┌─────────────────────────────────────────────────────────────────────────────┐
│                          🚗 Application Layer                                │
│    Perception │ Planning │ Control │ Localization │ Prediction │ Decision   │
├─────────────────────────────────────────────────────────────────────────────┤
│                           📊 Observability                                   │
│  ┌─────────┐  ┌─────────┐  ┌─────────┐  ┌─────────┐  ┌─────────┐           │
│  │  trace  │  │   log   │  │  perf   │  │ visual  │  │ record  │           │
│  │ Tracing │  │ Logging │  │ Metrics │  │ FoxGlove│  │  MCAP   │           │
│  └─────────┘  └─────────┘  └─────────┘  └─────────┘  └─────────┘           │
├─────────────────────────────────────────────────────────────────────────────┤
│                         🔧 Configuration & Management                        │
│  ┌─────────┐  ┌─────────┐  ┌─────────┐  ┌─────────┐  ┌─────────┐           │
│  │  param  │  │config_svr│  │ launch  │  │  exem   │  │ upgrade │           │
│  │ Params  │  │ Config  │  │ Launch  │  │ Executor│  │   OTA   │           │
│  └─────────┘  └─────────┘  └─────────┘  └─────────┘  └─────────┘           │
├─────────────────────────────────────────────────────────────────────────────┤
│                          🔌 Communication Hub                                │
│                        ┌───────────────────┐                                │
│                        │       com        │                                │
│                        │  (Unified API)    │                                │
│                        └─────────┬─────────┘                                │
│            ┌─────────────────────┼─────────────────────┐                    │
│            │                     │                     │                    │
│     ┌──────▼──────┐      ┌──────▼──────┐      ┌──────▼──────┐              │
│     │     shm     │      │     dds     │      │   someip   │              │
│     │ Shared Mem  │      │     DDS     │      │   SOME/IP   │              │
│     │ Zero-Copy   │      │  Pub/Sub    │      │  Ethernet   │              │
│     └─────────────┘      └─────────────┘      └─────────────┘              │
│                                     │                                        │
│                              ┌──────▼──────┐                                │
│                              │   routing   │                                │
│                              │   Router    │                                │
│                              └─────────────┘                                │
├─────────────────────────────────────────────────────────────────────────────┤
│                          ⚙️ Runtime & Safety                                 │
│     ┌─────────┐  ┌─────────┐  ┌─────────┐  ┌─────────┐                     │
│     │ runtime │  │ safety  │  │  diag   │  │   tls   │                     │
│     │  Core   │  │ Monitor │  │   UDS   │  │  TLS    │                     │
│     └─────────┘  └─────────┘  └─────────┘  └─────────┘                     │
├─────────────────────────────────────────────────────────────────────────────┤
│                              🛠️ Tools                                        │
│        ┌──────────┐           ┌──────────┐          ┌──────────┐           │
│        │  build   │           │  bridge  │          │   cal   │           │
│        │  Build   │           │   ROS2   │          │  Calib   │           │
│        └──────────┘           └──────────┘          └──────────┘           │
├─────────────────────────────────────────────────────────────────────────────┤
│                           💾 Data Layer                                      │
│                        ┌───────────────────┐                                │
│                        │      proto        │                                │
│                        │   (Protobuf IDL)  │                                │
│                        └───────────────────┘                                │
├─────────────────────────────────────────────────────────────────────────────┤
│                          🖥️ Operating System                                 │
│                     Linux │ QNX │ VxWorks │ RTOS                            │
└─────────────────────────────────────────────────────────────────────────────┘

# 环境要求
C++17 Compiler (GCC 9+, Clang 10+)
CMake 3.14+
Python 3.8+ (for build tool)

# 克隆主仓库
git clone https://gitee.com/rippleos/rippleos.git
cd rippleos

# 使用 Python 构建工具
python -m rippleos.build.mbuild build moss.yaml

# 或使用 CMake
mkdir build && cd build
cmake .. && make -j$(nproc)

#include <dds/dds.h>

// Publisher
auto writer = dds.create_writer<PointCloud>("sensor/points");
PointCloud cloud;
cloud.points = {{1.0, 2.0, 3.0}, {4.0, 5.0, 6.0}};
writer->write(cloud);

// Subscriber
auto reader = dds.create_reader<PointCloud>("sensor/points");
reader->set_callback([](const PointCloud& msg) {
    std::cout << "Received " << msg.points.size() << " points" << std::endl;
});

#include <trace/trace.h>

using namespace rippleos::trace;

// 初始化 Tracer
TracerConfig config;
config.service_name = "perception_node";
auto provider = std::make_unique<TracerProvider>(config);
TracerProvider::set_global_instance(std::move(provider));

// 创建追踪链
auto tracer = get_tracer("perception");

// 父 Span
auto parent = tracer->start_span("perception_cycle", SpanKind::PRODUCER);
parent->set_attribute("cycle_id", 42);

// 子 Span (自动关联)
auto child = tracer->start_span("object_detection", 
    SpanKind::INTERNAL, TraceContext(parent->context()));
child->set_attribute("model", "yolov8n");
child->set_attribute("objects", 3);
child->end();

parent->end();

#include <perf/perf.h>

// 创建指标
auto& registry = perf::MetricsRegistry::instance();

auto counter = registry.create_counter("messages_received");
auto gauge = registry.create_gauge("queue_size");
auto histogram = registry.create_histogram("processing_time_ms", {1, 5, 10, 50, 100});

// 记录指标
counter->increment();
gauge->set(queue.size());
histogram->observe(elapsed_ms);

// 暴露 Prometheus 端点
// curl http://localhost:9090/metrics

# 启动 FoxGlove 桥接服务
visual_bridge --port 8765

# 打开 FoxGlove Studio
# https://app.foxglove.dev
# 连接 ws://your-ip:8765

# 运行单个模块测试
cd dds/build && ctest --output-on-failure

# 运行所有模块测试
cd build && ctest --output-on-failure

# 1. Fork & Clone
git clone https://gitee.com/YOUR_USERNAME/dds.git

# 2. Create Branch
git checkout -b feature/amazing-feature

# 3. Make Changes & Test
make test

# 4. Commit
git commit -m "feat: add amazing feature"

# 5. Push & Create PR
git push origin feature/amazing-feature

MIT License

Copyright (c) 2024-2026 RippleOS Contributors

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.