spatialdds 0.7.3__tar.gz → 0.7.4__tar.gz

{spatialdds-0.7.3 → spatialdds-0.7.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: spatialdds
-Version: 0.7.3
+Version: 0.7.4
 Summary: SpatialDDS for programs: a client for the web binding (Appendix N), a native DDS participant, and the reference registry behind one command.
 Author: Open AR Cloud
 License: Apache-2.0
@@ -114,7 +114,7 @@ What it asks of you, and what it will not guess:
 | `service_id` and `authority` | to write or announce |
 | `qos_profile` | where the §3.3.2 row names none, as `model_entity`'s and `model_pose`'s do; the refusal lists the §3.3.3 profiles that fit, or pass a `sd.dds.Profile(...)` extension |
 | `on_exit="keep"` or `"withdraw"` | on every latched, keyed writer: whether a record outlives its writer is a claim only you can make |
-| `withdraw(key, reason=...)` | with an empty reason |
+| `withdraw(key, reason=..., **changes)` | with an empty reason, or a change to the members it sets itself or to the key |
 
 And what it does without being asked:
 
@@ -602,6 +602,22 @@ explicitly was tried first and is what missed two paths.
 
 If your clients are not browsers, nothing here changes anything for you.
 
+## New in 0.7.4: what the first extension found
+
+A deployment's own type, registered with `sd.dds.extend()`, is now served
+the way a pinned one is. The gateway publishes a schema for it, written from
+the model it decodes the type with by the specification generator's rules,
+because N.2 requires a schema for every type an endpoint serves. A
+recording's extension lane is served latched when its writer opened it so,
+and `serve --public FQN` opens it to uncredentialed readers.
+
+- `withdraw(key, reason=..., **changes)` sets other members on the terminal
+  sample, such as a closed validity interval.
+- `close()` finishes when a reader is slow to acknowledge (cyclonedds-python
+  11.0.1 raised on that timeout).
+- `sd.stamp` keeps `nanosec` in range, and floors a time before the epoch.
+- `sd.dds.extensions()` and `sd.dds.extension_of()` are exported.
+
 ## New in 0.7.3: what the first migration found
 
 Mostly additive; one fix changes bytes. Every frame this package builds now
@@ -679,7 +695,7 @@ Two changes may need a line of yours:
 The security fixes, the limits table and the details are in the
 [changelog](https://github.com/OpenArCloud/spatialdds-py/blob/main/lib/spatialdds/CHANGELOG.md).
 
-## Not in 0.7.3
+## Not in 0.7.4
 
 Stated so nobody waits for them:
 

{spatialdds-0.7.3 → spatialdds-0.7.4}/README.md

@@ -86,7 +86,7 @@ What it asks of you, and what it will not guess:
 | `service_id` and `authority` | to write or announce |
 | `qos_profile` | where the §3.3.2 row names none, as `model_entity`'s and `model_pose`'s do; the refusal lists the §3.3.3 profiles that fit, or pass a `sd.dds.Profile(...)` extension |
 | `on_exit="keep"` or `"withdraw"` | on every latched, keyed writer: whether a record outlives its writer is a claim only you can make |
-| `withdraw(key, reason=...)` | with an empty reason |
+| `withdraw(key, reason=..., **changes)` | with an empty reason, or a change to the members it sets itself or to the key |
 
 And what it does without being asked:
 
@@ -574,6 +574,22 @@ explicitly was tried first and is what missed two paths.
 
 If your clients are not browsers, nothing here changes anything for you.
 
+## New in 0.7.4: what the first extension found
+
+A deployment's own type, registered with `sd.dds.extend()`, is now served
+the way a pinned one is. The gateway publishes a schema for it, written from
+the model it decodes the type with by the specification generator's rules,
+because N.2 requires a schema for every type an endpoint serves. A
+recording's extension lane is served latched when its writer opened it so,
+and `serve --public FQN` opens it to uncredentialed readers.
+
+- `withdraw(key, reason=..., **changes)` sets other members on the terminal
+  sample, such as a closed validity interval.
+- `close()` finishes when a reader is slow to acknowledge (cyclonedds-python
+  11.0.1 raised on that timeout).
+- `sd.stamp` keeps `nanosec` in range, and floors a time before the epoch.
+- `sd.dds.extensions()` and `sd.dds.extension_of()` are exported.
+
 ## New in 0.7.3: what the first migration found
 
 Mostly additive; one fix changes bytes. Every frame this package builds now
@@ -651,7 +667,7 @@ Two changes may need a line of yours:
 The security fixes, the limits table and the details are in the
 [changelog](https://github.com/OpenArCloud/spatialdds-py/blob/main/lib/spatialdds/CHANGELOG.md).
 
-## Not in 0.7.3
+## Not in 0.7.4
 
 Stated so nobody waits for them:
 

{spatialdds-0.7.3 → spatialdds-0.7.4}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "spatialdds"
-version = "0.7.3"
+version = "0.7.4"
 description = "SpatialDDS for programs: a client for the web binding (Appendix N), a native DDS participant, and the reference registry behind one command."
 readme = "README.md"
 requires-python = ">=3.9"

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/__init__.py

@@ -41,7 +41,7 @@ __all__ = [
     "participant", "MissingExtra", "dds", "events", "frames", "Recency",
 ]
 
-__version__ = "0.7.3"
+__version__ = "0.7.4"
 #: The SpatialDDS-spec commit whose Appendix N and generated artifacts this
 #: package implements. Package versions and specification versions move
 #: independently; this is the one that says what the wire looks like.

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/artifacts/openapi.html

@@ -14,4 +14,4 @@ border-bottom:1px solid var(--line)}p{margin:.35rem 0}.mut,.sum .auth{color:
 var(--mut)}.auth{font-size:.85rem;margin-left:.4rem}.v{display:inline-block;
 min-width:4.2rem;font:600 12px ui-monospace,monospace;letter-spacing:.04em;
 color:var(--acc)}.codes{font:12px ui-monospace,monospace;color:var(--mut)}
-.s{margin-right:.5rem}.s4,.s5{color:#b5482c}a{color:var(--acc)}</style></head><body><main><h1>SpatialDDS web binding (spatialdds-py)</h1><p class=mut>Version 0.7.3 · OpenAPI 3.1.0 · generated, never hand-written · <a href='openapi'>openapi.yaml</a></p><p>Generated by <code>tools/gen_openapi.py</code> from the gateway&#x27;s own tables and the published JSON Schemas; never edited by hand. Reads are open; writes take a bearer token scoped to scenes. The WebSocket streams (N.5) are described on each collection path, not modelled.</p><h2>Operations</h2><section id="search"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">Services near a geohash (§8.2.3 manifests) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="searchPost"><h3><span class="v post">POST</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">The same search, as a POST body <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="listSchemas"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas</code></h3><p class="sum">The published JSON Schemas, by type <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="getSchema"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas/{type}</code></h3><p class="sum"> <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="bootstrap"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/bootstrap</code></h3><p class="sum">DDS-join material (N.2); optional <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="resolverMetadata"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/resolver</code></h3><p class="sum">§7.5.2 resolver metadata <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="openapi"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi</code></h3><p class="sum">This document <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="openapiPage"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi.html</code></h3><p class="sum">This document as a static reference page <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="resolve"><h3><span class="v get">GET</span> <code>/spatialdds/resolve</code></h3><p class="sum">Resolve a URI to its manifest (§7.5.2) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">400</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putManifest"><h3><span class="v put">PUT</span> <code>/spatialdds/resolve</code></h3><p class="sum">Publish a manifest, keyed by its own <code>id</code> <span class="auth">token</span></p><p>The <code>uri</code> parameter is not used; the body&#x27;s <code>id</code> is the key. Its scene segment is the lane. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawManifest"><h3><span class="v delete">DELETE</span> <code>/spatialdds/resolve</code></h3><p class="sum">Withdraw a manifest; <code>resolve</code> then answers 404 <span class="auth">token</span></p><p>Owner-checked by the URI&#x27;s scene segment. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getAsset"><h3><span class="v get">GET</span> <code>/assets/{name}</code></h3><p class="sum">Asset bytes this endpoint hosts (implementation-defined) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="listAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">Every spatial.disco.Announce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">An N.6 command addressed through the announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">One spatial.disco.Announce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">Every spatial.disco.ContentAnnounce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandContentAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">An N.6 command addressed through the content_announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">One spatial.disco.ContentAnnounce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putContentAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawContentAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">Every spatial.core.GeoAnchor instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandGeoAnchor"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">An N.6 command addressed through the geo_anchor lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">One spatial.core.GeoAnchor instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putGeoAnchor"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawGeoAnchor"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listInstances"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/{type}/{version}</code></h3><p class="sum">Any other served topic, read-only <span class="auth">token for operator-scoped</span></p><p>Latched types answer with the latched set; streamed types with the replayed window. Public or operator-scoped per the type: <code>spatial.core.FrameTransform</code> latched public, <code>spatial.events.CrossingLine</code> latched public, <code>spatial.events.SpatialEvent</code> stream bearer, <code>spatial.events.SpatialZone</code> latched public, <code>spatial.owm.Entity</code> latched bearer, <code>spatial.owm.ModelPose</code> stream bearer, <code>spatial.semantics.Detection2DSet</code> stream bearer, <code>spatial.semantics.Detection3DSet</code> stream bearer, <code>spatial.semantics.FusedTrackSet</code> stream bearer. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listWellKnownInstances"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}</code></h3><p class="sum">A four-segment topic&#x27;s collection <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getWellKnownInstance"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}/{key}</code></h3><p class="sum">One instance of a four-segment topic <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. </p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><h2>Schemas</h2><p class=mut>115 components, from the published JSON Schemas at <code>/.well-known/spatialdds/schemas</code>.</p></main></body></html>
+.s{margin-right:.5rem}.s4,.s5{color:#b5482c}a{color:var(--acc)}</style></head><body><main><h1>SpatialDDS web binding (spatialdds-py)</h1><p class=mut>Version 0.7.4 · OpenAPI 3.1.0 · generated, never hand-written · <a href='openapi'>openapi.yaml</a></p><p>Generated by <code>tools/gen_openapi.py</code> from the gateway&#x27;s own tables and the published JSON Schemas; never edited by hand. Reads are open; writes take a bearer token scoped to scenes. The WebSocket streams (N.5) are described on each collection path, not modelled.</p><h2>Operations</h2><section id="search"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">Services near a geohash (§8.2.3 manifests) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="searchPost"><h3><span class="v post">POST</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">The same search, as a POST body <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="listSchemas"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas</code></h3><p class="sum">The published JSON Schemas, by type <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="getSchema"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas/{type}</code></h3><p class="sum"> <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="bootstrap"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/bootstrap</code></h3><p class="sum">DDS-join material (N.2); optional <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="resolverMetadata"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/resolver</code></h3><p class="sum">§7.5.2 resolver metadata <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="openapi"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi</code></h3><p class="sum">This document <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="openapiPage"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi.html</code></h3><p class="sum">This document as a static reference page <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="resolve"><h3><span class="v get">GET</span> <code>/spatialdds/resolve</code></h3><p class="sum">Resolve a URI to its manifest (§7.5.2) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">400</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putManifest"><h3><span class="v put">PUT</span> <code>/spatialdds/resolve</code></h3><p class="sum">Publish a manifest, keyed by its own <code>id</code> <span class="auth">token</span></p><p>The <code>uri</code> parameter is not used; the body&#x27;s <code>id</code> is the key. Its scene segment is the lane. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawManifest"><h3><span class="v delete">DELETE</span> <code>/spatialdds/resolve</code></h3><p class="sum">Withdraw a manifest; <code>resolve</code> then answers 404 <span class="auth">token</span></p><p>Owner-checked by the URI&#x27;s scene segment. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getAsset"><h3><span class="v get">GET</span> <code>/assets/{name}</code></h3><p class="sum">Asset bytes this endpoint hosts (implementation-defined) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="listAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">Every spatial.disco.Announce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">An N.6 command addressed through the announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">One spatial.disco.Announce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">Every spatial.disco.ContentAnnounce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandContentAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">An N.6 command addressed through the content_announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">One spatial.disco.ContentAnnounce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putContentAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawContentAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">Every spatial.core.GeoAnchor instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandGeoAnchor"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">An N.6 command addressed through the geo_anchor lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">One spatial.core.GeoAnchor instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putGeoAnchor"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawGeoAnchor"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listInstances"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/{type}/{version}</code></h3><p class="sum">Any other served topic, read-only <span class="auth">token for operator-scoped</span></p><p>Latched types answer with the latched set; streamed types with the replayed window. Public or operator-scoped per the type: <code>spatial.core.FrameTransform</code> latched public, <code>spatial.events.CrossingLine</code> latched public, <code>spatial.events.SpatialEvent</code> stream bearer, <code>spatial.events.SpatialZone</code> latched public, <code>spatial.owm.Entity</code> latched bearer, <code>spatial.owm.ModelPose</code> stream bearer, <code>spatial.semantics.Detection2DSet</code> stream bearer, <code>spatial.semantics.Detection3DSet</code> stream bearer, <code>spatial.semantics.FusedTrackSet</code> stream bearer. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listWellKnownInstances"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}</code></h3><p class="sum">A four-segment topic&#x27;s collection <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getWellKnownInstance"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}/{key}</code></h3><p class="sum">One instance of a four-segment topic <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. </p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><h2>Schemas</h2><p class=mut>115 components, from the published JSON Schemas at <code>/.well-known/spatialdds/schemas</code>.</p></main></body></html>

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/artifacts/openapi.yaml

@@ -2,7 +2,7 @@
 openapi: 3.1.0
 info:
   title: SpatialDDS web binding (spatialdds-py)
-  version: 0.7.3
+  version: 0.7.4
   summary: SpatialDDS 1.8 Appendix N over HTTPS, plus this endpoint's write surface.
   description: Generated by `tools/gen_openapi.py` from the gateway's own tables and the published JSON Schemas; never edited by hand. Reads are open; writes take a bearer token scoped to scenes. The WebSocket streams (N.5) are described on each collection path, not modelled.
 servers:

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/dds/__init__.py

@@ -30,7 +30,7 @@ __all__ = [
     "ON_EXIT", "DOMAIN_ENV",
     "to_json", "from_json", "validate", "SchemaInvalid", "WireError",
     "fqn_of", "key_of",
-    "class_for", "extend", "Extension",
+    "class_for", "extend", "Extension", "extensions", "extension_of",
     "registry", "Profile", "RegistryError", "topic_name",
     "ANNOUNCE", "DEPART", "CONTENT", "QUERY", "COVERAGE_HINT",
     "Recorder", "chunk", "Reassembler", "CorruptChunk", "blob_ref",
@@ -53,6 +53,7 @@ _FROM = {
     "to_json": "codec", "from_json": "codec", "validate": "codec",
     "SchemaInvalid": "codec", "WireError": "codec", "fqn_of": "codec", "key_of": "codec",
     "class_for": "codec", "extend": "codec", "Extension": "codec",
+    "extensions": "codec", "extension_of": "codec",
     "Profile": "registry", "RegistryError": "registry",
     "topic_name": "registry",
     "Recorder": "record",

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/dds/_participant.py

@@ -109,6 +109,28 @@ def _now_time():
     return Time(sec=int(t), nanosec=int((t % 1) * 1e9))
 
 
+def _wait_for_acks(dw: Any, timeout_s: float, what: str) -> bool:
+    """`DataWriter.wait_for_acks`, False on timeout, as it is documented.
+
+    cyclonedds-python 11.0.1's timeout branch reads
+    `Exception.DDS_RETCODE_TIMEOUT`, which does not exist (`cyclonedds/pub.py`
+    line 325), so every timeout raises AttributeError. `close()` awaits acks
+    after writing each dispose and Depart, so one slow peer made a clean stop
+    exit with a traceback and skip the remaining flushes and every recorder's
+    `flush()` (S17). That AttributeError, and only that one, is the timeout.
+    """
+    try:
+        acked = bool(dw.wait_for_acks(duration(seconds=timeout_s)))
+    except AttributeError as error:
+        if "DDS_RETCODE_TIMEOUT" not in str(error):
+            raise
+        acked = False
+    if not acked:
+        log.warning("%s: not every reader acknowledged within %.1f s",
+                    what, timeout_s)
+    return acked
+
+
 def _has_member(sample: Any, name: str) -> bool:
     return any(f.name == name for f in dataclasses.fields(sample))
 
@@ -275,7 +297,8 @@ class Writer:
         with self._lock:
             self._dw.write(sample)
             self._last[key] = sample
-        self._p._recorded(self.topic, self._lane.fqn, sample)
+        self._p._recorded(self.topic, self._lane.fqn, sample,
+                          self._lane.profile.durability)
         return sample
 
     def _terminal(self, sample: Any, reason: str) -> Any:
@@ -298,27 +321,51 @@ class Writer:
             changes["stamp"] = _now_time()
         return dataclasses.replace(sample, **changes) if changes else sample
 
-    def withdraw(self, key: str, *, reason: str) -> None:
+    def withdraw(self, key: str, *, reason: str, **changes: Any) -> None:
         """Remove an instance: its terminal sample, then the dispose (§2.14, N.5.2).
 
         `reason` is required and may not be empty. It is carried wherever a
         carrier exists: the type's own member when it has one, the recording's
         dispose metadata always, and this layer's log always.
+
+        `changes` are the type's other members as the terminal sample should
+        carry them, such as a validity interval closed at retirement
+        (`has_valid_until=True, valid_until=...`). They are applied to the
+        last sample before the terminal members, so the instance ends in one
+        terminal sample. Until 0.7.4 a type with such members had to write
+        its terminal state itself, and this wrote it again (S18). The members
+        this method sets (`state`, `state_reason`, `stamp`) and the key are
+        not changes a caller can make.
         """
         if not isinstance(reason, str) or not reason.strip():
             raise ValueError("withdraw() needs a non-empty reason=: a removal "
                              "is a claim, and §2.14 makes it say why")
+        fixed = {"state", "state_reason", "stamp", codec.key_member(self._lane.fqn)}
+        refused = sorted(set(changes) & fixed)
+        if refused:
+            raise ValueError(f"withdraw() sets {', '.join(refused)} itself; "
+                             f"pass reason=, and the other members to change")
         with self._lock:
             if key not in self._last:
                 raise KeyError(f"{self.topic} holds no instance keyed {key!r} "
                                f"from this writer (held: "
                                f"{', '.join(sorted(self._last)) or 'none'})")
-            terminal = self._terminal(self._last.pop(key), reason)
+            last = self._last[key]
+            unknown = sorted(n for n in changes if not _has_member(last, n))
+            if unknown:
+                raise ValueError(f"{self._lane.fqn} has no member "
+                                 f"{', '.join(unknown)}")
+            terminal = self._terminal(dataclasses.replace(last, **changes),
+                                      reason)
+            if changes and self.validate:
+                codec.validate(terminal)
+            del self._last[key]
             # Immediately: nothing of this writer's may come between the
             # terminal sample and its dispose (N.5.2).
             self._dw.write(terminal)
             self._dw.dispose(terminal)
-        self._p._recorded(self.topic, self._lane.fqn, terminal)
+        self._p._recorded(self.topic, self._lane.fqn, terminal,
+                          self._lane.profile.durability)
         self._p._recorded_dispose(self.topic, key, reason)
         log.info("withdrew %s from %s: %s", key, self.topic, reason)
 
@@ -353,7 +400,7 @@ class Writer:
                 self._dw.unregister_instance(sample)
 
     def _flush(self, timeout_s: float) -> bool:
-        return bool(self._dw.wait_for_acks(duration(seconds=timeout_s)))
+        return _wait_for_acks(self._dw, timeout_s, self.topic)
 
     def topic_meta(self) -> Dict[str, Any]:
         """This lane as one `TopicMeta`, through the web layer's builder."""
@@ -1008,9 +1055,10 @@ class Participant:
                                svc["last"])
         return r
 
-    def _recorded(self, topic: str, fqn: str, sample: Any) -> None:
+    def _recorded(self, topic: str, fqn: str, sample: Any,
+                  durability: str = "") -> None:
         for r in self._recorders:
-            r.sample(topic, fqn, sample)
+            r.sample(topic, fqn, sample, durability)
 
     def _recorded_dispose(self, topic: str, key: str, reason: str) -> None:
         for r in self._recorders:
@@ -1039,7 +1087,7 @@ class Participant:
             for w in self._writers:
                 w._flush(flush_s)
             for dw in self._presence_writers():
-                dw.wait_for_acks(duration(seconds=flush_s))
+                _wait_for_acks(dw, flush_s, "presence")
             for r in self._recorders:
                 r.flush()
         finally:

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/dds/codec.py

@@ -158,8 +158,15 @@ def extend(type_name: str, cls: type, idl: Any) -> Extension:
     files: list = []
     for inc in re.findall(r'^\s*#include\s+"([^"]+)"', text, re.M):
         if not (pin.IDL_DIR / inc).is_file():
+            # Includes are rooted at the pin, where idlc given a subdirectory
+            # with -I would take a bare name. Name the rooted spelling when
+            # there is exactly one, rather than leave the author to find it.
+            rooted = sorted(str(f.relative_to(pin.IDL_DIR)) for f in
+                            pin.IDL_DIR.rglob(Path(inc).name))
+            hint = (f"; includes are rooted at the pin: did you mean "
+                    f"{rooted[0]!r}?" if len(rooted) == 1 else "")
             problems.append(f"the extension's IDL includes {inc!r}, which the "
-                            f"pinned IDL does not have")
+                            f"pinned IDL does not have{hint}")
             continue
         for f in pin.file_closure(inc):
             if f not in files:

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/dds/record.py

@@ -69,7 +69,8 @@ class Recorder:
         self._last = t
         return t
 
-    def sample(self, topic: str, fqn: str, sample: Any) -> None:
+    def sample(self, topic: str, fqn: str, sample: Any,
+               durability: str = "") -> None:
         with self._lock:
             if self._closed:
                 return
@@ -82,7 +83,9 @@ class Recorder:
             if topic not in self._channels:
                 self._channels[topic] = self._w.register_channel(
                     topic=topic, message_encoding="cdr",
-                    schema_id=self._schemas[fqn])
+                    schema_id=self._schemas[fqn],
+                    metadata=({mcapmeta.CHANNEL_DURABILITY: durability}
+                              if durability else {}))
             t = self._now()
             self._w.add_message(channel_id=self._channels[topic], log_time=t,
                                 publish_time=t, data=sample.serialize(),

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/records.py

@@ -237,9 +237,17 @@ def stamp(when: Any = None) -> Dict[str, Any]:
     elif isinstance(when, str):
         w = _dt.datetime.fromisoformat(when.replace("Z", "+00:00"))
         t = (w if w.tzinfo else w.replace(tzinfo=_dt.timezone.utc)).timestamp()
+    elif isinstance(when, int):
+        t = when                        # exact: no float on the way through
     else:
         t = float(when)
-    return {"sec": str(int(t)), "nanosec": int(round((t % 1) * 1e9))}
+    # One integer count of nanoseconds, split by divmod, which floors both
+    # parts: `nanosec` is always in [0, 10^9), and a time before the epoch
+    # keeps its sign in `sec`. Until 0.7.4 the parts were computed apart, so
+    # 5.9999999999 gave nanosec 10^9, and -0.25 gave +0.75 s (S16).
+    ns = t * 1_000_000_000 if isinstance(t, int) else round(t * 1e9)
+    sec, nanosec = divmod(ns, 1_000_000_000)
+    return {"sec": str(sec), "nanosec": nanosec}
 
 
 def earth_fixed() -> Dict[str, Any]:

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/serve.py

@@ -58,6 +58,11 @@ def build_parser(ap: argparse.ArgumentParser) -> argparse.ArgumentParser:
                     help="a typed SpatialDDS MCAP to seed from. Optional: "
                          "with no recording the registry starts empty and "
                          "takes its types from the IDL pinned in this package.")
+    ap.add_argument("--public", action="append", default=[], metavar="FQN",
+                    help="serve this type's lanes public (repeatable), for a "
+                         "deployment's own type in --mcap, which is "
+                         "operator-scoped otherwise: who may read it is the "
+                         "deployment's call, not the recording's")
     ap.add_argument("--authority", default=None,
                     help="the DNS name this registry answers as, e.g. "
                          "registry.mytown.example. Every URI it accepts and "
@@ -202,7 +207,7 @@ def main(argv: list[str] | None = None) -> int:
     try:
         st = gateway.build_state(
             a.mcap, a.manifests if a.manifests and a.manifests.is_dir()
-            else None)
+            else None, public=a.public)
     except gateway.RecordingRefused as e:
         raise SystemExit(str(e))
     # The manifest hands clients absolute URLs, so the base has to be the

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/server/gateway.py

@@ -351,7 +351,8 @@ def _non_finite(v: Any, at: str = "") -> tuple[str, float] | None:
 
 
 def build_state(path: Path | None, manifests: Path | None = None,
-                idl_dir: Path | None | object = PINNED) -> State:
+                idl_dir: Path | None | object = PINNED,
+                public: Iterable[str] = ()) -> State:
     """The state a recording describes, or an empty registry if given none.
 
     A seed is optional because the publish surface makes the recording one
@@ -363,7 +364,16 @@ def build_state(path: Path | None, manifests: Path | None = None,
     a directory without the IDL in it, leaves the gateway typeless -- which is
     still a legitimate read-only state, and the refusal that follows belongs
     where publishing is switched on.
+
+    A type `DURABILITY` has no row for, a deployment's own, is latched if
+    the recording says its writer opened the lane TRANSIENT_LOCAL
+    (`mcapmeta.CHANNEL_DURABILITY`), and operator-scoped unless named in
+    `public`: who may read a lane is the deployment's call, and the file
+    cannot make it. Until 0.7.4 such a lane was always volatile and
+    operator-scoped (S20). A type with a row keeps its row: the table is
+    the specification's, and a recording does not override it.
     """
+    public = frozenset(public)
     if path is None:
         where = pin.IDL_DIR if idl_dir is PINNED else idl_dir
         model, idl = pin.wire_model(where) if where is not None \
@@ -437,7 +447,14 @@ def build_state(path: Path | None, manifests: Path | None = None,
                 agg = model.get(fqn)
                 keys = [m.name for m in (agg.members if agg else [])
                         if m.is_key]
-                latched, access = DURABILITY.get(fqn, (False, OPERATOR))
+                if fqn in DURABILITY:
+                    latched, access = DURABILITY[fqn]
+                else:
+                    latched = (ch.metadata.get(mcapmeta.CHANNEL_DURABILITY)
+                               == "TRANSIENT_LOCAL")
+                    access = OPERATOR
+                if fqn in public:
+                    access = PUBLIC
                 res = Resource(scene, stream, type_seg, version, ch.topic, fqn,
                                keys[0] if keys else "", access, latched)
                 st.resources[res.path] = res

{spatialdds-0.7.3 → spatialdds-0.7.4}/spatialdds/server/gw_http.py

@@ -497,18 +497,29 @@ def _text_response(request: web.Request, text: str,
                         charset="utf-8", headers=headers)
 
 
+def _schemas(request: web.Request) -> dict[str, dict]:
+    """The vendored schemas, and one for each served type they lack (S19).
+
+    N.2: an endpoint MUST publish a schema for every type it serves. A
+    deployment's own type is described by the model it is decoded with.
+    """
+    st: gateway.State = request.app["state"]
+    return webjson.served_schemas(st.model,
+                                  {r.fqn for r in st.resources.values()})
+
+
 async def schemas_index(request: web.Request) -> web.Response:
     base = request.app["base"]
     doc = [{"type": fqn,
             "url": f"{base}{WELL_KNOWN}/schemas/{webjson.schema_file_for(fqn)}",
             "digest": f"sha256:{webjson.digest(schema)}"}
-           for fqn, schema in sorted(webjson.schemas().items())]
+           for fqn, schema in sorted(_schemas(request).items())]
     return _json_response(request, doc, gateway.PUBLIC)
 
 
 async def schema_one(request: web.Request) -> web.Response:
     name = request.match_info["type"]
-    for fqn, schema in webjson.schemas().items():
+    for fqn, schema in _schemas(request).items():
         if webjson.schema_file_for(fqn) == name:
             return _json_response(request, schema, gateway.PUBLIC)
     raise web.HTTPNotFound(