Release v2.1.0

eProsima · Nov 30, 2021 · bdaddba · bdaddba
2 parents 69134a9 + 07fa1a7
commit bdaddba
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Showing 136 changed files with 13,339 additions and 310 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,6 +20,7 @@ cmake_minimum_required(VERSION 3.5.0 FATAL_ERROR)
 ###############################################################################
 # Build options
 ###############################################################################
+option(UCLIENT_BUILD_MICROCDR "Force local build of Micro CDR." OFF)
 option(UCLIENT_SUPERBUILD "Enable superbuild compilation." ON)
 option(UCLIENT_BUILD_TESTS "Build tests." OFF)
 option(UCLIENT_BUILD_EXAMPLES "Build examples." OFF)
@@ -29,6 +30,7 @@ option(UCLIENT_VERBOSE_MESSAGE "Build with message verbosity." OFF)
 option(UCLIENT_PIC "Control Position Independent Code." ON)
 option(UCLIENT_ISOLATED_INSTALL "Install the project and dependencies into separeted folders with version control." OFF)
 option(BUILD_SHARED_LIBS "Control shared/static library building." OFF)
+option(BUILD_DOCUMENTATION "Use doxygen to create product documentation" OFF)
 
 option(UCLIENT_BUILD_CI_TESTS "Build CI test cases." OFF)
 if(UCLIENT_BUILD_CI_TESTS)
@@ -45,6 +47,7 @@ option(UCLIENT_BIG_ENDIANNESS "Set the machine endianness to big endianness (by
 option(UCLIENT_PROFILE_DISCOVERY "Enable discovery profile." ON)
 option(UCLIENT_PROFILE_UDP "Enable UDP transport." ON)
 option(UCLIENT_PROFILE_TCP "Enable TCP transport." ON)
+option(UCLIENT_PROFILE_CAN "Enable CAN FD transport." OFF)
 option(UCLIENT_PROFILE_SERIAL "Enable Serial transport." ON)
 option(UCLIENT_PROFILE_STREAM_FRAMING "Enable stream framing protocol." ON)
 set(UCLIENT_MAX_OUTPUT_BEST_EFFORT_STREAMS 1 CACHE STRING "Set the maximum number of output best-effort streams for session.")
@@ -53,19 +56,28 @@ set(UCLIENT_MAX_INPUT_BEST_EFFORT_STREAMS 1 CACHE STRING "Set the maximum number
 set(UCLIENT_MAX_INPUT_RELIABLE_STREAMS 1 CACHE STRING "Set the maximum number of input reliable streams for session.")
 set(UCLIENT_MAX_SESSION_CONNECTION_ATTEMPTS 10 CACHE STRING "Set the number of connection attemps.")
 set(UCLIENT_MIN_SESSION_CONNECTION_INTERVAL 1000 CACHE STRING "Set the connection interval in milliseconds.")
-set(UCLIENT_MIN_HEARTBEAT_TIME_INTERVAL 1 CACHE STRING "Set the time interval between heartbeats in milliseconds.")
+set(UCLIENT_MIN_HEARTBEAT_TIME_INTERVAL 100 CACHE STRING "Set the time interval between heartbeats in milliseconds.")
 set(UCLIENT_UDP_TRANSPORT_MTU 512 CACHE STRING "Set the UDP transport MTU.")
 set(UCLIENT_TCP_TRANSPORT_MTU 512 CACHE STRING "Set the TCP transport MTU.")
 set(UCLIENT_SERIAL_TRANSPORT_MTU 512 CACHE STRING "Set the Serial transport MTU.")
 
 option(UCLIENT_PROFILE_CUSTOM_TRANSPORT "Enable Custom transport." ON)
 set(UCLIENT_CUSTOM_TRANSPORT_MTU 512 CACHE STRING "Set the Custom transport MTU.")
 
+option(UCLIENT_PROFILE_MULTITHREAD "Enable multithread support." OFF)
+option(UCLIENT_PROFILE_SHARED_MEMORY "Enable shared memory transport support." OFF)
+option(UCLIENT_PROFILE_MATCHING "Enable QoS matching support." OFF)
+set(UCLIENT_SHARED_MEMORY_MAX_ENTITIES 4 CACHE STRING "Max number of entities involved in shared memory.")
+set(UCLIENT_SHARED_MEMORY_STATIC_MEM_SIZE 10 CACHE STRING "Max number data buffers stored in shared memory")
+
+# Off-standard features and tweaks
+option(UCLIENT_TWEAK_XRCE_WRITE_LIMIT "This feature uses a tweak to allow XRCE WRITE DATA submessages grater than 64 kB." ON)
+
 ###############################################################################
 # Dependencies
 ###############################################################################
-set(_microcdr_version 1.2.1)
-set(_microcdr_tag v1.2.1)
+set(_microcdr_version 2.0.0)
+set(_microcdr_tag v2.0.0)
 
 set(_deps "")
 list(APPEND _deps "microcdr\;${_microcdr_version}")
@@ -75,7 +87,7 @@ list(APPEND _deps "microcdr\;${_microcdr_version}")
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UCLIENT_SUPERBUILD)
-    project(microxrcedds_client VERSION "2.0.0" LANGUAGES C)
+    project(microxrcedds_client VERSION "2.1.0" LANGUAGES C)
 else()
     project(uclient_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -125,7 +137,7 @@ endforeach()
 # Sources
 ###############################################################################
 # Check platform.
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Android")
     set(UCLIENT_PLATFORM_LINUX ON)
 elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     set(UCLIENT_PLATFORM_WINDOWS ON)
@@ -138,6 +150,8 @@ elseif(CMAKE_SYSTEM_NAME STREQUAL "Generic")
         set(UCLIENT_PLATFORM_POSIX_NOPOLL ON)
     elseif(PLATFORM_NAME STREQUAL "FreeRTOS_Plus_TCP")
         set(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP ON)
+    elseif(PLATFORM_NAME STREQUAL "RTEMS_BSD_NET")
+        set(UCLIENT_PLATFORM_RTEMS_BSD_NET ON)
     endif()
 endif()
 
@@ -158,6 +172,8 @@ if(UCLIENT_PROFILE_UDP)
         list(APPEND _transport_src src/c/profile/transport/ip/udp/udp_transport_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/transport/ip/udp/udp_transport_rtems_bsd_net.c)
     endif()
 endif()
 
@@ -169,11 +185,14 @@ if(UCLIENT_PROFILE_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.c)
     endif()
 endif()
 
 if(UCLIENT_PLATFORM_WINDOWS)
 set(UCLIENT_PROFILE_SERIAL OFF)
+set(UCLIENT_PROFILE_CAN OFF)
 endif()
 
 if(UCLIENT_PROFILE_SERIAL)
@@ -184,6 +203,11 @@ if(UCLIENT_PROFILE_SERIAL)
     endif()
 endif()
 
+if(UCLIENT_PROFILE_CAN AND UCLIENT_PLATFORM_POSIX)
+    list(APPEND _transport_src src/c/profile/transport/can/can_transport.c)
+    list(APPEND _transport_src src/c/profile/transport/can/can_transport_posix.c)
+endif()
+
 if(UCLIENT_PROFILE_DISCOVERY OR UCLIENT_PROFILE_UDP OR UCLIENT_PROFILE_TCP)
     if(UCLIENT_PLATFORM_POSIX)
         list(APPEND _transport_src src/c/profile/transport/ip/ip_posix.c)
@@ -193,6 +217,8 @@ if(UCLIENT_PROFILE_DISCOVERY OR UCLIENT_PROFILE_UDP OR UCLIENT_PROFILE_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/ip_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/ip_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/transport/ip/ip_rtems_bsd_net.c)
     endif()
 endif()
 
@@ -207,13 +233,19 @@ if(UCLIENT_PROFILE_DISCOVERY)
         list(APPEND _transport_src src/c/profile/discovery/transport/udp_transport_datagram_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/discovery/transport/udp_transport_datagram_rtems_bsd_net.c)
     endif()
 endif()
 
 if(UCLIENT_PROFILE_CUSTOM_TRANSPORT)
     list(APPEND _transport_src src/c/profile/transport/custom/custom_transport.c)
 endif()
 
+if(UCLIENT_PROFILE_SHARED_MEMORY)
+    set(UCLIENT_PROFILE_MATCHING ON)
+endif()
+
 # Other sources
 set(SRCS
     src/c/core/session/stream/input_best_effort_stream.c
@@ -235,8 +267,12 @@ set(SRCS
     src/c/core/session/common_create_entities.c
     src/c/core/session/create_entities_ref.c
     src/c/core/session/create_entities_xml.c
+    src/c/core/session/create_entities_bin.c
     src/c/core/session/read_access.c
     src/c/core/session/write_access.c
+    $<$<BOOL:${UCLIENT_PROFILE_MULTITHREAD}>:src/c/profile/multithread/multithread.c>
+    $<$<BOOL:${UCLIENT_PROFILE_SHARED_MEMORY}>:src/c/profile/shared_memory/shared_memory.c>
+    $<$<BOOL:${UCLIENT_PROFILE_MATCHING}>:src/c/profile/matching/matching.c>
     $<$<BOOL:${UCLIENT_PROFILE_STREAM_FRAMING}>:src/c/profile/transport/stream_framing/stream_framing_protocol.c>
     $<$<OR:$<BOOL:${UCLIENT_VERBOSE_MESSAGE}>,$<BOOL:${UCLIENT_VERBOSE_SERIALIZATION}>>:src/c/core/log/log.c>
     ${_transport_src}
@@ -256,10 +292,13 @@ set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation dir
 set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
 if(WIN32)
     set(LICENSE_INSTALL_DIR . CACHE PATH "Installation directory for licenses")
+    set(DOC_DIR "doc")
 else()
     set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
+    set(DOC_DIR "${DATA_INSTALL_DIR}/doc")
 endif()
 
+set(DOC_INSTALL_DIR ${DOC_DIR} CACHE PATH "Installation directory for documentation")
 ###############################################################################
 # Targets
 ###############################################################################
@@ -303,12 +342,17 @@ if((CMAKE_SYSTEM_NAME STREQUAL "Windows") AND (UCLIENT_TARGET_TYPE STREQUAL "SHA
         )
 endif()
 
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Android")
+    find_package(Threads REQUIRED)
+endif()
+
 target_link_libraries(${PROJECT_NAME}
     PUBLIC
         microcdr
         $<$<BOOL:$<PLATFORM_ID:Windows>>:ws2_32>
     PRIVATE
         $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
+        $<$<BOOL:$<PLATFORM_ID:Linux>>:${CMAKE_THREAD_LIBS_INIT}>
     )
 target_include_directories(${PROJECT_NAME}
     PUBLIC
@@ -362,9 +406,20 @@ if(UCLIENT_BUILD_EXAMPLES)
     add_subdirectory(examples/ContinuousFragment)
     add_subdirectory(examples/PublishHelloWorldBestEffort)
     add_subdirectory(examples/SubscribeHelloWorldBestEffort)
+    add_subdirectory(examples/BinaryEntityCreation)
+
     if(UCLIENT_PLATFORM_LINUX)
         add_subdirectory(examples/CustomTransports)
     endif()
+
+    if(UCLIENT_PROFILE_CAN)
+        add_subdirectory(examples/PublishHelloWorldCAN)
+    endif()
+
+    if(UCLIENT_PROFILE_SHARED_MEMORY)
+        add_subdirectory(examples/SharedMemoryPubSub)
+        add_subdirectory(examples/SharedMemoryReqRep)
+    endif()
 endif()
 
 ###############################################################################
@@ -387,13 +442,70 @@ if(UCLIENT_BUILD_TESTS)
     if(UCLIENT_PLATFORM_LINUX)
         add_subdirectory(test/transport/custom_comm)
         add_subdirectory(test/transport/serial_comm)
+        add_subdirectory(test/shared_memory)
     endif()
 endif()
 
 if(UCLIENT_PLATFORM_LINUX AND UCLIENT_MEMORY_TESTS)
     add_subdirectory(test/memory/consumption)
 endif()
 
+###############################################################################
+# Documentation
+###############################################################################
+if(BUILD_DOCUMENTATION)
+    find_package(Doxygen)
+    if(NOT DOXYGEN_FOUND)
+        message(FATAL_ERROR "doxygen is needed to build the documentation. Please install it correctly")
+    endif()
+    if(UNIX)
+        find_program(DOXYFILE_MAKE make)
+        if(DOXYFILE_MAKE)
+            message(STATUS "Found Make: ${DOXYFILE_MAKE}")
+        else()
+            message(FATAL_ERROR "make is needed to build the documentation. Please install it correctly")
+        endif()
+    elseif(WIN32)
+        set(DOXYFILE_MAKE make.bat)
+    endif()
+
+    find_program(WGET_EXE wget)
+    if(WGET_EXE)
+        message(STATUS "Found WGet: ${WGET_EXE}")
+    else()
+        message(FATAL_ERROR "wget is needed to build the documentation. Please install it correctly")
+    endif()
+    find_program(UNZIP_EXE unzip)
+    if(UNZIP_EXE)
+        message(STATUS "Found Unzip: ${UNZIP_EXE}")
+    else()
+        message(FATAL_ERROR "unzip is needed to build the documentation. Please install it correctly")
+    endif()
+
+
+    # Target to create documentation directories
+    file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/doc)
+    add_custom_target(docdirs
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/doc/api_reference
+        COMMENT "Creating documentation directory" VERBATIM)
+
+    ### Doxygen ########################3
+    # Configure the template doxyfile for or specific project
+    configure_file(doxyfile.in ${PROJECT_BINARY_DIR}/doxyfile @ONLY IMMEDIATE)
+    # Add custom target to run doxygen when ever the project is build
+    add_custom_target(doxygen
+        COMMAND "${DOXYGEN_EXECUTABLE}" "${PROJECT_BINARY_DIR}/doxyfile"
+        SOURCES "${PROJECT_BINARY_DIR}/doxyfile"
+        COMMENT "Generating API documentation with doxygen" VERBATIM)
+
+    add_dependencies(doxygen docdirs)
+
+    add_custom_target(doc ALL
+    COMMENT "Generated project documentation" VERBATIM)
+
+    add_dependencies(doc doxygen)
+endif()
+
 ###############################################################################
 # Packaging
 ###############################################################################
@@ -489,3 +601,14 @@ if(EXISTS ${CMAKE_BINARY_DIR}/temp_install/)
         )
     endforeach()
 endif()
+
+# Set output library prefix
+set_property(TARGET microxrcedds_client PROPERTY PREFIX ${LIB_PREFIX})
+
+if(BUILD_DOCUMENTATION)
+    # Instalation of doxygen files
+    install(DIRECTORY ${PROJECT_BINARY_DIR}/doc/api_reference
+        DESTINATION ${DOC_INSTALL_DIR}
+        COMPONENT documentation
+        )
+endif()
diff --git a/QUALITY.md b/QUALITY.md
@@ -29,7 +29,8 @@ The public API is documented [in oficial documentation Read the Docs](https://mi
 
 ### ABI Stability Policy [1.v]
 
-Any ABI break in **eProsima Micro XRCE-DDS Client** will be done between minor versions and it should be clearly stated in the release notes.
+Any ABI break in **eProsima Micro XRCE-DDS Client** will be done between minor versions and it should be clearly stated in the release notes, note that minor releases can happen within a ROS distribution.
+
 
 ## Change Control Process [2]
 

diff --git a/README.md b/README.md
@@ -13,13 +13,13 @@
 *eProsima Micro XRCE-DDS* is a library implementing the [DDS-XRCE protocol](https://www.omg.org/spec/DDS-XRCE/About-DDS-XRCE/) as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers to communicate with the [DDS](https://www.omg.org/spec/DDS/About-DDS/>) world as any other DDS actor would do.
 It follows a client/server paradigm and is composed by two libraries, the *Micro XRCE-DDS Client* and the *Micro XRCE-DDS Agent*. The *Micro XRCE-DDS Clients* are lightweight entities meant to be compiled on e**X**tremely **R**esource **C**onstrained **E**nvironments, while the *Micro XRCE-DDS Agent* is a broker which bridges the *Clients* with the DDS world.
 
-<p align="center"> <img src="docs/General.png" alt="Image" width="70%"/> </p>
+<p align="center"> <img src="https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/docs/General.png?raw=true" alt="General architecture" width="70%"/> </p>
 
 The *Micro XRCE-DDS Clients* request operations to the *Agent* to publish and/or subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the [DDS-RPC standard](https://www.omg.org/spec/DDS-RPC/About-DDS-RPC/), are also supported, allowing *Clients* to communicate in the DDS dataspace according to a request/reply paradigm.
 The *Agents* process these requests and send back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.
 The communication in the DDS world is mediated by a dedicated `ProxyClient` in charge of creating the *DDS Entities* requested by the *Clients*, such as *Participants*, *Topics*, *Publishers*, and *Subscribers*, which can interact with the DDS Global dataspace.
 
-<p align="center"> <img src="docs/Client.png" alt="Image" width="70%"/> </p>
+<p align="center"> <img src="https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/docs/Client.png?raw=true" alt="Client architecture" width="70%"/> </p>
 
 *eProsima Micro XRCE-DDS* provides the user with a C API to create *Micro XRCE-DDS Clients* applications. The library can be configured at compile-time via a set of CMake flags allowing to enable or disable some profiles before compilation, and to manipulate several parameters controlling some of the library's functionalities, which in turn allow tuning the library size.
 
@@ -40,4 +40,3 @@ See the [Quality Declaration](QUALITY.md) for more details.
 ## Getting Help
 
 If you need support you can reach us by mail at `[email protected]` or by phone at `+34 91 804 34 48`.
-
diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
@@ -21,7 +21,11 @@ enable_language(CXX)
 
 # Micro CDR.
 unset(microcdr_DIR CACHE)
-find_package(microcdr ${_microcdr_version} EXACT QUIET)
+
+if(NOT UCLIENT_BUILD_MICROCDR)
+    find_package(microcdr ${_microcdr_version} EXACT QUIET)
+endif()
+
 if(NOT microcdr_FOUND)
     ExternalProject_Add(microcdr
         GIT_REPOSITORY

diff --git a/cmake/common/check_configuration.cmake b/cmake/common/check_configuration.cmake
@@ -114,7 +114,6 @@ endmacro()
 
 function(set_common_compile_options target)
     enable_language(C)
-    enable_language(CXX)
     if(MSVC OR MSVC_IDE)
         target_compile_options(${target} PRIVATE /W4)
     else()
@@ -127,15 +126,15 @@ function(set_common_compile_options target)
             -Wunused
             $<$<COMPILE_LANGUAGE:CXX>:-Woverloaded-virtual>
             -Wconversion
-            -Wsign-conversion
             $<$<CXX_COMPILER_ID:GNU>:-Wlogical-op>
             $<$<AND:$<CXX_COMPILER_ID:GNU>,$<COMPILE_LANGUAGE:CXX>>:-Wuseless-cast>
-            -Wdouble-promotion
             $<$<COMPILE_LANGUAGE:CXX>:-Wold-style-cast>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,6.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,6.0.0>>>>:-Wnull-dereference>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,7.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,7.0.0>>>>:-Wduplicated-branches>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,6.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,6.0.0>>>>:-Wduplicated-cond>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,7.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,7.0.0>>>>:-Wrestrict>
+            $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,4.6.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,4.6.0>>>>:-Wdouble-promotion>
+            $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,4.3.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,4.3.0>>>>:-Wsign-conversion>
             )
     endif()
 endfunction()