eclipse-iceoryx · mossmaurice · Jun 25, 2020 · Jun 4, 2020 · Jun 9, 2020 · Jun 9, 2020
diff --git a/.github/workflows/build-test.yml b/.github/workflows/build-test.yml
@@ -73,8 +73,8 @@ jobs:
       - name: Build tests
         run: $GITHUB_WORKSPACE/tools/iceoryx_build_test.sh build-test
 
-      # - name: Run tests
-      #   run: |
-      #     cd $GITHUB_WORKSPACE/build
-      #     ../tools/run_all_tests.sh
+      - name: Run tests
+        run: |
+          cd $GITHUB_WORKSPACE/build
+          ../tools/run_all_tests.sh disable-timing-tests
 
diff --git a/README.md b/README.md
@@ -75,24 +75,33 @@ the interwebs on a lonely evening, he finds out about iceoryx: Free-to-use, high
 runtime overhead, real-time support! Brilliant! Maybe even Robby's biggest wish for a network binding will come true,
 so he can stream his favorite [video](https://www.youtube.com/watch?v=g5NkgZXWl0w) even faster!
 
-## Download
+## Installation
 
-<!--
-Either download our pre-built daemon (called RouDi) and our runtime lib or build everything yourself.
-
-### Release
+iceoryx_utils and iceoryx_posh are deployed as independent cmake packages. Posh is using some functions from utils and is depending on it. You are able to build posh and utils and integrate in into existing cmake projects.
 
-    wget iceoryx.deb
-    dpkg -i iceoryx.deb
+### Prerequisites
 
-You've successfully installed iceoryx! Continue with the section examples to see how to get started developing applications using iceoryx.
--->
+#### Mac OS
 
-### Development
+Before installing iceoryx you need a XCode installation, git and optional an installed ncurses library for 
+the introspection client. To install ncurses locally into your build folder follow these steps
+```
+cd iceoryx
+ICEORYX_DIR=$PWD
+mkdir -p build
+cd build
+git clone https://github.com/mirror/ncurses.git 
+cd ncurses
+git checkout v6.2          
+./configure  --prefix=$ICEORYX_DIR/build/dependencies/ --exec-prefix=$ICEORYX_DIR/build/dependencies/ --with-termlib 
+make -j12
+make install
+```
 
-Great that you want start developing iceoryx! In order to get started please consider the next sections.
+If you would like to use our Cyclone DDS Gateway you have to install Cyclone DDS first, see
+[https://github.com/eclipse-cyclonedds/cyclonedds](https://github.com/eclipse-cyclonedds/cyclonedds).
 
-#### Prerequisites
+#### Linux
 
 Although we strive to be fully POSIX-compliant, we recommend using Ubuntu 18.04 and at least GCC 7.4.0 for development.
 
@@ -103,40 +112,66 @@ You will need to install the following packages:
 Additionally, there is an optional dependency to the MIT licensed cpptoml library, which is used to parse a RouDi config file for the mempool config.
 [cpptoml](https://github.com/skystrife/cpptoml)
 
-#### Build from sources
-
-iceoryx_utils and iceoryx_posh are deployed as independent cmake packages. Posh is using some functions from utils and is depending on it. You are able to build posh and utils and integrate in into existing cmake projects.
+### Build with CMake (all supported platforms)
 
-##### Build Script
-For the first start, we advise to use our build-test script for building everything.
+**NOTE:** Requires CMake version 3.14 or higher. If you only have CMake version 3.5 or higher available please use the
+build script.
 
+The `CMakeLists.txt` from `iceoryx_meta` can be used to easily develop iceoryx with an IDE.
+
+ 1. Clone the repository
+    ```
     git clone https://github.com/eclipse/iceoryx.git
-    ./tools/iceoryx_build_test.sh
-
-In default-mode, the script is not building the provided test. For a clean build just add "clean" as first argument to the script.
-
-If the script is not used, keep in mind to pass `-DTOML_CONFIG=on` to cmake if the optional RouDi config file feature shall be built.
-
-**NOTE:** Users who wish to build iceoryx with cmake can follow the below steps (Requires CMake 3.14 or higher).
-
-* Step into root folder of iceoryx.
-
-* Execute the below commands.
-
-```
-iceoryx$ cmake -Bbuild -Hiceoryx_meta // Customisation possible with cmake switches
-iceoryx$ cmake --build build
-```
-
-#### Build with tests
-
-To build iceoryx with tests, just add "test" as first argument to the script.
+    ```
+
+ 2. Generate the necessary build files
+    ```bash
+    cd iceoryx
+    cmake -Bbuild -Hiceoryx_meta -DTOML_CONFIG=ON
+    # when you have installed external dependencies like ncurses you have to add them
+    # to your prefix path
+    cmake -Bbuild -Hiceoryx_meta -DTOML_CONFIG=ON -DCMAKE_PREFIX_PATH=$(PWD)/build/dependencies/
+    ```
+    ```
+ 3. Compile the source code
+    ```
+    cmake --build build
+    ```
+
+With the following CMake switches you can add additional features:
+
+ |  switch  |  description |
+ |:---------|:-------------|
+ | ```dds``` | builds the iceoryx dds gateway which requires an installed CycloneDDS, see [https://github.com/eclipse-cyclonedds/cyclonedds](https://github.com/eclipse-cyclonedds/cyclonedds) |
+ | ```examples``` | builds all examples |
+ | ```introspection``` | the console introspection client which requires an installed ncurses library with terminfo support |
+ | ```test``` | enables module-, integration- and component-tests |
+ | ```TOML_CONFIG``` | activates config file support by using toml, if this is deactivated the central broker ```RouDi``` is not being build |
+
+### Build with the build script (only Linux and QNX)
+
+As an alternative we provide our build-test script which we use to integrate
+iceoryx into our infrastructure.
+
+ 1. Clone the repository
+    ```
+    git clone https://github.com/eclipse/iceoryx.git
+    ```
 
-    ./tools/iceoryx_build_test.sh test
+ 2. Build everything
+    ```
+    cd iceoryx
+    ./tools/iceoryx_build_test.sh
+    ```
 
-The Googletest-Framework will be automatically fetched from github and the test will be executed and the end of the script.
+With the following arguments you can add additional features:
+
+ |  switch  |  description |
+ |:---------|:-------------|
+ | ```clean``` | Removes the build directory and performs a clean build. If you have installed ncurses locally into your build directory you have to reinstall it first. |
+ | ```test``` | Enables module-, integration- and component-tests. The Googletest-Framework will be automatically fetched from github and the test will be executed and the end of the script. |
 
-##### Build with colcon
+### Build with colcon
 
 Alternatively, iceoryx can be built with [colcon](https://colcon.readthedocs.io/en/released/user/installation.html) to provide a smooth integration for ROS2 developers.
 
@@ -152,7 +187,7 @@ This build method makes the most sense in combination with [rmw_iceoryx](https:/
 
 Congrats! You've build all the necessary things to continue playing around with the examples.
 
-##### Build and run in a Docker environment
+### Build and run in a Docker environment
 
 If you want to avoid installing anything on your host machine but you have Docker installed, it is possible to use it to build and run iceoryx applications.
 

diff --git a/iceoryx_meta/CMakeLists.txt b/iceoryx_meta/CMakeLists.txt
@@ -7,9 +7,17 @@ project(iceoryx VERSION ${iceoryx_VERSION})
 #    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/googletest ${CMAKE_BINARY_DIR}/gtest)
 #endif(test)
 
+option(examples "build with iceoryx examples" ON)
+option(introspection "builds the introspection client which requires the ncurses library with an activated terminfo feature" OFF)
+option(diagnostic "enables allmost all compiler warnings" OFF)
+option(dds "enables dds support by compiling the iceoryx dds gateway" OFF)
 
 include(FetchContent)
 
+if (diagnostic)
+    add_compile_options(-Wall -W -Wextra -pedantic)
+endif(diagnostic)
+
 set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 if(test)
 FetchContent_Declare(
@@ -49,5 +57,15 @@ endif(TOML_CONFIG)
 
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_utils ${CMAKE_BINARY_DIR}/iceoryx_utils )
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_posh ${CMAKE_BINARY_DIR}/iceoryx_posh )
-add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/icedelivery ${CMAKE_BINARY_DIR}/examples/icedelivery )
-add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/iceperf ${CMAKE_BINARY_DIR}/examples/iceperf )
+if (examples)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/icedelivery ${CMAKE_BINARY_DIR}/examples/icedelivery )
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/iceperf ${CMAKE_BINARY_DIR}/examples/iceperf )
+endif(examples)
+
+if(introspection)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../tools/introspection ${CMAKE_BINARY_DIR}/tools/introspection )
+endif(introspection)
+
+if(dds)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_dds_gateway ${CMAKE_BINARY_DIR}/iceoryx_dds_gateway )
+endif(dds)
diff --git a/iceoryx_posh/CMakeLists.txt b/iceoryx_posh/CMakeLists.txt
@@ -266,16 +266,14 @@ endif(ICEORYX_LARGE_DEPLOYMENT)
 #
 ########## exporting library ##########
 #
+if(TOML_CONFIG)
+    set(ROUDI_EXPORT RouDi)
+endif(TOML_CONFIG)
+
 setup_install_directories_and_export_package(
-    TARGETS iceoryx_posh iceoryx_posh_roudi
+    TARGETS iceoryx_posh iceoryx_posh_roudi ${ROUDI_EXPORT}
     INCLUDE_DIRECTORY include/
 )
-if(TOML_CONFIG)
-    setup_install_directories_and_export_package(
-        TARGETS RouDi
-        INCLUDE_DIRECTORY include/
-    )
-endif(TOML_CONFIG)
 
 if(test)
     add_subdirectory(test)

diff --git a/iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.hpp b/iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.hpp
@@ -28,11 +28,24 @@ namespace popo
 class SenderPort;
 class ReceiverPort;
 } // namespace popo
+namespace posix
+{
+class UnixDomainSocket;
+class MessageQueue;
+} // namespace posix
 
 using SenderPortType = iox::popo::SenderPort;
 using ReceiverPortType = iox::popo::ReceiverPort;
 
 constexpr char MQ_ROUDI_NAME[] = "/roudi";
+/// @brief The socket is created in the current path if no absolute path is given hence
+///      we need an absolut path so that every application knows where our sockets can
+///      be found.
+#if defined(__APPLE__)
+using IpcChannelType = iox::posix::UnixDomainSocket;
+#else
+using IpcChannelType = iox::posix::MessageQueue;
+#endif
 
 /// shared memmory segment for the iceoryx managment data
 constexpr char SHM_NAME[] = "/iceoryx_mgmt";

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_distributor.hpp b/iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_distributor.hpp
@@ -74,7 +74,8 @@ class ChunkDistributor
     /// @param[in] requestedHistory number of last chunks from history to send if available. If history size is smaller
     /// then the available history size chunks are provided
     /// @return if the queue could be added it returns success, otherwiese a ChunkDistributor error
-    cxx::expected<ChunkDistributorError> addQueue(cxx::not_null<ChunkQueueData_t* const> queueToAdd, uint64_t requestedHistory = 0) noexcept;
+    cxx::expected<ChunkDistributorError> addQueue(cxx::not_null<ChunkQueueData_t* const> queueToAdd,
+                                                  uint64_t requestedHistory = 0) noexcept;
 
     /// @brief Remove a queue from the internal list of chunk queues
     /// @param[in] chunk queue to remove from the list
@@ -123,7 +124,7 @@ class ChunkDistributor
     MemberType_t* getMembers() noexcept;
 
   private:
-    MemberType_t* const m_chunkDistrubutorDataPtr;
+    MemberType_t* m_chunkDistrubutorDataPtr;
 };
 
 } // namespace popo

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_queue_popper.hpp b/iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_queue_popper.hpp
@@ -87,7 +87,7 @@ class ChunkQueuePopper
     MemberType_t* getMembers() noexcept;
 
   private:
-    MemberType_t* const m_chunkQueueDataPtr;
+    MemberType_t* m_chunkQueueDataPtr;
 };
 
 } // namespace popo

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_queue_pusher.hpp b/iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_queue_pusher.hpp
@@ -52,7 +52,7 @@ class ChunkQueuePusher
     MemberType_t* getMembers() noexcept;
 
   private:
-    MemberType_t* const m_chunkQueueDataPtr;
+    MemberType_t* m_chunkQueueDataPtr;
 };
 
 } // namespace popo

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/popo/ports/base_port_data.hpp b/iceoryx_posh/include/iceoryx_posh/internal/popo/ports/base_port_data.hpp
@@ -25,12 +25,11 @@ namespace iox
 {
 namespace runtime
 {
-struct RunnableData;
+class RunnableData;
 }
 
 namespace popo
 {
-
 /// @brief Defines different base port data
 struct BasePortData
 {
@@ -43,8 +42,7 @@ struct BasePortData
     /// @param[in] portType Type of port to be created
     /// @param[in] processName Name of the process
     /// @param[in] runnable The runnable where this port is attached to
-    BasePortData(const capro::ServiceDescription& serviceDescription,
-                 const cxx::CString100& processName) noexcept;
+    BasePortData(const capro::ServiceDescription& serviceDescription, const cxx::CString100& processName) noexcept;
 
     BasePortData(const BasePortData&) = delete;
     BasePortData& operator=(const BasePortData&) = delete;

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/roudi_environment/roudi_environment.hpp b/iceoryx_posh/include/iceoryx_posh/internal/roudi_environment/roudi_environment.hpp
@@ -62,7 +62,11 @@ class RouDiEnvironment
 
   private:
     RuntimeTestInterface m_runtimes;
+#if defined(__APPLE__)
+    std::chrono::milliseconds m_interOpWaitingTime = std::chrono::milliseconds(1000);
+#else
     std::chrono::milliseconds m_interOpWaitingTime = std::chrono::milliseconds(200);
+#endif
     std::unique_ptr<IceOryxRouDiComponents> m_roudiComponents;
     std::unique_ptr<RouDiMultiProcess> m_roudiApp;
 };

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/runtime/message_queue_interface.hpp b/iceoryx_posh/include/iceoryx_posh/internal/runtime/message_queue_interface.hpp
@@ -17,6 +17,7 @@
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
 #include "iceoryx_posh/internal/runtime/message_queue_message.hpp"
 #include "iceoryx_utils/internal/posix_wrapper/message_queue.hpp"
+#include "iceoryx_utils/internal/posix_wrapper/unix_domain_socket.hpp"
 #include "iceoryx_utils/internal/units/duration.hpp"
 #include "iceoryx_utils/platform/fcntl.hpp"
 #include "iceoryx_utils/platform/mqueue.hpp"
@@ -185,7 +186,7 @@ class MqBase
     MqBase() = delete;
     // TODO: unique identifier problem, multiple MqBase objects with the
     //        same InterfaceName are using the same message queue
-    MqBase(const std::string& InterfaceName, const int64_t maxMessages, const int64_t messageSize) noexcept;
+    MqBase(const std::string& InterfaceName, const uint64_t maxMessages, const uint64_t messageSize) noexcept;
     virtual ~MqBase() = default;
 
     /// @brief delete copy and move ctor and assignment since they are not needed
@@ -224,10 +225,10 @@ class MqBase
 
   protected:
     std::string m_interfaceName;
-    long m_maxMessageSize{0};
-    long m_maxMessages{0};
+    uint64_t m_maxMessageSize{0};
+    uint64_t m_maxMessages{0};
     iox::posix::IpcChannelSide m_channelSide{posix::IpcChannelSide::CLIENT};
-    iox::posix::MessageQueue m_mq;
+    IpcChannelType m_mq;
 };
 
 /// @brief Class for handling a message queue via mq_open and mq_close.

diff --git a/iceoryx_posh/include/iceoryx_posh/internal/runtime/runnable_data.hpp b/iceoryx_posh/include/iceoryx_posh/internal/runtime/runnable_data.hpp
@@ -23,8 +23,9 @@ namespace iox
 namespace runtime
 {
 /// @brief struct which contains all the members of an object of type Runnable
-struct RunnableData
+class RunnableData
 {
+  public:
     /// @brief constructor
     /// @param[in] name name of the runnable
     /// @param[in] runnableDeviceIdentifier identifier of the device on which the runnable will run

diff --git a/iceoryx_posh/include/iceoryx_posh/popo/gateway_discovery.hpp b/iceoryx_posh/include/iceoryx_posh/popo/gateway_discovery.hpp
@@ -21,7 +21,7 @@ namespace iox
 {
 namespace capro
 {
-struct CaproMessage;
+class CaproMessage;
 }
 namespace popo
 {

diff --git a/iceoryx_posh/include/iceoryx_posh/popo/gateway_generic.hpp b/iceoryx_posh/include/iceoryx_posh/popo/gateway_generic.hpp
@@ -24,7 +24,7 @@ namespace iox
 {
 namespace capro
 {
-struct CaproMessage;
+class CaproMessage;
 }
 namespace popo
 {

diff --git a/iceoryx_posh/include/iceoryx_posh/runtime/runnable.hpp b/iceoryx_posh/include/iceoryx_posh/runtime/runnable.hpp
@@ -21,7 +21,7 @@ namespace iox
 {
 namespace runtime
 {
-struct RunnableData;
+class RunnableData;
 
 /// @brief class which represents a runnable
 class Runnable