

Entity Pub ↔ Sub

Basis STD

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