eProsima · cferreiragonz · May 28, 2026 · May 26, 2026 · May 26, 2026 · May 26, 2026
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
@@ -162,6 +162,14 @@ jobs:
           ref: ${{ steps.get_fastdds_python_branch.outputs.deduced_branch }}
           path: ${{ github.workspace }}/src/fastdds_python
 
+      - name: Audit API reference wrappers
+        run: |
+          python3 src/fastdds-docs/utils/scripts/audit_api_reference.py \
+            --fastdds-dir src/fastdds \
+            --report compare \
+            --show 1000 \
+            --fail-on-findings
+
       - name: Fetch Fast DDS Docs CI dependencies
         if: ${{ inputs.run-tests == true }}
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -148,6 +148,7 @@ if (BUILD_DOCUMENTATION)
         $<$<BOOL:${CMAKE_COMPILE_WARNING_AS_ERROR}>:-W>
         -b ${FASTDDS_DOCS_BUILDER}
         # Tell Breathe where to find the Doxygen output
+        -D breathe_projects.FastDDS=${DOXYGEN_OUTPUT_DIR}/xml
         ${PYTHON_EXTRA_FLAG}
         -d "${PROJECT_BINARY_DIR}/doctrees"
         ${SPHINX_SOURCE}

diff --git a/README.md b/README.md
@@ -202,6 +202,7 @@ cd <path_to_docs_repo>/fastdds-docs
 rm -rf build
 READTHEDOCS=True FASTDDS_BRANCH=<branch> FASTDDS_PYTHON_BRANCH=<branch> sphinx-build \
     -b html \
+    -D breathe_projects.FastDDS=<abs_path_to_docs_repo>/fastdds-docs/build/doxygen/xml \
     -d <abs_path_to_docs_repo>/fastdds-docs/build/doctrees \
     docs <abs_path_to_docs_repo>/fastdds-docs/build/html
 ```
@@ -212,6 +213,23 @@ Using either CMake or colcon, the documentation is built using Sphinx's `html` b
 However, Sphinx supports several other building formats, which are enabled through [Sphinx builders](https://www.sphinx-doc.org/en/master/usage/builders/index.html).
 Once a builder is selected, the documentation can be built using the [Simulating Read the Docs](#simulating-read-the-docs) approach, specifying the appropriate builder with the `-b` CLI option
 
+### Auditing API reference wrappers
+
+The repository includes an audit helper that compares the manually maintained
+API reference wrapper files with the public Fast DDS API exported by a Fast DDS checkout.
+This is also run in Ubuntu CI.
+
+```bash
+python3 utils/scripts/audit_api_reference.py \
+    --fastdds-dir <path_to_fastdds_repo> \
+    --report compare \
+    --show 1000 \
+    --fail-on-findings
+```
+
+The `compare` report only shows discrepancies: extra wrapper files, wrapper files
+that need updates, and missing public API targets.
+
 ## Project structure
 
 The project is structured as follows:

diff --git a/code/CMakeLists.txt b/code/CMakeLists.txt
@@ -172,6 +172,7 @@ add_test(NAME docs.code_block_check.xml
 add_test(NAME docs.spell_check
     COMMAND
     ${SPHINX_EXECUTABLE} -Q -W --keep-going
+    -D breathe_projects.FastDDS=${DOXYGEN_OUTPUT_DIR}/xml
     -b spelling
     -d "${PROJECT_BINARY_DIR}/doctrees"
     ${CMAKE_SOURCE_DIR}/docs

diff --git a/docs/api_spelling_wordlist.txt b/docs/api_spelling_wordlist.txt
@@ -87,6 +87,7 @@ DataWriterQos
 datawriters
 DeadlineQosPolicy
 deserialized
+deserializing
 destinated
 DestinationOrderQosPolicy
 Destructor
@@ -228,6 +229,7 @@ QosPolicyCount
 rdata
 ReadCondition
 ReceiverResource
+reimplemented
 ReliabilityQosPolicy
 ReplyPubSubType
 ReplyTypeSupport

diff --git a/docs/conf.py b/docs/conf.py
@@ -531,6 +531,11 @@ def configure_doxyfile(
     )
     autodoc_mock_imports = ["_fastdds_python"]
 
+
+breathe_projects = {"FastDDS": os.path.abspath("{}/xml".format(output_dir))}
+breathe_default_project = "FastDDS"
+breathe_show_define_initializer = True
+
 # Tell `autodoc` where is the Pydoc documentation if it was set.
 if fastdds_python_imported_location:
     sys.path.insert(0, fastdds_python_imported_location)
@@ -668,7 +673,6 @@ def configure_doxyfile(
     "*/*/*/includes/*.rst",
     "*/*/*/*/includes/*.rst",
     "notes/previous_versions/v*.rst",
-    "*/api-reference/*"
 ]
 
 # The reST default role (used for this markup: `text`) to use for all

diff --git a/docs/fastdds/api_reference/api_reference.rst b/docs/fastdds/api_reference/api_reference.rst
@@ -0,0 +1,24 @@
+.. _api_reference:
+
+C++ API Reference
+=================
+
+*Fast DDS*, as a Data Distribution Service (DDS) standard implementation, exposes the DDS Data-Centric Publish-Subscribe
+(DCPS) Platform Independent Model (PIM) API, as specified in the
+`DDS specification <https://www.omg.org/spec/DDS/1.4/PDF>`_.
+Furthermore, is also gives the user the possibility to directly interact with the underlying Real-time
+Publish-Subscribe (RTPS) API that DDS implements for wired communications, as specified in the
+`RTPS standard <https://www.omg.org/spec/DDSI-RTPS/2.2/PDF>`_.
+
+This section presents the most commonly used APIs provided by *Fast DDS*.
+For more information about the API reference, please refer to
+`Fast DDS API reference <https://www.eprosima.com/docs/fast-rtps/latest/API>`_.
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/dds_pim
+    /fastdds/api_reference/rtps/rtps
+    /fastdds/api_reference/transport/transport
+    /fastdds/api_reference/log/log
+    /fastdds/api_reference/statistics/statistics
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/Duration_t.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/Duration_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+DDS Layer Duration_t
+--------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::Duration_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/Time_t.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/Time_t.rst
@@ -0,0 +1,10 @@
+.. _api_pim_time_t:
+
+.. rst-class:: api-ref
+
+DDS Layer Time_t
+----------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::Time_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/const_values.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/const_values.rst
@@ -0,0 +1,14 @@
+.. rst-class:: api-ref
+
+Const values
+------------
+
+.. doxygenvariable:: eprosima::fastdds::dds::c_TimeInfinite
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::c_TimeZero
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::c_TimeInvalid
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/operators.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/operators.rst
@@ -0,0 +1,31 @@
+.. rst-class:: api-ref
+
+Time_t DDS Operators
+--------------------
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator==(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator!=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator<(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator>(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator<=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator>=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator<<(std::ostream &output, const Time_t &t)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator+(const Time_t &ta, const Time_t &tb)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator-(const Time_t &ta, const Time_t &tb)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst
@@ -0,0 +1,12 @@
+.. _api_dds_common_time_t:
+
+DDS Time_t
+----------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/core/Time_t/const_values
+    /fastdds/api_reference/dds_pim/core/Time_t/Duration_t
+    /fastdds/api_reference/dds_pim/core/Time_t/operators
+    /fastdds/api_reference/dds_pim/core/Time_t/Time_t
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/basecondition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/basecondition.rst
@@ -0,0 +1,11 @@
+Condition
+=========
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/core/condition/condition.rst
+    /fastdds/api_reference/dds_pim/core/condition/conditionseq.rst
+    /fastdds/api_reference/dds_pim/core/condition/guardcondition.rst
+    /fastdds/api_reference/dds_pim/core/condition/statuscondition.rst
+    /fastdds/api_reference/dds_pim/core/condition/waitset.rst
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/condition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/condition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_condition:
+
+.. rst-class:: api-ref
+
+Condition
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::Condition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/conditionseq.rst b/docs/fastdds/api_reference/dds_pim/core/condition/conditionseq.rst
@@ -0,0 +1,9 @@
+.. _api_pim_conditionseq:
+
+.. rst-class:: api-ref
+
+ConditionSeq
+------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::ConditionSeq
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/guardcondition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/guardcondition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_guardcondition:
+
+.. rst-class:: api-ref
+
+GuardCondition
+--------------
+
+.. doxygenclass:: eprosima::fastdds::dds::GuardCondition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/statuscondition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/statuscondition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_statuscondition:
+
+.. rst-class:: api-ref
+
+StatusCondition
+---------------
+
+.. doxygenclass:: eprosima::fastdds::dds::StatusCondition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/waitset.rst b/docs/fastdds/api_reference/dds_pim/core/condition/waitset.rst
@@ -0,0 +1,10 @@
+.. _api_pim_waitset:
+
+.. rst-class:: api-ref
+
+Wait-set
+--------
+
+.. doxygenclass:: eprosima::fastdds::dds::WaitSet
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/core.rst b/docs/fastdds/api_reference/dds_pim/core/core.rst
@@ -0,0 +1,16 @@
+Core
+====
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/core/condition/basecondition.rst
+   /fastdds/api_reference/dds_pim/core/domainentity.rst
+   /fastdds/api_reference/dds_pim/core/entity.rst
+   /fastdds/api_reference/dds_pim/core/loanablearray.rst
+   /fastdds/api_reference/dds_pim/core/loanablecollection.rst
+   /fastdds/api_reference/dds_pim/core/loanablesequence.rst
+   /fastdds/api_reference/dds_pim/core/policy/policy.rst
+   /fastdds/api_reference/dds_pim/core/stackallocatedsequence.rst
+   /fastdds/api_reference/dds_pim/core/status/status.rst
+   /fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst
diff --git a/docs/fastdds/api_reference/dds_pim/core/domainentity.rst b/docs/fastdds/api_reference/dds_pim/core/domainentity.rst
@@ -0,0 +1,11 @@
+
+.. _api_pim_domainentity:
+
+.. rst-class:: api-ref
+
+DomainEntity
+------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainEntity
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/entity.rst b/docs/fastdds/api_reference/dds_pim/core/entity.rst
@@ -0,0 +1,10 @@
+.. _api_pim_entity:
+
+.. rst-class:: api-ref
+
+Entity
+------
+
+.. doxygenclass:: eprosima::fastdds::dds::Entity
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/loanablearray.rst b/docs/fastdds/api_reference/dds_pim/core/loanablearray.rst
@@ -0,0 +1,10 @@
+.. _api_pim_loanablearray:
+
+.. rst-class:: api-ref
+
+LoanableArray
+-------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::LoanableArray
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/loanablecollection.rst b/docs/fastdds/api_reference/dds_pim/core/loanablecollection.rst
@@ -0,0 +1,10 @@
+.. _api_pim_loanablecollection:
+
+.. rst-class:: api-ref
+
+LoanableCollection
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LoanableCollection
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/loanablesequence.rst b/docs/fastdds/api_reference/dds_pim/core/loanablesequence.rst
@@ -0,0 +1,13 @@
+.. _api_pim_loanablesequence:
+
+.. rst-class:: api-ref
+
+LoanableSequence
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LoanableSequence
+    :project: FastDDS
+    :members:
+
+.. doxygendefine:: FASTDDS_SEQUENCE
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
@@ -0,0 +1,12 @@
+.. _api_pim_datarepresentationid:
+
+.. rst-class:: api-ref
+
+DataRepresentationId
+--------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::DataRepresentationId
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_datarepresentationqospolicy:
+
+.. rst-class:: api-ref
+
+DataRepresentationQosPolicy
+---------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataRepresentationQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datasharingkind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datasharingkind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datasharingkind:
+
+.. rst-class:: api-ref
+
+DataSharingKind
+---------------
+
+.. doxygenenum:: eprosima::fastdds::dds::DataSharingKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datasharingqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datasharingqospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datasharingqospolicy:
+
+.. rst-class:: api-ref
+
+DataSharingQosPolicy
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataSharingQosPolicy
+    :project: FastDDS
+    :members: