.. _dds:

DDS Layer
=========

eProsima's Safe DDS provides a fully compliant Data Distribution Service (DDS) Data-Centric Publish-Subscribe (DCPS) Platform Independent Model (PIM) API, as defined by the Data Distribution Service (DDS) version 1.4 specification.

In this section, the main characteristics and modes-of-use of this API are explained:

- :ref:`dds_layers_infrastructure`: This subsection delineates the entities that can be created in Safe DDS, along with their features, constraints, and interfaces.
- :ref:`dds_layers_domain`: The concept of a DDS domain is defined here, along with the main entities involved in its operation.
- :ref:`dds_layers_topic`: The notion of a DDS topic and its primary attributes within the context of Safe DDS are outlined.
- :ref:`dds_layers_publication`: In this subsection, the concept of DDS publication is elaborated upon, discussing its key features and the manner in which it functions within Safe DDS.
- :ref:`dds_layers_subscription`: This part of the documentation focuses on the idea of DDS subscription, detailing its essential characteristics and the role it plays in Safe DDS.


.. toctree::
   :maxdepth: 1
   :hidden:

   ./dds_layers/infrastructure/infrastructure
   ./dds_layers/domain/domain
   ./dds_layers/topic/topic
   ./dds_layers/publication/publication
   ./dds_layers/subscription/subscription