Merge branch 'iceoryx/master' into iox-eclipse-iceoryx#605-cleanup-re…

…locatable-ptr

Signed-off-by: Marika Lehmann <[email protected]>

.clang-tidy

@@ -1,4 +1,4 @@
-Checks: '-*,readability-*,performance-*,hicpp-*,cppcoreguidelines-*,concurrency-*,clang-analyzer-*,cert-*,bugprone-*'
+Checks: '-*,readability-*,-readability-named-parameter,-readability-avoid-const-params-in-decls,performance-*,hicpp-*,-hicpp-named-parameter,-hicpp-avoid-c-arrays,cppcoreguidelines-*,-cppcoreguidelines-avoid-c-arrays,-cppcoreguidelines-pro-bounds-constant-array-index,concurrency-*,clang-analyzer-*,cert-*,bugprone-*'
 CheckOptions:
   - { key: readability-identifier-naming.ClassCase,               value: CamelCase }
   - { key: readability-identifier-naming.EnumCase,                value: CamelCase }

.codecov.yml

@@ -1,13 +1,13 @@
 # codecov yaml
-comment: yes # do not comment PR with the result
+comment:
   layout: "reach, diff, flags, files"
   behavior: default
-  require_changes: yes  # only post the comment if coverage changes
+  require_changes: yes
   require_base: no
   require_head: yes
 
 coverage:
-  range: 70..100 
+  range: 70..100
 
   status:
     project:
@@ -19,8 +19,9 @@ coverage:
       default:
         enabled: yes
         target: 70%
-        threshold: 2% 
-    changes: yes
+        threshold: 2%
+        base: auto
+    changes: no
 
 parsers:
   gcov:

.github/workflows/colcon.yml → .github/workflows/integrationtest.yml

@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Colcon build
+name: Iceoryx Integrationtests
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events but only for the master branch
@@ -32,7 +32,7 @@ jobs:
       - name: Install Iceoryx Dependencies
         run: |
           sudo apt install -y apt-transport-https
-          sudo apt update && sudo apt install -y cmake libacl1-dev libncurses5-dev pkg-config
+          sudo apt update && sudo apt install -y cmake libacl1-dev libncurses5-dev pkg-config ros-foxy-ros-testing
           mkdir -p src/iceoryx
           cd $GITHUB_WORKSPACE/src/iceoryx
 
@@ -48,7 +48,16 @@ jobs:
           sudo sed -i '41 c\"'c'", "'cc'", "'cpp'", "'cxx'", "'h'", "'hh'", "'hpp'", "'hxx'", "'inl'", "'sh'"' /opt/ros/foxy/lib/python3.8/site-packages/ament_copyright/main.py
           ament_copyright --exclude LICENSE CONTRIBUTING.md tools/apache2_header.txt
 
-      - name: Build & Test
+      - name: Build
         run: |
+          source /opt/ros/foxy/setup.bash
           cd $GITHUB_WORKSPACE
           colcon build
+
+      - name: Test Execution
+        run: |
+          source /opt/ros/foxy/setup.bash
+          source $GITHUB_WORKSPACE/install/setup.bash
+          cd $GITHUB_WORKSPACE
+          colcon test --packages-select iceoryx_integrationtest
+          colcon test-result --all --verbose

.gitignore

@@ -12,3 +12,4 @@ clangd/
 site/
 doc/website/API-reference/
 *.project
+__pycache__

README.md

@@ -5,7 +5,7 @@
 </p>
 
 [![Build & Test](https://github.com/eclipse-iceoryx/iceoryx/workflows/Build%20&%20Test/badge.svg?branch=master)](https://github.com/eclipse-iceoryx/iceoryx/actions)
-[![Colcon build](https://github.com/eclipse-iceoryx/iceoryx/workflows/Colcon%20build/badge.svg?branch=master)](https://github.com/eclipse-iceoryx/iceoryx/actions)
+[![Integrationtests](https://github.com/eclipse-iceoryx/iceoryx/workflows/Iceoryx%20Integrationtests/badge.svg?branch=master)](https://github.com/eclipse-iceoryx/iceoryx/actions)
 [![Gitter](https://badges.gitter.im/eclipse-iceoryx/iceoryx.svg)](https://gitter.im/eclipse/iceoryx)
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![Codecov](https://codecov.io/gh/eclipse-iceoryx/iceoryx/branch/master/graph/badge.svg?branch=master)](https://codecov.io/gh/eclipse-iceoryx/iceoryx?branch=master)

cmake/cpptoml/CMakeLists.txt

@@ -33,6 +33,12 @@ else()
     set(CREATE_PATH_COMMAND mkdir -p)
 endif()
 
+if(DEFINED CMAKE_TOOLCHAIN_FILE)
+    set(TOOLCHAIN_FILE "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+    set(cpptoml_DIR ${CMAKE_BINARY_DIR}/dependencies/install/lib/cmake/cpptoml)
+    set(cpptoml_DIR ${cpptoml_DIR} CACHE PATH "" FORCE)
+endif()
+
 # set download config, source and build paths
 set(DOWNLOAD_CONFIG_DIR ${CMAKE_BINARY_DIR}/dependencies/cpptoml/download)
 set(SOURCE_DIR ${CMAKE_BINARY_DIR}/dependencies/cpptoml/src)
@@ -57,7 +63,7 @@ endif()
 
 file(MAKE_DIRECTORY ${BUILD_DIR})
 
-execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DENABLE_LIBCXX=off" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${SOURCE_DIR}"
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DENABLE_LIBCXX=off" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${TOOLCHAIN_FILE}" "${SOURCE_DIR}"
     RESULT_VARIABLE result
     WORKING_DIRECTORY ${BUILD_DIR} )
 if(result)

cmake/cyclonedds/CMakeLists.txt

@@ -33,6 +33,10 @@ else()
     set(CREATE_PATH_COMMAND mkdir -p)
 endif(WIN32)
 
+if(DEFINED CMAKE_TOOLCHAIN_FILE)
+    set(TOOLCHAIN_FILE "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+endif()
+
 # ===== Helpers
 function(fetch_and_install name)
     set(DOWNLOAD_CONFIG_DIR ${CMAKE_BINARY_DIR}/dependencies/${name}/download)
@@ -42,7 +46,7 @@ function(fetch_and_install name)
 
     # Fetch source
     configure_file(${name}.cmake.in ${DOWNLOAD_CONFIG_DIR}/CMakeLists.txt)
-    execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "${DOWNLOAD_CONFIG_DIR}"
+    execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "${TOOLCHAIN_FILE}" "${DOWNLOAD_CONFIG_DIR}"
         RESULT_VARIABLE result
         WORKING_DIRECTORY ${DOWNLOAD_CONFIG_DIR} )
     if(result)
@@ -71,7 +75,7 @@ function(fetch_and_install name)
     endforeach()
     string( REPLACE ";" " " ADDITIONAL_CMAKE_FLAGS "${ADDITIONAL_CMAKE_FLAGS}")
 
-    execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${ADDITIONAL_CMAKE_FLAGS}" "${SOURCE_DIR}"
+    execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${ADDITIONAL_CMAKE_FLAGS}" "${TOOLCHAIN_FILE}" "${SOURCE_DIR}"
         RESULT_VARIABLE result
         WORKING_DIRECTORY ${BUILD_DIR} )
     if(result)

cmake/googletest/CMakeLists.txt

@@ -17,7 +17,7 @@ cmake_minimum_required(VERSION 3.5)
 project(googletest-build CXX)
 
 if(BUILD_TEST)
-    
+
     include(ProcessorCount)
     ProcessorCount(N)
 
@@ -33,6 +33,12 @@ if(BUILD_TEST)
         set(ENABLE_STATIC_DEBUG "-Dgtest_force_shared_crt=ON")
     endif(WIN32)
 
+    if(DEFINED CMAKE_TOOLCHAIN_FILE)
+        set(TOOLCHAIN_FILE "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+        set(GTest_DIR ${CMAKE_BINARY_DIR}/dependencies/install/lib/cmake/GTest)
+        set(GTest_DIR ${GTest_DIR} CACHE PATH "" FORCE)
+    endif()
+
     # set download confi, source and build paths
     set(DOWNLOAD_CONFIG_DIR ${CMAKE_BINARY_DIR}/dependencies/googletest/download)
     set(SOURCE_DIR ${CMAKE_BINARY_DIR}/dependencies/googletest/src)
@@ -41,7 +47,7 @@ if(BUILD_TEST)
 
     # Download and unpack googletest at configure time
     configure_file(googletest.cmake.in ${DOWNLOAD_CONFIG_DIR}/CMakeLists.txt)
-    execute_process(COMMAND ${CMAKE_COMMAND} ${ENABLE_STATIC_DEBUG} -G "${CMAKE_GENERATOR}" "${DOWNLOAD_CONFIG_DIR}"
+    execute_process(COMMAND ${CMAKE_COMMAND} ${ENABLE_STATIC_DEBUG} -G "${CMAKE_GENERATOR}" "${TOOLCHAIN_FILE}" "${DOWNLOAD_CONFIG_DIR}"
         RESULT_VARIABLE result
         WORKING_DIRECTORY ${DOWNLOAD_CONFIG_DIR} )
     if(result)
@@ -57,7 +63,7 @@ if(BUILD_TEST)
 
     file(MAKE_DIRECTORY ${BUILD_DIR})
 
-    execute_process(COMMAND ${CMAKE_COMMAND} ${ENABLE_STATIC_DEBUG} -G "${CMAKE_GENERATOR}" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${SOURCE_DIR}"
+    execute_process(COMMAND ${CMAKE_COMMAND} ${ENABLE_STATIC_DEBUG} -G "${CMAKE_GENERATOR}" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${TOOLCHAIN_FILE}" "${SOURCE_DIR}"
         RESULT_VARIABLE result
         WORKING_DIRECTORY ${BUILD_DIR} )
     if(result)

doc/website/getting-started/examples/intermediate-examples.md

@@ -1,6 +1,7 @@
 # Intermediate examples
 
 {! ./../iceoryx_examples/callbacks/README.md !}
+{! ./../iceoryx_examples/callbacks_in_c/README.md !}
 {! ./../iceoryx_examples/waitset/README.md !}
 {! ./../iceoryx_examples/waitset_in_c/README.md !}
 {! ./../iceoryx_examples/singleprocess/README.md !}

doc/website/getting-started/installation.md

@@ -9,26 +9,25 @@ iceoryx_utils and iceoryx_posh are deployed as independent cmake packages. Posh
  - 64-bit hardware (e.g. x86_64 or aarch64; 32-bit hardware might work, but is not supported)
  - [cmake](https://cmake.org), 3.5 or later
  - One of the following compilers:
-   - [gcc](https://gcc.gnu.org), 7.4 or later
+   - [gcc](https://gcc.gnu.org), 7.4 or later (5.4 currently supported too)
    - [clang](https://clang.llvm.org), 9.0 or later
    - [msvc](https://visualstudio.microsoft.com/de/), part of Visual Studio 2019 or later
  - [libacl](http://download.savannah.gnu.org/releases/acl/), 2.2 or later. Only for Linux & QNX.
- - optional, [ncurses](https://invisible-island.net/ncurses/), 6.2 or later. Required by introspectiont tool.
+ - optional, [ncurses](https://invisible-island.net/ncurses/), 6.2 or later. Required by introspection tool.
 
 #### Optional, Cyclone DDS Gateway
-If you would like to use our Cyclone DDS Gateway you have to install 
-[Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds) first. Furthermore
-you have to install:
+If you would like to use our Cyclone DDS Gateway you have to install [Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds) first.<br>
+Furthermore you have to install:
 
  - [Apache Maven](http://maven.apache.org/download.cgi), 3.5 or later
- - [OpenJDK](http://jdk.java.net/11/), 11.0 or later. Alternatively Java JDK, version 8 or later
+ - [OpenJDK](http://jdk.java.net/11/), 11.0 or later. Alternatively, Java JDK version 8 or later
 
 **Hint:** If you are behind a corporate firewall you may have to adjust the proxy 
 settings of maven in `/etc/maven/settings.xml`. See: [Maven Proxy Configuration](https://maven.apache.org/settings.html#proxies)
 
 ### Mac OS
 
-Before installing iceoryx you need a XCode installation, git and optional an installed ncurses library for
+Before installing iceoryx you need to install XCode and git. Optionally, ncurses library is required for 
 the introspection client. To install ncurses locally into your build folder follow these steps
 ```
 cd iceoryx
@@ -54,6 +53,16 @@ sudo apt install gcc g++ cmake libacl1-dev libncurses5-dev pkg-config
 
 Additionally, there is an optional dependency to the MIT licensed [cpptoml](https://github.com/skystrife/cpptoml) library, which is used to parse a RouDi config file for the mempool config.
 
+### QNX
+
+QNX SDP 7.0 and 7.1 are supported (shipping with gcc 5.4 and gcc 8.3 respectively).
+
+Easiest way to build iceoryx on QNX is using the build script and providing a toolchain file.<br>
+Example:
+```
+./tools/iceoryx_build_test.sh -t /home/user/toolchains/qnx/qcc_x86_64_toolchain.cmake
+```
+
 
 ## Build with CMake
 

iceoryx_binding_c/CMakeLists.txt

@@ -59,6 +59,7 @@ add_library(${PROJECT_NAME}
     source/cpp2c_enum_translation.cpp
     source/cpp2c_publisher.cpp
     source/cpp2c_subscriber.cpp
+    source/cpp2c_service_description_translation.cpp
 )
 add_library(${PROJECT_NAMESPACE}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
@@ -74,7 +75,7 @@ target_include_directories(${PROJECT_NAME}
     $<INSTALL_INTERFACE:include/${PREFIX}>
 )
 
-if(NOT WIN32)
+if(NOT (WIN32 OR QNX))
     target_link_libraries(${PROJECT_NAME}
       PUBLIC
         stdc++

iceoryx_binding_c/include/iceoryx_binding_c/internal/cpp2c_service_description_translation.hpp

@@ -0,0 +1,27 @@
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#ifndef IOX_BINDING_C_CPP2C_SERVICE_DESCRIPTION_TRANSLATION_HPP
+#define IOX_BINDING_C_CPP2C_SERVICE_DESCRIPTION_TRANSLATION_HPP
+
+#include "iceoryx_binding_c/service_description.h"
+#include "iceoryx_posh/capro/service_description.hpp"
+
+iox_service_description_t
+TranslateServiceDescription(const iox::capro::ServiceDescription& serviceDescription) noexcept;
+
+#endif
+

iceoryx_binding_c/include/iceoryx_binding_c/publisher.h

@@ -20,6 +20,7 @@
 
 #include "iceoryx_binding_c/enums.h"
 #include "iceoryx_binding_c/internal/c2cpp_binding.h"
+#include "iceoryx_binding_c/service_description.h"
 #include "iceoryx_binding_c/types.h"
 
 /// @brief publisher handle
@@ -116,4 +117,8 @@ bool iox_pub_is_offered(iox_pub_t const self);
 /// @return true if there are subscribers otherwise false
 bool iox_pub_has_subscribers(iox_pub_t const self);
 
+/// @brief returns the service description of the publisher
+/// @param[in] self handle to the publisher
+/// @return the service description
+iox_service_description_t iox_pub_get_service_description(iox_pub_t const self);
 #endif

iceoryx_binding_c/include/iceoryx_binding_c/service_description.h

@@ -0,0 +1,33 @@
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#ifndef IOX_BINDING_C_SERVICE_DESCRIPTION_H
+#define IOX_BINDING_C_SERVICE_DESCRIPTION_H
+
+#include <stdint.h>
+
+typedef struct
+{
+    uint16_t serviceId;
+    uint16_t instanceId;
+    uint16_t eventId;
+
+    char serviceString[100U];
+    char instanceString[100U];
+    char eventString[100U];
+} iox_service_description_t;
+
+#endif

iceoryx_binding_c/include/iceoryx_binding_c/subscriber.h

@@ -20,6 +20,7 @@
 
 #include "iceoryx_binding_c/enums.h"
 #include "iceoryx_binding_c/internal/c2cpp_binding.h"
+#include "iceoryx_binding_c/service_description.h"
 #include "iceoryx_binding_c/types.h"
 
 /// @brief Subscriber handle
@@ -117,4 +118,8 @@ bool iox_sub_has_chunks(iox_sub_t const self);
 /// @return true if there are lost chunks due to overflowing queue, otherwise false
 bool iox_sub_has_lost_chunks(iox_sub_t const self);
 
+/// @brief returns the service description of the subscriber
+/// @param[in] self handle to the subscriber
+/// @return the service description
+iox_service_description_t iox_sub_get_service_description(iox_sub_t const self);
 #endif

iceoryx_binding_c/include/iceoryx_binding_c/types.h

@@ -31,7 +31,7 @@ struct iox_ws_storage_t_
 {
     // the value of the array size is the result of the following formula:
     // sizeof(WaitSet) / 8
-    uint64_t do_not_touch_me[2567];
+    uint64_t do_not_touch_me[2696];
 };
 typedef struct iox_ws_storage_t_ iox_ws_storage_t;
 

iceoryx_binding_c/source/c_publisher.cpp

@@ -17,6 +17,7 @@
 
 #include "iceoryx_binding_c/internal/cpp2c_enum_translation.hpp"
 #include "iceoryx_binding_c/internal/cpp2c_publisher.hpp"
+#include "iceoryx_binding_c/internal/cpp2c_service_description_translation.hpp"
 #include "iceoryx_posh/internal/popo/ports/publisher_port_user.hpp"
 #include "iceoryx_posh/runtime/posh_runtime.hpp"
 
@@ -149,3 +150,9 @@ bool iox_pub_has_subscribers(iox_pub_t const self)
 {
     return PublisherPortUser(self->m_portData).hasSubscribers();
 }
+
+iox_service_description_t iox_pub_get_service_description(iox_pub_t const self)
+{
+    return TranslateServiceDescription(PublisherPortUser(self->m_portData).getCaProServiceDescription());
+}
+

iceoryx_binding_c/source/c_subscriber.cpp

@@ -18,6 +18,7 @@
 
 #include "iceoryx_binding_c/enums.h"
 #include "iceoryx_binding_c/internal/cpp2c_enum_translation.hpp"
+#include "iceoryx_binding_c/internal/cpp2c_service_description_translation.hpp"
 #include "iceoryx_binding_c/internal/cpp2c_subscriber.hpp"
 #include "iceoryx_binding_c/internal/cpp2c_waitset.hpp"
 #include "iceoryx_posh/internal/popo/building_blocks/condition_variable_data.hpp"
@@ -149,3 +150,8 @@ bool iox_sub_has_lost_chunks(iox_sub_t const self)
 {
     return SubscriberPortUser(self->m_portData).hasLostChunksSinceLastCall();
 }
+
+iox_service_description_t iox_sub_get_service_description(iox_sub_t const self)
+{
+    return TranslateServiceDescription(SubscriberPortUser(self->m_portData).getCaProServiceDescription());
+}