iox-eclipse-iceoryx#495 Merge remote-tracking branch 'upstream/master…

…' into iox-eclipse-iceoryx#495-bugfix-gcc-5-compatibility

Signed-off-by: Hintz Martin (XC-AD/ESB5) <[email protected]>

iceoryx_posh/.clang-tidy → .clang-tidy

@@ -1,14 +1,19 @@
-Checks: '-*, readability-identifier-naming'
+Checks: '-*,readability-*,performance-*,hicpp-*,cppcoreguidelines-*,concurrency-*,clang-analyzer-*,cert-*,bugprone-*'
 CheckOptions:
   - { key: readability-identifier-naming.ClassCase,               value: CamelCase }
   - { key: readability-identifier-naming.EnumCase,                value: CamelCase }
   - { key: readability-identifier-naming.StructCase,              value: CamelCase }
   - { key: readability-identifier-naming.UnionCase,               value: CamelCase }
   - { key: readability-identifier-naming.MethodCase,              value: camelBack }
+  - { key: readability-identifier-naming.FunctionCase,            value: camelBack }
   - { key: readability-identifier-naming.NamespaceCase,           value: lower_case }
   - { key: readability-identifier-naming.MemberPrefix,            value: m_ }
   - { key: readability-identifier-naming.MemberCase,              value: camelBack }
   - { key: readability-identifier-naming.ConstexprVariableCase,   value: UPPER_CASE }
   - { key: readability-identifier-naming.EnumCase,                value: UPPER_CASE }
   - { key: readability-identifier-naming.GlobalConstantCase,      value: UPPER_CASE }
-  - { key: readability-identifier-naming.TemplateParameterCase,   value: CamelCase }
+  - { key: readability-identifier-naming.TemplateParameterCase,   value: CamelCase }
+  - { key: readability-function-size.LineThreshold,               value: 200 }
+  - { key: readability-function-size.StatementThreshold,          value: 200 }
+  - { key: readability-function-size.BranchThreshold,             value: 10 }
+  - { key: readability-function-size.ParameterThreshold,          value: 3 }

.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)

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 !}

iceoryx_binding_c/CMakeLists.txt

@@ -47,17 +47,19 @@ set(${PROJECT_NAME}_DIR ${CMAKE_CURRENT_LIST_DIR}/cmake
 ########## build building-block library ##########
 #
 add_library(${PROJECT_NAME}
-    source/c_user_trigger.cpp
-    source/c_publisher.cpp
+    source/c_event_info.cpp
+    source/c_listener.cpp
     source/c_node.cpp
+    source/c_publisher.cpp
     source/c_runtime.cpp
     source/c_subscriber.cpp
-    source/c_event_info.cpp
+    source/c_user_trigger.cpp
     source/c_wait_set.cpp
     source/c_chunk.cpp
     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})
 
@@ -76,6 +78,7 @@ target_include_directories(${PROJECT_NAME}
 if(NOT (WIN32 OR QNX))
     target_link_libraries(${PROJECT_NAME}
       PUBLIC
+        stdc++
         pthread
       PRIVATE
         iceoryx_posh::iceoryx_posh

iceoryx_binding_c/include/iceoryx_binding_c/enums.h

@@ -61,5 +61,12 @@ enum iox_WaitSetResult
     WaitSetResult_SUCCESS
 };
 
+enum iox_ListenerResult
+{
+    ListenerResult_LISTENER_FULL,
+    ListenerResult_EVENT_ALREADY_ATTACHED,
+    ListenerResult_UNDEFINED_ERROR,
+    ListenerResult_SUCCESS
+};
 
 #endif

iceoryx_binding_c/include/iceoryx_binding_c/internal/cpp2c_enum_translation.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// 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.
@@ -22,6 +23,7 @@
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
 #include "iceoryx_posh/internal/popo/building_blocks/chunk_receiver.hpp"
 #include "iceoryx_posh/internal/popo/building_blocks/chunk_sender.hpp"
+#include "iceoryx_posh/popo/listener.hpp"
 #include "iceoryx_posh/popo/wait_set.hpp"
 
 namespace cpp2c
@@ -30,6 +32,7 @@ iox_SubscribeState SubscribeState(const iox::SubscribeState value);
 iox_ChunkReceiveResult ChunkReceiveResult(const iox::popo::ChunkReceiveResult value);
 iox_AllocationResult AllocationResult(const iox::popo::AllocationError value);
 iox_WaitSetResult WaitSetResult(const iox::popo::WaitSetError value);
+iox_ListenerResult ListenerResult(const iox::popo::ListenerError value);
 } // namespace cpp2c
 
 #endif

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/listener.h

@@ -0,0 +1,82 @@
+// Copyright (c) 2021 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_LISTENER_H
+#define IOX_BINDING_C_LISTENER_H
+
+#include "iceoryx_binding_c/enums.h"
+#include "iceoryx_binding_c/internal/c2cpp_binding.h"
+#include "iceoryx_binding_c/subscriber.h"
+#include "iceoryx_binding_c/types.h"
+#include "iceoryx_binding_c/user_trigger.h"
+
+typedef CLASS Listener* iox_listener_t;
+
+
+/// @brief initializes a listener struct from a storage struct pointer
+/// @param[in] self pointer to raw memory which can hold a listener
+/// @return an initialized iox_listener_t
+iox_listener_t iox_listener_init(iox_listener_storage_t* self);
+
+/// @brief after using an iox_listener_t it must be cleaned up with this function
+/// @param[in] self the listener which should be deinitialized
+void iox_listener_deinit(iox_listener_t const self);
+
+/// @brief Attaches a subscriber event to the listener
+/// @param[in] self listener to which the event should be attached to
+/// @param[in] subscriber subscriber which emits the event
+/// @param[in] subscriberEvent the event which should trigger the listener
+/// @param[in] callback the callback which is called when an event triggers the listener
+/// @return when successful iox_ListenerResult::ListenerResult_SUCCESS otherwise an enum which describes the error
+ENUM iox_ListenerResult iox_listener_attach_subscriber_event(iox_listener_t const self,
+                                                             iox_sub_t const subscriber,
+                                                             const ENUM iox_SubscriberEvent subscriberEvent,
+                                                             void (*callback)(iox_sub_t));
+
+/// @brief Attaches a user trigger to the listener
+/// @param[in] self listener to which the event should be attached to
+/// @param[in] userTrigger user trigger which emits the event
+/// @param[in] callback the callback which is called when the user trigger triggers the listener
+/// @return when successful iox_ListenerResult::ListenerResult_SUCCESS otherwise an enum which describes the error
+ENUM iox_ListenerResult iox_listener_attach_user_trigger_event(iox_listener_t const self,
+                                                               iox_user_trigger_t const userTrigger,
+                                                               void (*callback)(iox_user_trigger_t));
+
+/// @brief Detaches a subscriber event from the listener
+/// @param[in] self listener from which the event should be detached
+/// @param[in] subscriber the subscriber which emits the event
+/// @param[in] subscriberEvent the subscriber event which is registered at the listener
+void iox_listener_detach_subscriber_event(iox_listener_t const self,
+                                          iox_sub_t const subscriber,
+                                          const ENUM iox_SubscriberEvent subscriberEvent);
+
+/// @brief Detaches a user trigger from the listener
+/// @param[in] self listener from which the event should be detached
+/// @param[in] userTrigger the user trigger which emits the event
+void iox_listener_detach_user_trigger_event(iox_listener_t const self, iox_user_trigger_t const userTrigger);
+
+
+/// @brief Returns the size, the number of attached events of a listener.
+/// @param[in] self listener where the size should be acquired
+/// @return the size of the listener
+uint64_t iox_listener_size(iox_listener_t const self);
+
+/// @brief Returns the capacity of a listener (how many events can be attached).
+/// @param[in] self listener where the capacity should be acquired
+/// @return the capacity of the listener
+uint64_t iox_listener_capacity(iox_listener_t const self);
+
+#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

@@ -1,4 +1,5 @@
-// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 - 2021 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.
@@ -66,4 +67,13 @@ struct iox_pub_storage_t_
 };
 typedef struct iox_pub_storage_t_ iox_pub_storage_t;
 
+struct iox_listener_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];
+};
+typedef struct iox_listener_storage_t_ iox_listener_storage_t;
+
+
 #endif

iceoryx_binding_c/include/iceoryx_binding_c/wait_set.h

@@ -1,4 +1,5 @@
-// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 - 2021 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.
@@ -22,6 +23,7 @@
 #include "iceoryx_binding_c/internal/c2cpp_binding.h"
 #include "iceoryx_binding_c/subscriber.h"
 #include "iceoryx_binding_c/types.h"
+#include "iceoryx_binding_c/user_trigger.h"
 
 #include <time.h>