pax_global_header 0000666 0000000 0000000 00000000064 14621624232 0014514 g ustar 00root root 0000000 0000000 52 comment=2cdd114cbd18340c606573b4cc8dc20cc161ec5a
eclipse-cyclonedds-cyclonedds-2cdd114/ 0000775 0000000 0000000 00000000000 14621624232 0020016 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/.azure/ 0000775 0000000 0000000 00000000000 14621624232 0021222 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/.azure/coverity-scan.yml 0000664 0000000 0000000 00000007663 14621624232 0024547 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2021 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
#
# Azure Pipeline specifically for building and submitting to Coverity Scan
#
trigger: none
pr: none
schedules:
- cron: "0 12 * * *"
branches:
include: [ master ]
always: false
strategy:
matrix:
'Ubuntu 20.04 LTS with Clang 10 (Debug, x86_64)':
image: ubuntu-20.04
cc: clang
cxx: clang++
pool:
vmImage: $(image)
steps:
## Fetch version number to ensure up-to-date cache
- bash: |
set -e
slug=$(echo "${BUILD_REPOSITORY_URI}" | sed -nE 's#.*/([^/]+/[^\]+)#\1#p')
headers=$(basename $(mktemp "$(pwd)/curl.XXXXXXXX"))
code=$(curl -X HEAD -s -S -F project="${slug}" \
-F token="${token}" \
-o /dev/null -D ${headers} -w '%{http_code}' \
"https://scan.coverity.com/download/cxx/linux64")
[ "${code}" != "200" ] && echo "cURL exited with ${code}" 1>&2 && exit 1
file=$(sed -n -E 's/.*filename="([^"]+)".*/\1/p' ${headers})
echo "###vso[task.setvariable variable=cov_archive;]${file}"
echo "###vso[task.setvariable variable=cov_analysis;]$(pwd)/cov-analysis"
echo "###vso[task.setvariable variable=PATH;]$(pwd)/cov-analysis/bin:${PATH}"
rm -f ${headers}
name: setup_coverity
env:
token: $(COVERITY_SCAN_TOKEN)
- task: Cache@2
inputs:
key: coverity | 1 | "$(cov_archive)"
path: $(cov_analysis)
cacheHitVar: coverity_cached
name: cache_coverity
## Download Coverity on cache miss
- bash: |
set -e
slug=$(echo "${BUILD_REPOSITORY_URI}" | sed -nE 's#.*/([^/]+/[^\]+)#\1#p')
headers=$(basename $(mktemp "$(pwd)/tmp.XXXXXXXX"))
code=$(curl -s -S -F project="${slug}" \
-F token="${token}" \
-O -J -D ${headers} -w '%{http_code}' \
"https://scan.coverity.com/download/cxx/linux64")
[ "${code}" != "200" ] && echo "cURL exited with ${code}" 1>&2 && exit 1
file=$(sed -n -E 's/^.*filename="([^"]+)".*$/\1/p' ${headers})
tar -xzf ${file} -C .
dir=$(find . -type d -name "cov-analysis*" | head -1)
mv "${dir}" "${COV_ANALYSIS}"
rm -f ${headers} "${file}"
name: install_coverity
condition: ne(variables['coverity_cached'], 'true')
env:
token: $(COVERITY_SCAN_TOKEN)
- bash: |
set -e -x
echo "###vso[task.setvariable variable=scan_build;]cov-build --dir $(pwd)/cov-int"
cov-configure --clang
name: configure_coverity
- template: /.azure/templates/build-test.yml
## Submit to Coverity Scan
- bash: |
set -e -x
slug=$(echo "${BUILD_REPOSITORY_URI}" | sed -nE 's#.*/([^/]+/[^\]+)#\1#p')
tar -czf analysis-results.tgz cov-int
code=$(curl -s -S -F project="${slug}" \
-F token="${token}" \
-F file=@analysis-results.tgz \
-F version=$(git rev-parse --short HEAD) \
-F description="Azure Pipelines build" \
-F email="${COVERITY_SCAN_EMAIL:=cyclonedds-inbox@eclipse.org}" \
-w '%{http_code}' \
"https://scan.coverity.com/builds")
[[ "${code}" =~ "success" ]] || (echo "cURL exited with ${code}" 1>&2 && exit 1)
rm -f analysis-results.tgz
name: submit_to_coverity_scan
env:
token: $(COVERITY_SCAN_TOKEN)
## Save Coverity build log for debugging
- task: PublishBuildArtifacts@1
inputs:
pathToPublish: cov-int/build-log.txt
artifactName: 'coverity-build-log.txt'
eclipse-cyclonedds-cyclonedds-2cdd114/.azure/templates/ 0000775 0000000 0000000 00000000000 14621624232 0023220 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/.azure/templates/build-test.yml 0000664 0000000 0000000 00000017165 14621624232 0026031 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2021 to 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
#
# Template with basic build and test instructions to be included by pipelines.
#
steps:
- task: UsePythonVersion@0
inputs:
versionSpec: '3.8'
name: install_python
# Set defaults from steps to share them among pipelines
- bash: |
[[ -n "${ARCH}" ]] || \
echo "###vso[task.setvariable variable=arch;]x86_64"
[[ -n "${BUILD_TYPE}" ]] || \
echo "###vso[task.setvariable variable=build_type;]Debug"
name: setup
- bash: |
echo "###vso[task.setvariable variable=pip_cache;]${HOME}/.cache/pip"
echo "###vso[task.setvariable variable=PATH;]$(python3 -m site --user-base)/bin:${PATH}"
echo "###vso[task.setvariable variable=build_tool_options;]-j 4"
sudo apt install -y clang clang-tools clang-tidy
condition: eq(variables['Agent.OS'], 'Linux')
name: setup_linux
- bash: |
set -e -x
sudo /usr/libexec/ApplicationFirewall/socketfilterfw --setglobalstate off
echo "###vso[task.setvariable variable=pip_cache;]${HOME}/Library/Caches/pip"
echo "###vso[task.setvariable variable=PATH;]$(python3 -m site --user-base)/bin:${PATH}"
echo "###vso[task.setvariable variable=build_tool_options;]-j 4"
condition: eq(variables['Agent.OS'], 'Darwin')
name: setup_macos
# Use PowerShell rather than Bash to ensure Windows-style paths
- pwsh: |
$python_bin = python -m site --user-base
Write-Host "###vso[task.setvariable variable=pip_cache;]${env:LOCALAPPDATA}\\pip\\Cache"
Write-Host "###vso[task.setvariable variable=PATH;]$python_bin\\bin;${env:PATH}"
# Visual Studio is most likely used on Windows agents
if (${env:GENERATOR} -match "2019" -and -not ${env:PLATFORM}) {
# Make sure platform matches arch if not specified
if (${env:ARCH} -match "arm*") {
Write-Host "###vso[task.setvariable variable=platform;]ARM"
} elseif (${env:ARCH} -eq "x86") {
Write-Host "###vso[task.setvariable variable=platform;]Win32"
} else {
Write-Host "###vso[task.setvariable variable=platform;]x64"
}
}
if (${env:GENERATOR} -match "Visual Studio") {
Write-Host "###vso[task.setvariable variable=build_tool_options;]-nologo -verbosity:minimal -maxcpucount:4 -p:CL_MPCount=4"
} else {
Write-Host "###vso[task.setvariable variable=build_tool_options;]-j 4"
}
condition: eq(variables['Agent.OS'], 'Windows_NT')
name: setup_windows
- task: Cache@2
inputs:
key: pip | 2 | $(Agent.OS)
path: $(pip_cache)
name: cache_pip
- bash: |
set -e -x
python -m pip install pip wheel setuptools --user --upgrade
python -m pip install pre-commit --user --upgrade
pre-commit run --all-files
name: run_pre_commit
- bash: |
python -m pip install gcovr==5.0 --user --upgrade
name: install_gcovr
- bash: |
set -e -x
sudo apt install libacl1-dev libncurses5-dev pkg-config
git clone --depth 1 \
--branch "${ICEORYX_BRANCH:-release_2.0}" \
"${ICEORYX_REPOSITORY:-https://github.com/eclipse-iceoryx/iceoryx.git}" \
iceoryx
mkdir iceoryx/build
cd iceoryx/build
[[ "${AGENT_OS}" == 'Darwin' ]] && BUILD_TOOL_OPTIONS="-j 4"
cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-DCMAKE_BUILD_SHARED_LIBS=on \
-DCMAKE_INSTALL_PREFIX=install \
${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" ../iceoryx_meta
cmake --build . --config ${BUILD_TYPE} --target install -- ${BUILD_TOOL_OPTIONS}
condition: eq(variables['iceoryx'], 'on')
name: install_iceoryx
- bash: |
set -e -x
mkdir build
cd build
prefix_path="${BUILD_SOURCESDIRECTORY}/iceoryx/build/install"
if [[ "${AGENT_OS}" == 'Darwin' ]] ; then
prefix_path="${prefix_path}:`brew --prefix openssl`"
# Azure sometimes adds a spurious ' to BUILD_TOOL_OPTIONS
BUILD_TOOL_OPTIONS="-j 4"
fi
cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-DCMAKE_INSTALL_PREFIX=install \
-DCMAKE_PREFIX_PATH="${prefix_path//:/;}" \
-DANALYZER=${ANALYZER:-off} \
-DSANITIZER=${SANITIZER:-none} \
-DENABLE_SSL=${SSL:-on} \
-DENABLE_SECURITY=${SECURITY:-on} \
-DENABLE_LIFESPAN=${LIFESPAN:-on} \
-DENABLE_DEADLINE_MISSED=${DEADLINE_MISSED:-on} \
-DENABLE_TYPE_DISCOVERY=${TYPE_DISCOVERY:-on} \
-DENABLE_TOPIC_DISCOVERY=${TOPIC_DISCOVERY:-on} \
-DENABLE_COVERAGE=${COVERAGE:-off} \
-DENABLE_SHM=${ICEORYX:-off} \
-DBUILD_TESTING=on \
-DBUILD_IDLC_TESTING=${IDLC_TESTING:-on} \
-DBUILD_EXAMPLES=on \
-DWERROR=on \
${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" ..
${SCAN_BUILD} cmake --build . --config ${BUILD_TYPE} --target install -- ${BUILD_TOOL_OPTIONS}
cmake --build . --config ${BUILD_TYPE} --target package -- ${BUILD_TOOL_OPTIONS}
name: script
- bash: |
set -e -x
cd build
ctest -j 4 --output-on-failure -T test -E '^CUnit_ddsrt_random_default_random$' -C ${BUILD_TYPE}
[[ "${BUILD_TYPE}" != 'Release' ]] || [[ "${COVERAGE:-off}" == 'off' ]] || \
${SHELL} ../src/tools/ddsperf/sanity.bash
[[ "${SSL:-on}" != 'on' || "${SECURITY:-on}" != 'on' ]] || \
diff --strip-trailing-cr ../etc/cyclonedds.rnc docs/cyclonedds.rnc && \
diff --strip-trailing-cr ../etc/cyclonedds.xsd docs/cyclonedds.xsd && \
diff --strip-trailing-cr ../docs/manual/options.md docs/manual/options.md
[[ "${SANITIZER:-none}" == 'none' ]] || \
export CFLAGS="-fsanitize=${SANITIZER}" LDFLAGS="-fsanitize=${SANITIZER}"
INSTALLPREFIX="$(pwd)/install"
mkdir helloworld
cd helloworld
cmake -DCMAKE_PREFIX_PATH="${INSTALLPREFIX}" \
-DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" "${INSTALLPREFIX}/share/CycloneDDS/examples/helloworld"
cmake --build . --config ${BUILD_TYPE} -- ${BUILD_TOOL_OPTIONS}
condition: ne(variables['testing'], 'off')
name: test
displayName: Test
- bash: |
set -e -x
cd build
[[ "${AGENT_OS}" == 'Darwin' ]] && BUILD_TOOL_OPTIONS="-j 4"
cmake --build . --config ${BUILD_TYPE} --target gcov -- ${BUILD_TOOL_OPTIONS}
gcovr --exclude '.*/tests/.*' --root "${BUILD_SOURCESDIRECTORY}" --json "$(System.DefaultWorkingDirectory)/coverage-$(Agent.JobName).json"
name: generate_code_coverage
displayName: Generate coverage artifact
condition: and(succeededOrFailed(), eq(variables['coverage'], 'on'))
- publish: $(System.DefaultWorkingDirectory)/coverage-$(Agent.JobName).json
artifact: coverage-$(Agent.JobName)
displayName: Publish coverage artifact
condition: and(succeededOrFailed(), eq(variables['coverage'], 'on'))
- task: PublishTestResults@2
inputs:
testRunTitle: $(Agent.JobName)
testRunner: CTest
testResultsFiles: '**/Test.xml'
searchFolder: $(System.DefaultWorkingDirectory)/build/Testing
platform: $(arch)
configuration: $(build_type)
name: publish_test_results
displayName: Publish test results
condition: succeededOrFailed()
eclipse-cyclonedds-cyclonedds-2cdd114/.codecov.yml 0000664 0000000 0000000 00000000364 14621624232 0022244 0 ustar 00root root 0000000 0000000 ignore:
- src/core/ddsc/tests/*.c
- src/core/ddsi/tests/*.c
- src/security/core/tests/*.c
- src/security/core/tests/**/*.c
- src/security/builtin_plugins/tests/*.c
- src/security/builtin_plugins/tests/**/*.c
- src/ddsrt/tests/*.c
eclipse-cyclonedds-cyclonedds-2cdd114/.gitignore 0000664 0000000 0000000 00000000133 14621624232 0022003 0 ustar 00root root 0000000 0000000 gen
gen.*
.cproject
.project
.settings/
.vs/
.vscode/
build/
docs/manual/ddsc_api_docs/
*~
eclipse-cyclonedds-cyclonedds-2cdd114/.gitmodules 0000664 0000000 0000000 00000000000 14621624232 0022161 0 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/.pre-commit-config.yaml 0000664 0000000 0000000 00000002462 14621624232 0024303 0 ustar 00root root 0000000 0000000 repos:
- repo: local
hooks:
- id: must-match-hash
name: bison-parser-hashcheck
language: python
always_run: true
entry: python hooks/must-match-hash.py
args: [
'--hash-files',
'src/idl/src/parser.y',
'--append-files',
'src/idl/src/parser.h',
'src/idl/src/parser.c'
]
pass_filenames: false
- id: must-match-hash
name: confgen-hashcheck
language: python
always_run: true
entry: python hooks/must-match-hash.py
args: [
'--hash-files',
'src/core/ddsi/include/dds/ddsi/ddsi_cfgelems.h',
'src/core/ddsi/include/dds/ddsi/ddsi_cfgunits.h',
'src/core/ddsi/include/dds/ddsi/ddsi_config.h',
'src/core/ddsi/src/ddsi_config.c',
'src/tools/_confgen/_confgen.h',
'src/tools/_confgen/_confgen.c',
'src/tools/_confgen/generate_rnc.c',
'src/tools/_confgen/generate_md.c',
'src/tools/_confgen/generate_xsd.c',
'src/tools/_confgen/generate_defconfig.c',
'--append-files',
'src/core/ddsi/defconfig.c',
'etc/cyclonedds.rnc',
'etc/cyclonedds.xsd',
'docs/manual/options.md'
]
pass_filenames: false
- id: version-check
name: version-check
language: python
entry: python hooks/version-check.py
pass_filenames: false
eclipse-cyclonedds-cyclonedds-2cdd114/.travis.yml 0000664 0000000 0000000 00000033415 14621624232 0022135 0 ustar 00root root 0000000 0000000 language: c
# Coverity Scan can be configured through Travis addons, but this allows for
# more control over the build instructions and does not require the addition
# of a coverity_scan branch in the repository. travisci_build_coverity_scan.sh
# does more checks before it decides to download Coverity (around 500M), but
# these instructions assume Coverity Scan is not installed if the directory
# does not exist and expects the download to fail if the token is incorrect.
# Coverity Scan quota are not checked as the Coverity enabled build must only
# run from cron.
install_coverity: &install_coverity
- if [ "${COVERITY_SCAN}" = "true" ]; then
COV_DIR="/tmp/coverity-scan-analysis";
COV_ARC="/tmp/cov-analysis-${COV_PLATFORM}.tgz";
test ! -d "${COV_DIR}" &&
mkdir -p "${COV_DIR}" &&
curl -s -S -F project="${TRAVIS_REPO_SLUG}"
-F token="${COVERITY_SCAN_TOKEN}"
-o "${COV_ARC}"
"https://scan.coverity.com/download/cxx/${COV_PLATFORM}" &&
tar -xzf "${COV_ARC}" -C "${COV_DIR}";
COV_ANALYSIS=$(find "${COV_DIR}" -type d -name "cov-analysis*");
eval "export PATH=\"${PATH}:${COV_ANALYSIS}/bin\"";
eval "export SCAN_BUILD=\"cov-build --dir cov-int\"";
cov-configure --comptype ${COV_COMPTYPE} --compiler ${CC} --template;
fi
submit_to_coverity_scan: &submit_to_coverity_scan
- if [ "${COVERITY_SCAN}" = "true" ]; then
tar -czf analysis-results.tgz cov-int &&
curl -s -S -F project="${TRAVIS_REPO_SLUG}"
-F token="${COVERITY_SCAN_TOKEN}"
-F file=@analysis-results.tgz
-F version=$(git rev-parse --short HEAD)
-F description="Travis CI build"
-F email="${COVERITY_SCAN_EMAIL:=cyclonedds-inbox@eclipse.org}"
"https://scan.coverity.com/builds";
fi
submit_to_codecov: &submit_to_codecov
- |
if [ "${CODECOV}" = "true" ]; then
query=$(curl -Gso /dev/null -w "%{url_effective}" "" \
--data-urlencode "package=cmake-codecov.io" \
--data-urlencode "token=${CODECOV_TOKEN}" \
--data-urlencode "branch=${TRAVIS_BRANCH}" \
--data-urlencode "commit=${TRAVIS_PULL_REQUEST_SHA:-$TRAVIS_COMMIT}" \
--data-urlencode "build=${TRAVIS_JOB_NUMBER}" \
--data-urlencode "tag=${TRAVIS_TAG}" \
--data-urlencode "slug=${TRAVIS_REPO_SLUG}" \
--data-urlencode "service=travis" \
--data-urlencode "flags=" \
--data-urlencode "pr=${TRAVIS_PULL_REQUEST}" \
--data-urlencode "job=${TRAVIS_JOB_ID}" 2>/dev/null | cut -c 3- | sed -e 's/%0A//');
cmake --build . --target codecov &&
curl -X POST \
--data-binary @"codecov.tar.gz" \
--retry 5 --retry-delay 2 --connect-timeout 2 \
-H 'Content-Type: text/plain' \
-H 'Content-Encoding: gzip' \
-H 'X-Content-Encoding: gzip' \
-H 'Accept: text/plain' \
"https://codecov.io/upload/v2?$query";
fi
# Coverity doesn't support gcc 10 yet
ubuntu1804_gcc7: &ubuntu1804_gcc7
os: linux
dist: bionic
compiler: gcc
before_install:
- eval "export CC=gcc CXX=g++"
- eval "export COV_COMPTYPE=gcc COV_PLATFORM=linux64"
- eval "export BUILD_TOOL_OPTIONS='-j 4'"
- eval "export GENERATOR='Unix Makefiles'"
install:
- *install_coverity
- pip install conan --upgrade --user
ubuntu1804_gcc10: &ubuntu1804_gcc10
os: linux
dist: bionic
compiler: gcc
addons:
apt:
update: true
sources:
- sourceline: 'ppa:ubuntu-toolchain-r/test'
packages: [ gcc-10 g++-10 ]
before_install:
- eval "export CC=gcc-10 CXX=g++-10"
- eval "export COV_COMPTYPE=gcc COV_PLATFORM=linux64"
- eval "export BUILD_TOOL_OPTIONS='-j 4'"
- eval "export GENERATOR='Unix Makefiles'"
install:
- pip install conan --upgrade --user
ubuntu1804_clang10: &ubuntu1804_clang10
os: linux
dist: bionic
compiler: clang
addons:
apt:
update: true
sources:
- sourceline: 'deb https://apt.llvm.org/bionic llvm-toolchain-bionic-10 main'
key_url: 'https://apt.llvm.org/llvm-snapshot.gpg.key'
packages: [ clang-10 clang++-10 ]
before_install:
- eval "export CC=clang-10 CXX=clang++-10"
- eval "export COV_COMPTYPE=clang COV_PLATFORM=linux64"
- eval "export BUILD_TOOL_OPTIONS='-j 4'"
- eval "export GENERATOR='Unix Makefiles'"
install:
- pip install conan --upgrade --user
macos1015_xcode11_5: &macos1015_xcode11_5
os: osx
osx_image: xcode11.5
compiler: clang
addons:
homebrew:
packages: [ python3, bison, flex ]
before_install:
- eval "export CC=clang CXX=clang++"
- eval "export COV_COMPTYPE=clang COV_PLATFORM=macOSX"
- eval "export BUILD_TOOL_OPTIONS='-j 4'"
- eval "export GENERATOR='Unix Makefiles'"
- eval "export PATH=\"${PATH}:$(python3 -m site --user-base)/bin\""
- eval "export PATH=\"/usr/local/opt/flex/bin:/usr/local/opt/bison/bin:${PATH}\""
install:
- python3 -m pip install conan --upgrade --user
freebsd12_clang8: &freebsd12_clang8
os: freebsd
compiler: clang
addons:
pkg:
packages: [ py37-pip ]
before_install:
- eval "export BUILD_TOOL_OPTIONS='-j 4'"
- eval "export GENERATOR='Unix Makefiles'"
install:
- pip install conan --upgrade --user
windows1809_vs2017: &windows1809_vs2017
os: windows
# Conan will automatically determine the best compiler for a given platform
# based on educated guesses. The first check is based on the CC and CXX
# environment variables, the second (on Windows) is to check if Microsoft
# Visual Studio is installed. On Travis CC and CXX are set to gcc on
# Microsoft Windows targets as well, this has the undesired effect that MSVC
# is not detected, unsetting CC and CXX solves that problem.
#
#
# !!! IMPORTANT !!!
#
# Microsoft Windows instances freeze at "install:" if secure environment
# variables are used. There is no option to export secrets only for
# specified platforms. The "filter_secrets: false" option is used to disable
# the filter for Microsoft Windows instances. This is not an issue if the
# secret is removed from the environment at the earliest opportunity, before
# risk of exposure, as secrets are always removed from the environment for
# pull requests and are still filtered when exported to the environment. The
# secret of course will not be available for Microsoft Windows builds, but
# for Coverity Scan, that is fine.
filter_secrets: false
before_install:
- eval "unset COVERITY_SCAN_TOKEN"
- eval "unset COVERITY_SCAN_EMAIL"
- eval "unset CC CXX"
- eval "export COV_COMPTYPE=msvc COV_PLATFORM=win64"
- eval "export BUILD_TOOL_OPTIONS='-nologo -verbosity:minimal -maxcpucount -p:CL_MPCount=2'"
- |
if [ "${ARCH}" = "x86_64" ]; then
eval "export GENERATOR='Visual Studio 15 2017 Win64'"
else
eval "export GENERATOR='Visual Studio 15 2017'"
fi
# Windows targets in Travis are still very much in beta and Python is not yet
# available and installation of Python through Chocolaty does not work well.
# The real fix is to wait until Python and pip are both available on the
# target. Until then download Conan from the official website and simply add
# the extracted folder to the path.
install:
- choco install innoextract
- choco install winflexbison3
- wget -q https://dl.bintray.com/conan/installers/conan-win-64_1_34_0.exe
- innoextract conan-win-64_1_34_0.exe
- eval "export PATH=\"$(pwd)/app/conan:${PATH}\""
jobs:
include:
- <<: *ubuntu1804_gcc7
env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES, COVERITY_SCAN=true ]
if: type = cron
- <<: *ubuntu1804_gcc7
env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES, CODECOV=true ]
if: type = cron
- <<: *ubuntu1804_gcc10
env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *ubuntu1804_gcc7
env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=NO, CONANFILE=conanfile102.txt ]
- <<: *ubuntu1804_gcc10
env: [ ARCH=x86_64, BUILD_TYPE=Release, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *ubuntu1804_gcc10
env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=NO, SECURITY=YES, LIFESPAN=NO, DEADLINE=NO, TYPE_DISCOVERY=NO, TOPIC_DISCOVERY=NO ]
- <<: *ubuntu1804_clang10
env: [ ARCH=x86_64, SANITIZER=address, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *ubuntu1804_clang10
env: [ ARCH=x86_64, SANITIZER=address, BUILD_TYPE=Debug, SSL=YES, SECURITY=NO, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *ubuntu1804_clang10
env: [ ARCH=x86_64, BUILD_TYPE=Release, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *macos1015_xcode11_5
env: [ ARCH=x86_64, BUILD_TYPE=Release, SSL=NO, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES, MACOSX_DEPLOYMENT_TARGET=10.12 ]
- <<: *macos1015_xcode11_5
env: [ ARCH=x86_64, SANITIZER=address, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *macos1015_xcode11_5
env: [ ARCH=x86_64, BUILD_TYPE=Release, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
# CUnit package in ConanCenter does not build on 32-bit Windows
#- <<: *windows1809_vs2017
# env: [ ARCH=x86, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES, CONANFILE=conanfile102.txt ]
- <<: *windows1809_vs2017
env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
- <<: *windows1809_vs2017
env: [ ARCH=x86_64, BUILD_TYPE=Release, SSL=YES, SECURITY=YES, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
# CUnit package in ConanCenter does not build on FreeBSD
#- <<: *freebsd12_clang8
# env: [ ARCH=x86_64, BUILD_TYPE=Debug, SSL=NO, SECURITY=NO, LIFESPAN=YES, DEADLINE=YES, TYPE_DISCOVERY=YES, TOPIC_DISCOVERY=YES ]
before_script:
- conan profile new default --detect
- conan remote add bincrafters https://api.bintray.com/conan/bincrafters/public-conan
# Notes on test settings:
# - CYCLONEDDS_URI:
# - EnableExpensiveChecks: for the few horrendously expensive (but pretty thorough)
# integrity checks, in particular on the WHC and the RHC, but there may be more
# - config to stderr: gives the configuration used when running the test in conjunction
# with "--output-on-failure" (sadly that still doesn't output the failed
# assertions ...)
# - -j 4: run 4 tests in parallel, this saves quite a bit of time because the VMs are
# all dual-core
# - --output-on-failed: print whatever output the test generated when it failed, which
# can obviously be quite helpful for debugging
# - -E ...: regex of tests to exclude:
# CUnit_ddsrt_random_default_random: performs a Chi-square test on the output of
# the random generator, but this does produce the odd failure (it should!). The
# code has been vetted, the test has been run a great many times (with the odd
# failure), and so we now simply skip the test to avoid the spurious failures.
script:
- INSTALLPREFIX="$(pwd)/install"
- mkdir build
- cd build
- conan install -b missing -s arch=${ARCH} -s build_type=${BUILD_TYPE} ../${CONANFILE:-conanfile.txt}
- cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE}
-DCMAKE_INSTALL_PREFIX=${INSTALLPREFIX}
-DSANITIZER=${SANITIZER}
-DENABLE_SSL=${SSL}
-DENABLE_SECURITY=${SECURITY}
-DENABLE_LIFESPAN=${LIFESPAN}
-DENABLE_DEADLINE_MISSED=${DEADLINE}
-DENABLE_TYPE_DISCOVERY=${TYPE_DISCOVERY}
-DENABLE_TOPIC_DISCOVERY=${TOPIC_DISCOVERY}
-DENABLE_COVERAGE=${CODECOV}
-DBUILD_TESTING=on
-DBUILD_IDLC_TESTING=on
-DBUILD_EXAMPLES=on
-DWERROR=on
-G "${GENERATOR}" ..
- ${SCAN_BUILD} cmake --build . --config ${BUILD_TYPE} --target install -- ${BUILD_TOOL_OPTIONS}
- CYCLONEDDS_URI='rhc,whctrueconfigstderr' ctest -j 4 --output-on-failure -T test -E '^CUnit_ddsrt_random_default_random$' -C ${BUILD_TYPE}
- |
if [ -z "${SANITIZER}" ]; then
${SHELL} ../src/tools/ddsperf/sanity.bash;
fi
- |
if [ -n "${SANITIZER}" ]; then
CMAKE_LINKER_FLAGS="-DCMAKE_LINKER_FLAGS=-fsanitize=${SANITIZER}";
CMAKE_C_FLAGS="-DCMAKE_C_FLAGS=-fsanitize=${SANITIZER}";
fi
- |
if [ "${SSL}" = "YES" ] && [ "${SECURITY}" = "YES" ]; then
diff --strip-trailing-cr ../etc/cyclonedds.rnc docs/cyclonedds.rnc && \
diff --strip-trailing-cr ../etc/cyclonedds.xsd docs/cyclonedds.xsd && \
diff --strip-trailing-cr ../docs/manual/options.md docs/manual/options.md
fi
- cd ..
- mkdir helloworld_build
- cd helloworld_build
- cmake -DCMAKE_PREFIX_PATH=${INSTALLPREFIX}
-DCMAKE_BUILD_TYPE=${BUILD_TYPE}
${CMAKE_C_FLAGS}
${CMAKE_LINKER_FLAGS}
-G "${GENERATOR}"
${INSTALLPREFIX}/share/CycloneDDS/examples/helloworld
- cmake --build . --config ${BUILD_TYPE}
- cd "${TRAVIS_BUILD_DIR}/build"
after_success:
- *submit_to_coverity_scan
- *submit_to_codecov
eclipse-cyclonedds-cyclonedds-2cdd114/CHANGELOG.rst 0000664 0000000 0000000 00000017104 14621624232 0022042 0 ustar 00root root 0000000 0000000
Changelog for Eclipse Cyclone DDS
=================================
`Unreleased `_
---------------------------------------------------------------------------------------
`V0.7.0 (2020-08-06) `_
-----------------------------------------------------------------------------------------------
This release brings support for the DDS Security 1.1 specification:authentication, access control and encryption. It also provides significant performance improvements with large samples, by better scheduling of retransmit requests and by avoiding the occasional excessive latency caused by dropping the heartbeat rate too soon.
One can choose to build Cyclone DDS without support for DDS Security if one wants to reduce the size of the resulting library. The default plug-ins are built only if security is enabled and OpenSSL is available, as those are implemented using the cryptographic operations and I/O primitives for handling certificates and exchanging keys that OpenSSL provides. If one chooses to exclude security support from the build, setting any security related property or adding it to the configuration files will result in participant creation failing with a "precondition not met" error.
A lot of effort has gone into testing and checking that malformed or unexpected messages are handled correctly, that message authentication codes are checked and that no data never goes out unencrypted by accident. Still, it is only prudent to assume the existence of vulnerabilities.
Noteworthy bug fixes:
* DATA_AVAILABLE was not always triggered when by a dispose and sometimes triggered in the absence of an observable state change (arrival of a dispose for an already-disposed instance where the dispose had not yet been read);
* Restores functionality of the "raw ethernet" mode as well as IPv6 with link-local addresses, both accidentally broken in 0.6.0;
* Fixes a crash in processing endpoint discovery data containing unrecognised locator kinds;
* Fixes type conversion for local historical data (e.g., mixed use of ROS 2 C/C++ type supports in combination with transient-local endpoints within a single process);
* Fixes a use-after-free of "lease" objects with manual-by-topic writers;
* Mark instance as "alive" in the reader history and generate an invalid sample to notify the application even if the sample itself is dropped because the same or a later one is present already (e.g., on reconnecting to a transient-local writer);
* Fix a crash when doing an instance lookup on a built-in topic using the key value;
* No longer auto-dispose instances as soon as some registered writer disappears, instead do it only when all of them have unregistered it;
* Fix performance of read_instance and take_instance by performing a proper instance lookup.
`V0.6.0 (2020-05-21) `_
-----------------------------------------------------------------------------------------------
* Support for mixed-language programming by supporting multiple (de)serializers for a single topic in a single process. This way, a program that consists of, say, C and C++ can use a different representation of the data in C than in C++. Before, all readers/writers in the process would be forced to use the same representation (or perform an additional copy). Currently C is still the only natively supported language, but one can use an evolving-but-reasonable-stable interface to implement different mappings.
* Improved QoS support: full support for deadline, lifespan and liveliness. The first is for generating notifications when a configured instance update rate is not achieved, the second for automatically removing stale samples, the third for different modes of monitoring the liveliness of peers.
* Improved scalability in matching readers and writers. Before it used to try matching a new local or remote reader or writer with all known local & remote entities, now only with the right group with the correct topic name.
* Improved tracing: discovery data is now printed properly and user samples have more type information allowing floating-point and signed numbers to be traced in a more readable form.
* Extension of platform support
* Known to work on FreeBSD, CheriBSD
* Known to work with the musl C library
* Windows-specific changes
* Fixes multicasts to addresses also used by non-Cyclone processes (caused by accidentally linking with an old sockets library)
* Correct handling of non-English network interface names
`0.5.1 (2020-03-11) `_
-----------------------------------------------------------------------------------------------
An interim tag for the benefit of ROS2
* Enable QOS features: liveliness, lifespan, deadline
* Fix issues on Windows where multicast data was not received
`V0.5.0 (2019-11-21) `_
-------------------------------------------------------------------------------------------------
This is the fist release candidate for the long overdue second release of Eclipse Cyclone DDS.
We are updating the version number from 0.1 to 0.5 to make up for the lack of more timely releases and to reflect that progress towards a 1.0 release (a minimum profile DDS implementation + DDS security) has been more significant than a version of "0.2" would suggest.
Updates since the first release have been legion, pretty much without impact on application code or interoperatbility on the network.
Some of the highlights:
* Support for ROS2 Dashing and Eloquent (via an adaption layer).
* Support for an arbitrary number of concurrent DDS domains (fully independent instantiations of DDS) in a single process.
* Abstracting the notion of samples, types and reader history caches, allowing overriding the default implementations of these to get behaviours more suited to the applications.
This is particularly relevant to language bindings and embedding Cyclone DDS in other frameworks, such as ROS2.
* Platform support is extended beyond the usual Linux/Windows/macOS: FreeRTOS is now known to work, as is Solaris 2.6 on sun4m machines.
* Acceptance of some malformed messages from certain implementations improved interoperability on the wire.
.......................................
Limitations on backwards compatibility:
.......................................
* A change in how implicitly created "publisher" and "subscriber" entities are handled: they now never lose their "implicitness", and in consequence, are now deleted when their last child disappears rather than deleted when their one child disappears.
* The set of entities that can be attached to a waitset is now restricted to those owned by the parent of the waitset, before one was allowed to attach entities from different participants to the same waitset, which is tantamount to a bug.
* A participant entity now has a parent. The "get_parent" operation no longer returns 0 for a participant because of the addition of two additional levels to the entity hierarchy: a domain, possibly containing multiple participants; and one that represents the entire library.
* The data from a reader for a built-in topic has been extended, breaking binary compatibility.
`V0.1.0 (2019-03-06) `_
-------------------------------------------------------------------------------------------------------------------------------------
Eclipse Cyclone DDS’ first release!
eclipse-cyclonedds-cyclonedds-2cdd114/CMakeCPack.cmake 0000664 0000000 0000000 00000013110 14621624232 0022676 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2020 to 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
if(CMAKECPACK_INCLUDED)
return()
endif()
set(CMAKECPACK_INCLUDED true)
include(GNUInstallDirs)
set(PROJECT_NAME_FULL "Eclipse Cyclone DDS")
# Set some convenience variants of the project-name
string(REPLACE " " "-" PROJECT_NAME_DASHED "${PROJECT_NAME_FULL}")
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
set(CPACK_PACKAGE_VERSION_TWEAK ${PROJECT_VERSION_TWEAK})
set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
set(CPACK_PACKAGE_NAME ${PROJECT_NAME})
set(CPACK_PACKAGE_VENDOR "Eclipse Cyclone DDS project")
set(CPACK_PACKAGE_CONTACT "https://github.com/eclipse-cyclonedds/cyclonedds")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Eclipse Cyclone DDS")
file(COPY "${PROJECT_SOURCE_DIR}/LICENSE" DESTINATION "${CMAKE_BINARY_DIR}")
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_BINARY_DIR}/LICENSE")
set(CPACK_WIX_LICENSE_RTF "${CMAKE_BINARY_DIR}/LICENSE")
# Packages could be generated on alien systems. e.g. Debian packages could be
# created on Red Hat Enterprise Linux, but since packages also need to be
# verified on the target platform, please refrain from doing so. Another
# reason for building installer packages on the target platform is to ensure
# the binaries are linked to the libc version shipped with that platform. To
# support "generic" Linux distributions, eventually compressed tarballs will
# be shipped.
#
# NOTE: Settings for different platforms are in separate control branches.
# Although that does not make sense from a technical point-of-view, it
# does help to clearify which settings are required for a platform.
set(CPACK_COMPONENTS_ALL dev lib)
set(CPACK_COMPONENT_LIB_DISPLAY_NAME "${PROJECT_NAME_FULL} library")
set(CPACK_COMPONENT_LIB_DESCRIPTION "Library used to run programs with ${PROJECT_NAME_FULL}")
set(CPACK_COMPONENT_DEV_DISPLAY_NAME "${PROJECT_NAME_FULL} development")
set(CPACK_COMPONENT_DEV_DESCRIPTION "Development files for use with ${PROJECT_NAME_FULL}")
if(WIN32 AND NOT UNIX)
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
set(__arch "win64")
else()
set(__arch "win32")
endif()
mark_as_advanced(__arch)
set(CPACK_GENERATOR "WIX;ZIP;${CPACK_GENERATOR}" CACHE STRING "List of package generators")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CPACK_PACKAGE_VERSION}-${__arch}")
set(WIX_DIR "${PROJECT_SOURCE_DIR}/WiX")
set(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME_FULL}")
set(CPACK_WIX_UI_REF "CustomUI_InstallDir")
set(CPACK_WIX_PATCH_FILE "${WIX_DIR}/env.xml")
set(CPACK_WIX_EXTRA_SOURCES "${WIX_DIR}/PathDlg.wxs"
"${WIX_DIR}/DialogOrder.wxs")
set(CPACK_WIX_CMAKE_PACKAGE_REGISTRY "${PROJECT_NAME}")
set(CPACK_WIX_PRODUCT_ICON "${WIX_DIR}/icon.ico")
set(CPACK_WIX_UI_BANNER "${WIX_DIR}/banner.png")
set(CPACK_WIX_UI_DIALOG "${WIX_DIR}/dialog.png")
# when updating the version number also generate a new GUID
set(CPACK_WIX_UPGRADE_GUID "f619c294-0696-4f04-98ed-4cfa6ebba6a5")
include(InstallRequiredSystemLibraries)
set(CMAKE_INSTALL_UCRT_LIBRARIES TRUE)
elseif(CMAKE_SYSTEM_NAME MATCHES "Linux")
set(CPACK_COMPONENTS_GROUPING "IGNORE")
if(EXISTS "/etc/redhat-release")
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
set(__arch "x86_64")
else()
set(__arch "i686")
endif()
set(CPACK_GENERATOR "RPM;TGZ;${CPACK_GENERATOR}" CACHE STRING "List of package generators")
set(CPACK_RPM_PACKAGE_LICENSE "Eclipse Public License v2.0 http://www.eclipse.org/legal/epl-2.0")
set(CPACK_RPM_COMPONENT_INSTALL ON)
set(CPACK_RPM_PACKAGE_RELEASE 1)
set(CPACK_RPM_PACKAGE_RELEASE_DIST ON)
set(CPACK_RPM_LIB_PACKAGE_NAME "${PROJECT_NAME_DASHED}")
set(CPACK_RPM_LIB_FILE_NAME "${CPACK_RPM_LIB_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_RPM_PACKAGE_RELEASE}%{?dist}-${__arch}.rpm")
set(CPACK_RPM_DEV_PACKAGE_NAME "${CPACK_RPM_LIB_PACKAGE_NAME}-devel")
set(CPACK_RPM_DEV_FILE_NAME "${CPACK_RPM_DEV_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_RPM_PACKAGE_RELEASE}%{?dist}-${__arch}.rpm")
set(CPACK_RPM_DEV_PACKAGE_REQUIRES "${CPACK_RPM_LIB_PACKAGE_NAME} = ${CPACK_PACKAGE_VERSION}")
elseif(EXISTS "/etc/debian_version")
set(CPACK_DEB_COMPONENT_INSTALL ON)
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
set(__arch "amd64")
else()
set(__arch "i386")
endif()
set(CPACK_GENERATOR "DEB;TGZ;${CPACK_GENERATOR}" CACHE STRING "List of package generators")
string(TOLOWER "${PROJECT_NAME_DASHED}" CPACK_DEBIAN_LIB_PACKAGE_NAME)
set(CPACK_DEBIAN_LIB_FILE_NAME "${CPACK_DEBIAN_LIB_PACKAGE_NAME}_${CPACK_PACKAGE_VERSION}_${__arch}.deb")
set(CPACK_DEBIAN_DEV_PACKAGE_DEPENDS "${CPACK_DEBIAN_LIB_PACKAGE_NAME} (= ${CPACK_PACKAGE_VERSION}), libc6 (>= 2.23)")
set(CPACK_DEBIAN_DEV_PACKAGE_NAME "${CPACK_DEBIAN_LIB_PACKAGE_NAME}-dev")
set(CPACK_DEBIAN_DEV_FILE_NAME "${CPACK_DEBIAN_DEV_PACKAGE_NAME}_${CPACK_PACKAGE_VERSION}_${__arch}.deb")
else()
# Generic tgz package
set(CPACK_GENERATOR "TGZ;${CPACK_GENERATOR}" CACHE STRING "List of package generators")
endif()
else()
# Fallback to zip package
set(CPACK_GENERATOR "ZIP;${CPACK_GENERATOR}" CACHE STRING "List of package generators")
endif()
# This must always be last!
include(CPack)
eclipse-cyclonedds-cyclonedds-2cdd114/CMakeLists.txt 0000664 0000000 0000000 00000030032 14621624232 0022554 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2006 to 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
cmake_minimum_required(VERSION 3.16)
project(CycloneDDS VERSION 0.10.5 LANGUAGES C)
# Set a default build type if none was specified
set(default_build_type "RelWithDebInfo")
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
STRING "Choose the type of build." FORCE)
# Set the possible values of build type for cmake-gui
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()
if(CMAKE_CROSSCOMPILING)
set(not_crosscompiling OFF)
else()
set(not_crosscompiling ON)
endif()
# By default don't treat warnings as errors, else anyone building it with a different compiler that
# just happens to generate a warning, as well as anyone adding or modifying something and making a
# small mistake would run into errors. CI builds can be configured differently.
option(WERROR "Treat compiler warnings as errors" OFF)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
option(BUILD_IDLC "Build IDL preprocessor" ${not_crosscompiling})
option(BUILD_DDSPERF "Build ddsperf tool" ${not_crosscompiling})
set(CMAKE_C_STANDARD 99)
if(CMAKE_SYSTEM_NAME STREQUAL "VxWorks")
add_definitions(-std=c99)
endif()
if(${CMAKE_C_COMPILER_ID} STREQUAL "SunPro")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -m64 -xc99 -D__restrict=restrict -D__deprecated__=")
set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -m64")
elseif(CMAKE_SYSTEM_NAME STREQUAL "SunOS")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -m64")
set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -m64")
endif()
# Homebrew
if(APPLE)
# Hint Homebrew prefixes to find_* commands. Use of CMAKE_PREFIX_PATH is
# required because full signature mode for find_package implies Config mode.
find_program(brew NAMES brew)
if (brew)
foreach(formula bison)
execute_process(
COMMAND ${brew} --prefix ${formula}
OUTPUT_VARIABLE prefix
ERROR_QUIET)
string(STRIP "${prefix}" prefix)
if(EXISTS "${prefix}")
# Append to ensure user specified paths come first.
set(CMAKE_PREFIX_PATH "${CMAKE_PREFIX_PATH};${prefix}")
endif()
endforeach()
endif()
endif()
# Set reasonably strict warning options for clang, gcc, msvc
# Enable coloured ouput if Ninja is used for building
if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang" OR
"${CMAKE_C_COMPILER_ID}" STREQUAL "AppleClang")
#message(STATUS clang)
set(wflags "-Wall"
"-Wextra"
"-Wconversion"
"-Wunused"
"-Wmissing-prototypes"
"-Winfinite-recursion"
"-Wassign-enum"
"-Wcomma"
"-Wmissing-prototypes"
"-Wdocumentation"
"-Wstrict-prototypes"
"-Wconditional-uninitialized"
"-Wshadow")
add_compile_options(${wflags})
if(${WERROR})
add_compile_options(-Werror)
endif()
if("${CMAKE_GENERATOR}" STREQUAL "Ninja")
add_compile_options(-Xclang -fcolor-diagnostics)
endif()
elseif("${CMAKE_C_COMPILER_ID}" STREQUAL "GNU")
#message(STATUS gcc)
add_compile_options(-Wall -Wextra -Wconversion -Wmissing-prototypes)
if(${WERROR})
add_compile_options(-Werror)
endif()
if("${CMAKE_GENERATOR}" STREQUAL "Ninja")
add_compile_options(-fdiagnostics-color=always)
endif()
elseif("${CMAKE_C_COMPILER_ID}" STREQUAL "MSVC")
#message(STATUS msvc)
add_compile_options(/W3)
if(${WERROR})
add_compile_options(/WX)
endif()
endif()
# I don't know how to enable warnings properly so that they are enabled in Xcode projects as well
if(${CMAKE_GENERATOR} STREQUAL "Xcode")
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_EMPTY_BODY YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_SHADOW YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_BOOL_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_CONSTANT_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_64_TO_32_BIT_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_ENUM_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_FLOAT_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_INT_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_NON_LITERAL_NULL_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_IMPLICIT_SIGN_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_INFINITE_RECURSION YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_INITIALIZER_NOT_FULLY_BRACKETED YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_ABOUT_RETURN_TYPE YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_MISSING_PARENTHESES YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_ABOUT_MISSING_FIELD_INITIALIZERS YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_ABOUT_MISSING_NEWLINE YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_ASSIGN_ENUM YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_SEMICOLON_BEFORE_METHOD_BODY YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_SIGN_COMPARE YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_STRICT_PROTOTYPES YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_COMMA YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_SUSPICIOUS_IMPLICIT_CONVERSION YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_UNINITIALIZED_AUTOS YES_AGGRESSIVE)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_UNUSED_FUNCTION YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_UNUSED_LABEL YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_UNUSED_PARAMETER YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_UNUSED_VALUE YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_UNUSED_VARIABLE YES)
set (CMAKE_XCODE_ATTRIBUTE_CLANG_WARN_DOCUMENTATION_COMMENTS YES)
set (CMAKE_XCODE_ATTRIBUTE_GCC_WARN_ABOUT_MISSING_PROTOTYPES YES)
endif()
# Make it easy to enable MSVC, Clang's/gcc's analyzers
set(ANALYZER "" CACHE STRING "Analyzer to enable on the build.")
if(ANALYZER)
# GCC and Visual Studio offer builtin analyzers. Clang supports static
# analysis through separate tools, e.g. Clang-Tidy, which can be used in
# conjunction with other compilers too. Specifying -DANALYZER=on enables
# the builtin analyzer for the compiler, enabling clang-tidy in case of
# Clang. Specifying -DANALYZER=clang-tidy always enables clang-tidy.
string(REPLACE " " "" ANALYZER "${ANALYZER}")
string(TOLOWER "${ANALYZER}" ANALYZER)
if(CMAKE_C_COMPILER_ID MATCHES "Clang" AND ANALYZER STREQUAL "on")
set(ANALYZER "clang-tidy")
endif()
if(ANALYZER STREQUAL "clang-tidy")
# Clang-Tidy is an extensible tool that offers more than static analysis.
# https://clang.llvm.org/extra/clang-tidy/checks/list.html
message(STATUS "Enabling analyzer: clang-tidy")
set(CMAKE_C_CLANG_TIDY "clang-tidy;-checks=-*,clang-analyzer-*,-clang-analyzer-security.insecureAPI.strcpy")
if(WERROR)
set(CMAKE_C_CLANG_TIDY "${CMAKE_C_CLANG_TIDY};--warnings-as-errors=*")
endif()
elseif(ANALYZER STREQUAL "on")
if(CMAKE_C_COMPILER_ID STREQUAL "GNU")
if(CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL "10")
message(STATUS "Enabling analyzer: GCC")
# -Wanalyzer-malloc-leak generates lots of false positives
add_compile_options(-fanalyzer -Wno-analyzer-malloc-leak)
endif()
endif()
endif()
endif()
set(SANITIZER "" CACHE STRING "Sanitizers to enable on the build.")
if(SANITIZER)
string(REGEX REPLACE " " "" SANITIZER "${SANITIZER}")
string(REGEX REPLACE "[,;]+" ";" SANITIZER "${SANITIZER}")
foreach(san ${SANITIZER})
if(san STREQUAL "address")
add_compile_options("-fno-omit-frame-pointer")
add_link_options("-fno-omit-frame-pointer")
endif()
if(san AND NOT san STREQUAL "none")
message(STATUS "Enabling sanitizer: ${san}")
add_compile_options("-fsanitize=${san}")
add_link_options("-fsanitize=${san}")
endif()
endforeach()
endif()
find_package(codecov)
set(MEMORYCHECK_COMMAND_OPTIONS "--track-origins=yes --leak-check=full --trace-children=yes --child-silent-after-fork=yes --xml=yes --xml-file=TestResultValgrind_%p.xml --tool=memcheck --show-reachable=yes --leak-resolution=high")
# Tests (integrated with CTest) are not built by default: not only are they not useful to
# most people, building the test suite also forces exporting way more symbols from the
# library so we can actually build the tests.
option(BUILD_TESTING "Build the testing tree." OFF)
# Include the tests for idlc. These tests use the idl compiler (C back-end) to
# compile an idl file at (test) runtime, and use the C compiler to build a test
# application for the generated types, that is executed to do the actual testing.
option(BUILD_IDLC_TESTING "Build the idl compiler tests" OFF)
# Disable building examples by default because it is not strictly required.
option(BUILD_EXAMPLES "Build examples." OFF)
option(BUILD_DOCS "Build documentation." OFF)
option(ENABLE_LTO "Enable link time optimization." ON)
if(MSVC)
option(INSTALL_PDB "Install PDB files next to DLLs." ${BUILD_SHARED_LIBS})
endif()
# Build all executables and libraries into the top-level /bin and /lib folders.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
include(CMakePackageConfigHelpers)
include(GNUInstallDirs)
include(CTest)
option(APPEND_PROJECT_NAME_TO_INCLUDEDIR
"When ON headers are installed to a folder ending with an extra ${PROJECT_NAME}. \
This avoids include directory search order issues when overriding this package
from a merged catkin, ament, or colcon workspace." OFF)
if(APPEND_PROJECT_NAME_TO_INCLUDEDIR)
set(CMAKE_INSTALL_INCLUDEDIR "${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}")
endif()
if(APPLE)
set(CMAKE_INSTALL_RPATH "@loader_path/../${CMAKE_INSTALL_LIBDIR}")
else()
set(CMAKE_INSTALL_RPATH "$ORIGIN/../${CMAKE_INSTALL_LIBDIR}")
endif()
if(MINGW)
# Require at least Windows 7
add_definitions(-D_WIN32_WINNT=_WIN32_WINNT_WIN7)
add_definitions(-DNTDDI_VERSION=NTDDI_WIN7)
add_definitions(-D__USE_MINGW_ANSI_STDIO=1) # prefer C99 conformance
# Do not prefix libraries with "lib"
set(CMAKE_SHARED_LIBRARY_PREFIX "")
set(CMAKE_STATIC_LIBRARY_PREFIX "")
endif()
set(CMAKE_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
# Generate Config.cmake
configure_package_config_file(
"PackageConfig.cmake.in"
"${PROJECT_NAME}Config.cmake"
INSTALL_DESTINATION "${CMAKE_INSTALL_CMAKEDIR}")
# Generate Version.cmake
write_basic_package_version_file(
"${PROJECT_NAME}ConfigVersion.cmake"
VERSION ${PROJECT_VERSION}
COMPATIBILITY SameMajorVersion)
install(
FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
DESTINATION "${CMAKE_INSTALL_CMAKEDIR}"
COMPONENT dev)
# Generate Targets.cmake
install(
EXPORT ${PROJECT_NAME}
FILE "${PROJECT_NAME}Targets.cmake"
NAMESPACE "${PROJECT_NAME}::"
DESTINATION "${CMAKE_INSTALL_CMAKEDIR}"
COMPONENT dev)
# Generate Pkg-Config file
configure_file(
"PkgConfig.pc.in"
"${PROJECT_NAME}.pc"
@ONLY
)
install(
FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc"
DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
COMPONENT dev
)
# Generated file paths
# although the following files are generated, they are checked into source
# control for convenience, but the user must copy them manually
set(generated_cyclonedds_rnc "${CMAKE_CURRENT_SOURCE_DIR}/etc/cyclonedds.rnc")
set(generated_cyclonedds_xsd "${CMAKE_CURRENT_SOURCE_DIR}/etc/cyclonedds.xsd")
set(generated_options_md "${CMAKE_CURRENT_SOURCE_DIR}/docs/manual/options.md")
set(generated_defconfig_src "${CMAKE_CURRENT_SOURCE_DIR}/src/core/ddsi/defconfig.c")
add_subdirectory(compat)
add_subdirectory(src)
if(BUILD_EXAMPLES)
add_subdirectory(examples)
endif()
add_subdirectory(docs)
if(DEFINED ENV{LIB_FUZZING_ENGINE})
add_subdirectory(fuzz)
endif()
include(CMakeCPack.cmake)
eclipse-cyclonedds-cyclonedds-2cdd114/CONTRIBUTING.md 0000664 0000000 0000000 00000002710 14621624232 0022247 0 ustar 00root root 0000000 0000000 # Contributing to Eclipse Cyclone DDS
Thanks for your interest in this project.
## Project description
Eclipse Cyclone DDS is an implementation of the OMG Data Distribution Service
(DDS) specification (see http://www.omg.org/spec/DDS/ ) and the related
specifications for interoperability (see http://www.omg.org/spec/DDSI-RTPS/ )
* https://projects.eclipse.org/projects/iot.cyclonedds
## Developer resources
Information regarding source code management, builds, coding standards, and
more.
* https://projects.eclipse.org/projects/iot.cyclonedds/developer
The project maintains the following source code repositories
* https://github.com/eclipse/cyclonedds
## Eclipse Contributor Agreement
Before your contribution can be accepted by the project team contributors must
electronically sign the Eclipse Contributor Agreement (ECA).
* http://www.eclipse.org/legal/ECA.php
Commits that are provided by non-committers must have a Signed-off-by field in
the footer indicating that the author is aware of the terms by which the
contribution has been provided to the project. The non-committer must
additionally have an Eclipse Foundation account and must have a signed Eclipse
Contributor Agreement (ECA) on file.
For more information, please see the Eclipse Committer Handbook:
https://www.eclipse.org/projects/handbook/#resources-commit
## Contact
Contact the project developers via the project's "dev" list.
* https://accounts.eclipse.org/mailing-list/cyclonedds-dev
eclipse-cyclonedds-cyclonedds-2cdd114/CYCLONEDDS_QUALITY_DECLARATION.md 0000664 0000000 0000000 00000036627 14621624232 0025022 0 ustar 00root root 0000000 0000000 This document is a declaration of software quality for the [Eclipse Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds) (hereafter simply "Cyclone DDS") project, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html). This quality declaration is therefore specific to use in [ROS 2](https://docs.ros.org/en/rolling/)-based systems.
# Cyclone DDS Quality Declaration
Cyclone DDS meets all the requirements of **Quality Level 2** category.
The requirements for the various quality level categories are defined by [REP-2004](https://www.ros.org/reps/rep-2004.html).
The rationale, notes and caveats for this claim are provided by the remainder of this document.
## Version Policy [1]
### Version Scheme [1.i]
Cyclone DDS version numbers are organised as MAJOR.MINOR.PATCH where all three components are non-negative decimal numbers.
Version number policy follows the following rules:
* MAJOR version is incremented when an incompatible API change is made;
* MINOR version when functionality is added in a backwards compatible manner. MINOR is source compatible, the project strives to also maintain binary compatibility;
* PATCH version when backwards compatible bug fixes are made. PATCH is binary compatible.
On incrementing a number, all numbers to the right of it are reset to 0.
Major version 0 is considered stable.
Additional labels for pre-release and build metadata are available as extensions to the MAJOR.MINOR.PATCH format and start at the first character following the PATCH that is not a decimal digit.
See also the [Releases section](https://www.eclipse.org/projects/handbook/#release) of the Eclipse project handbook which discusses _Major_, _Minor_, and _Service_ release criteria (where _Service_ corresponds to PATCH in the above description.
### Version Stability [1.ii]
Cyclone DDS is at a stable version.
The current version is the highest versioned Git tag that consists of three decimal numbers separated by periods.
For each minor release, there exists a releases/MAJOR.MINOR.x branch that is used for PATCH releases.
The change history can be found in the [CHANGELOG](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/CHANGELOG.rst).
### Public API Declaration [1.iii]
Symbols starting with `dds_` or `DDS_` and that are accessible after including only the top-level `dds.h` file, unless explicitly stated otherwise in a documentation comment, constitute the Public API.
Definitions available in installed include files that are outside this definitions are either internal or part of an Evolving API that is expected to eventually become part of the Public API. Internal definitions are deliberately included in the install: the project chooses not to artifically limit users of Cyclone DDS to the Public or Evolving APIs.
In the source repository, these header files reside with the modules that make up Cyclone DDS.
### API Stability Policy [1.iv]
For the Public API:
* Cyclone DDS provides Public API stability for PATCH and MINOR releases.
* Cyclone DDS strives to provide Public API stability for MAJOR releases.
* Cyclone DDS does not guarantee Public API stability for MAJOR releases.
For the Evolving API:
* Cyclone DDS provides Evolving API stability for PATCH releases.
* Cyclone DDS strives to provide Evolving API stability for MINOR releases.
* Cyclone DDS does not guarantee Evolving API stability for MINOR and MAJOR releases.
The RMW interface is what ROS 2 deals with, and for a variety of reasons it may be decided to rely on unstable interfaces (or even implementation details), to better support ROS 2's design decisions that do not fit so well with DDS.
Given ROS 2's importance to Cyclone DDS the Public API is expected to eventually cover all of ROS 2's needs, but without a defined time-line for that to happen.
The Cyclone DDS projects takes these uses into account, but it may at times even require source changes to the RMW layer.
As the Cyclone DDS project is actively involved in maintaining the RMW layer, such cases are handled by scheduling updates and performing additional compatibility checks against the ROS 2 test suite to ensure they do not cause any disruption to ROS 2.
Those changes are all hidden in the interface between the RMW layer and Cyclone DDS itself and are of no concern to ROS 2 applications.
It just means that, in the general case, one should always use a matched pair of `rmw_cyclonedds_cpp` and `cyclonedds`.
### ABI Stability Policy [1.v]
Cyclone DDS provides ABI stability for PATCH releases and strives to provide ABI stability for MINOR releases, for both Public and Evolving APIs.
Cyclone DDS does not guarantee ABI stability for MINOR or MAJOR releases.
### ABI and ABI Stability Within a Released ROS Distribution [1.vi]
ROS 2 users do not interact directly with Cyclone DDS and the mapping of the RMW interface to the Cyclone DDS APIs provided by the `rmw_cyclonedds` package hides any API or ABI changes from ROS 2 users.
Based on the ABI Stability Policy, Cyclone DDS PATCH releases can be accepted as updates within a Released ROS Distribution. MINOR releases can likely be accepted as updates after assessing the binary compatibility.
Cyclone DDS MINOR and MAJOR releases can, at least in principle, be accepted as updates within a Released ROS Distribution if the update is accompanied by an update of the `rmw_cyclonedds` package.
## Change Control [2]
Cyclone DDS follows the recommended guidelines of the [Eclipse Development Process](https://www.eclipse.org/projects/dev_process/).
The Eclipse Foundation manages write access to project repositories, allowing only designated [Committers](https://www.eclipse.org/projects/dev_process/#4_1_Committers), who have been voted for in elections overseen by the Eclipse Foundation, to commit changes.
API and ABI stability is part of the review process. The Cyclone DDS project runs CI and tests.
The Cyclone DDS project runs ROS CI for changes that are likely to affect ROS.
### Change Requests [2.i]
All changes occur through a pull request.
### Contributor Origin [2.ii]
This package uses DCO as its confirmation of contributor origin policy.
More information can be found in [Eclipse Foundation's DCO policy](https://www.eclipse.org/legal/DCO.php).
Eclipse projects furthermore require that an [Eclipse Contributor Agreement](https://www.eclipse.org/legal/ECA.php) is on file with the Eclipse Foundation.
### Peer Review Policy [2.iii]
All pull requests must pass peer-review except when no-one is able to provide a review for a PR introduced by a Committer. The exception exists solely as an escape hatch if no review can be obtained within a reasonable time frame while there is an urgent need for the change introduced by the PR.
Check [Eclipse Developer Process](https://www.eclipse.org/projects/dev_process/) for additional information.
### Continuous Integration [2.iv]
Pull requests are required to pass all tests in the CI system prior to merging, unless Committers consider there is sufficient evidence that a failure is the result of a mishap unrelated to the change.
Cyclone DDS CI results are [public](https://dev.azure.com/eclipse-cyclonedds/cyclonedds/_build) and cover x64 and x86 platforms running Linux, macOS and Windows:
- Ubuntu 20.04 with gcc 10
- Ubuntu 18.04 with gcc 7
- Ubuntu 20.04 with clang 10
- macOS 10.15 with clang 12
- macOS 10.15 with clang 12 while targeting macOS 10.12
- Windows Server 2019 with Visual Studio 2019
These are run with a mixture of debug, debug-with-address sanitizer and release builds.
ROS 2 CI also runs the Cyclone DDS tests, which provides further coverage, including the exact platforms used for ROS 2 releases.
### Documentation Policy [2.v]
All pull requests must resolve related documentation changes before merging.
## Documentation [3]
### Feature Documentation [3.i]
The project documentation includes a getting started that introduces the high-level concepts, but it generally prefers to instead refer to the [OMG DDS specification](https://www.omg.org/spec/DDS/1.4/PDF) for an accessible and full description of the concepts and high-level features.
Some components can be enabled/disabled at compile-time through compilation options from the CMake files (e.g., DDS Security support). These are done with CMake options.
Some other features are included/excluded at build time based on the features provided by the target platform (e.g., source-specific multicasting, DNS support to allow hostnames to be used in the configuration). All features are available on the tier 1 platforms, the ability to exclude them is needed for embedded platforms such as FreeRTOS.
### Public API Documentation [3.ii]
Reference information for the Public API is provided in the form of Doxygen comments. Generated documentation is provided [online](https://cyclonedds.io).
Configuration settings are documented in the source, with auto-generated [XSD files](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/etc/cyclonedds.xsd) and [markdown files](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/docs/manual/options.md) committed in the repository and linked from the front page.
[Background information](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/docs/manual/config.rst) on configuration settings is also provided.
### License [3.iii]
The license for Cyclone DDS is the Eclipse Public License 2.0 and the Eclipse Distribution License 1.0, and all of the code includes a header stating so.
The project includes a [`NOTICE`](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/NOTICE.md#declared-project-licenses) with links to more information about these licenses.
The Cyclone DDS repository also includes a [`LICENSE`](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/LICENSE) file with the full terms.
There is some third-party content included with Cyclone DDS which is licensed as Zlib, New BSD, and Public Domain.
Details can also be found in the included [`NOTICE`](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/NOTICE.md#third-party-content) document.
### Copyright Statement [3.iv]
The Cyclone DDS documentation includes a [policy](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/NOTICE.md#copyright) regarding content copyright, each of the source files containing code include a copyright statement with the license information in the file's header.
### Lists and Peer Review [3.v.c]
This section is not applicable to a non-ROS project.
## Testing [4]
Cyclone DDS source tree includes subdirectories for test code.
In all, the test code comprises approximately 25% of the codebase.
### Feature Testing [4.i]
Each feature in Cyclone DDS has corresponding tests which simulate typical usage, and they are located in separate directories next to the sources.
New features are required to have tests before being added.
A substantial amount of the tests found throughout the source tree verify functionality of various features of Cyclone DDS.
### Public API Testing [4.ii]
Each part of the public API has tests, and new additions or changes to the public API require tests before being added.
The tests aim to cover both typical usage and corner cases.
There are some tests throughout the Cyclone DDS source tree which specifically target the public API.
There is no automated tracking of correlation between tests and API functionality. On the basis of a manual assessment conducted by the project, the overall number of tests and the number of reported issues, it is fair to conclude that the Public API is well-covered.
In continuous integration, address sanitizer is enabled for some of the test matrix. Address sanitizer errors result in CI failure.
### Coverage [4.iii]
Cyclone DDS publishes [test coverage](https://codecov.io/github/eclipse-cyclonedds/cyclonedds?branch=master) using [Codecov](https://codecov.io).
New changes are required to include tests coverage. Line coverage is approximately 75% (as of 2020-09-04).
### Performance [4.iv]
While there are no public automated tests or results, there is evidence in PRs that performance does get taken into account (see, e.g., https://github.com/eclipse-cyclonedds/cyclonedds#558).
`ddsperf` is used to check for performance regressions regularly and before releases.
Performance-sensitive PRs are tested for regressions using ddsperf before changes are accepted.
[ddsperf](https://github.com/eclipse-cyclonedds/cyclonedds/tree/master/src/tools/ddsperf) is the tool to use for assessing Cyclone DDS performance.
There is automated performance testing run nightly as part interoperability testing on internal servers.
Open Robotics runs ros2 [nightly CI performance tests](http://build.ros2.org/job/Fci__nightly-performance_ubuntu_focal_amd64/) exist but is not yet reliable infrastructure.
We suggest and would like to assist Open Robotics to move all performance testing to dedicated hardware.
### Linters and Static Analysis [4.v]
`rmw_cyclonedds` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis).
Passing implies there are no linter/static errors when testing against CI of supported platforms.
Cyclone DDS has automated [Synopsys Coverity static code analysis](https://www.synopsys.com/software-integrity/security-testing/static-analysis-sast.html) with public results that can be seen [here](https://scan.coverity.com/projects/eclipse-cyclonedds-cyclonedds).
Cyclone DDS has no outstanding defects as of 20-09-2021 on 240k lines analyzed. For comparison the average defect density of open source software projects of similar size is 0.5 per 1,000 lines of code.
Coding style is considered and enforced in the review of all Cyclone DDS pull requests.
Contributors are regularly asked to rewrite or reformat their code contributions before pull requests are accepted.
This is a matter of public record in the Cyclone DDS pull request history.
## Dependencies [5]
### Direct Runtime ROS Dependencies [5.i]
As an external dependency, there are no ROS dependencies in Cyclone DDS.
### Optional Direct Runtime ROS Dependencies [5.ii]
As an external dependency, there are no ROS dependencies in Cyclone DDS.
### Direct Runtime non-ROS Dependency [5.iii]
The only runtime dependency of Cyclone DDS is [OpenSSL](https://openssl.org), a widely-used secure communications suite.
If Cyclone DDS is built without security enabled, the product has no runtime dependencies.
## Platform Support [6]
Cyclone DDS supports all of the tier 1 platforms as described in REP-2000.
Cyclone DDS CI test coverage does not exactly match the tier 1 platforms of ROS 2.
The ROS 2 CI includes the Cyclone DDS CI tests, and so there is automated validation that all tier 1 platforms are fully supported.
Regarding minimum versions they are basically not known exactly because Cyclone DDS builds and runs on everything that was tested including ancient versions of Linux and macOS.
For evidence, the fact that Cyclone DDS builds and runs on [Solaris 2.6 on SPARCv8](https://github.com/eclipse-cyclonedds/cyclonedds/tree/master/ports/solaris2.6) (given pre-generated header files and IDL output) is a fair indication of its broad support of platforms and old versions.
The README specifies mininum versions that are new enough.
## Security [7]
### Vulnerability Disclosure Policy [7.i]
This package conforms to the Vulnerability Disclosure Policy in REP-2006.
The Eclipse Project Handbook states the project's [vulnerability disclosure policy](https://www.eclipse.org/projects/handbook/#vulnerability-disclosure) in detail.
eclipse-cyclonedds-cyclonedds-2cdd114/LICENSE 0000664 0000000 0000000 00000037313 14621624232 0021032 0 ustar 00root root 0000000 0000000 This program and the accompanying materials are made available under the
terms of the Eclipse Public License v. 2.0 which is available at
http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
v. 1.0 which is available at
http://www.eclipse.org/org/documents/edl-v10.php.
Eclipse Public License - v 2.0
THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE
PUBLIC LICENSE ("AGREEMENT"). ANY USE, REPRODUCTION OR DISTRIBUTION
OF THE PROGRAM CONSTITUTES RECIPIENT'S ACCEPTANCE OF THIS AGREEMENT.
1. DEFINITIONS
"Contribution" means:
a) in the case of the initial Contributor, the initial content
Distributed under this Agreement, and
b) in the case of each subsequent Contributor:
i) changes to the Program, and
ii) additions to the Program;
where such changes and/or additions to the Program originate from
and are Distributed by that particular Contributor. A Contribution
"originates" from a Contributor if it was added to the Program by
such Contributor itself or anyone acting on such Contributor's behalf.
Contributions do not include changes or additions to the Program that
are not Modified Works.
"Contributor" means any person or entity that Distributes the Program.
"Licensed Patents" mean patent claims licensable by a Contributor which
are necessarily infringed by the use or sale of its Contribution alone
or when combined with the Program.
"Program" means the Contributions Distributed in accordance with this
Agreement.
"Recipient" means anyone who receives the Program under this Agreement
or any Secondary License (as applicable), including Contributors.
"Derivative Works" shall mean any work, whether in Source Code or other
form, that is based on (or derived from) the Program and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship.
"Modified Works" shall mean any work in Source Code or other form that
results from an addition to, deletion from, or modification of the
contents of the Program, including, for purposes of clarity any new file
in Source Code form that contains any contents of the Program. Modified
Works shall not include works that contain only declarations,
interfaces, types, classes, structures, or files of the Program solely
in each case in order to link to, bind by name, or subclass the Program
or Modified Works thereof.
"Distribute" means the acts of a) distributing or b) making available
in any manner that enables the transfer of a copy.
"Source Code" means the form of a Program preferred for making
modifications, including but not limited to software source code,
documentation source, and configuration files.
"Secondary License" means either the GNU General Public License,
Version 2.0, or any later versions of that license, including any
exceptions or additional permissions as identified by the initial
Contributor.
2. GRANT OF RIGHTS
a) Subject to the terms of this Agreement, each Contributor hereby
grants Recipient a non-exclusive, worldwide, royalty-free copyright
license to reproduce, prepare Derivative Works of, publicly display,
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Contributor, if any, and such Derivative Works.
b) Subject to the terms of this Agreement, each Contributor hereby
grants Recipient a non-exclusive, worldwide, royalty-free patent
license under Licensed Patents to make, use, sell, offer to sell,
import and otherwise transfer the Contribution of such Contributor,
if any, in Source Code or other form. This patent license shall
apply to the combination of the Contribution and the Program if, at
the time the Contribution is added by the Contributor, such addition
of the Contribution causes such combination to be covered by the
Licensed Patents. The patent license shall not apply to any other
combinations which include the Contribution. No hardware per se is
licensed hereunder.
c) Recipient understands that although each Contributor grants the
licenses to its Contributions set forth herein, no assurances are
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Each Contributor disclaims any liability to Recipient for claims
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d) Each Contributor represents that to its knowledge it has
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3.1 If a Contributor Distributes the Program in any form, then:
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eclipse-cyclonedds-cyclonedds-2cdd114/NOTICE.md 0000664 0000000 0000000 00000002722 14621624232 0021324 0 ustar 00root root 0000000 0000000 # Notices for Eclipse Cyclone DDS
This content is produced and maintained by the Eclipse Cyclone DDS project.
* Project home: https://projects.eclipse.org/projects/iot.cyclonedds
## Trademarks
Eclipse Cyclone DDS is a trademark of the Eclipse Foundation.
## Copyright
All content is the property of the respective authors or their employers. For
more information regarding authorship of content, please consult the listed
source code repository logs.
## Declared Project Licenses
This program and the accompanying materials are made available under the terms
of the Eclipse Public License v. 2.0 which is available at
http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License v. 1.0
which is available at http://www.eclipse.org/org/documents/edl-v10.php.
SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
## Source Code
The project maintains the following source code repositories:
* https://github.com/eclipse/cyclonedds
## Third-party Content
libmd5-rfc (2002-04-13)
* License: Zlib
getopt 1.5 (1998-03-11)
* License: Public domain
## Cryptography
Content may contain encryption software. The country in which you are currently
may have restrictions on the import, possession, and use, and/or re-export to
another country, of encryption software. BEFORE using any encryption software,
please check the country's laws, regulations and policies concerning the import,
possession, or use, and re-export of encryption software, to see if this is
permitted.
eclipse-cyclonedds-cyclonedds-2cdd114/PackageConfig.cmake.in 0000664 0000000 0000000 00000001310 14621624232 0024101 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2006 to 2021 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
@PACKAGE_INIT@
if(@CYCLONE_BUILD_WITH_ICEORYX@)
include(CMakeFindDependencyMacro)
find_dependency(iceoryx_binding_c)
endif()
include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
if(TARGET CycloneDDS::idlc)
include("${CMAKE_CURRENT_LIST_DIR}/idlc/Generate.cmake")
endif()
eclipse-cyclonedds-cyclonedds-2cdd114/PkgConfig.pc.in 0000664 0000000 0000000 00000000401 14621624232 0022611 0 ustar 00root root 0000000 0000000 prefix=@CMAKE_INSTALL_PREFIX@
includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
Name: @PROJECT_NAME@
Description: Eclipse Cyclone DDS library
Version: @PROJECT_VERSION@
Libs: -L${libdir} -lddsc
Cflags: -I${includedir}
eclipse-cyclonedds-cyclonedds-2cdd114/README.md 0000664 0000000 0000000 00000052534 14621624232 0021306 0 ustar 00root root 0000000 0000000 
[](https://dev.azure.com/eclipse-cyclonedds/cyclonedds/_build/latest?definitionId=4&branchName=master)
[](https://scan.coverity.com/projects/eclipse-cyclonedds-cyclonedds)
[](https://dev.azure.com/eclipse-cyclonedds/cyclonedds/_build/latest?definitionId=4&branchName=master)
[](https://choosealicense.com/licenses/epl-2.0/)
[](https://choosealicense.com/licenses/edl-1.0/)
[](https://cyclonedds.io)
[](https://discord.gg/BkRYQPpZVV)
# Eclipse Cyclone DDS
Eclipse Cyclone DDS is a very performant and robust open-source implementation of the [OMG DDS specification](https://www.omg.org/spec/DDS/1.4/About-DDS/).
Cyclone DDS is developed completely in the open as an Eclipse IoT project (see [eclipse-cyclone-dds](https://projects.eclipse.org/projects/iot.cyclonedds)) with a growing list of [adopters](https://iot.eclipse.org/adopters/?#iot.cyclonedds) (if you're one of them, please add your [logo](https://github.com/EclipseFdn/iot.eclipse.org/issues/new?template=adopter_request.md)).
It is a tier-1 middleware for the Robot Operating System [ROS 2](https://docs.ros.org/en/rolling/).
* [What is DDS?](#what-is-dds)
* [Getting Started](#getting-started)
* [Performance](#performance)
* [Configuration](#run-time-configuration)
# What is DDS?
DDS is the best-kept secret in distributed systems, one that has been around for much longer than most publish-subscribe messaging systems and still outclasses so many of them.
DDS is used in a wide variety of systems, including air-traffic control, jet engine testing, railway control, medical systems, naval command-and-control, smart greenhouses and much more.
In short, it is well-established in aerospace and defense but no longer limited to that.
And yet it is easy to use!
Types are usually defined in IDL and preprocessed with the IDL compiler included in Cyclone, but our [Python binding](https://github.com/eclipse-cyclonedds/cyclonedds-python) allows you to define data types on the fly:
```Python
from dataclasses import dataclass
from cyclonedds.domain import DomainParticipant
from cyclonedds.core import Qos, Policy
from cyclonedds.pub import DataWriter
from cyclonedds.sub import DataReader
from cyclonedds.topic import Topic
from cyclonedds.idl import IdlStruct
from cyclonedds.idl.annotations import key
from time import sleep
import numpy as np
try:
from names import get_full_name
name = get_full_name()
except:
import os
name = f"{os.getpid()}"
# C, C++ require using IDL, Python doesn't
@dataclass
class Chatter(IdlStruct, typename="Chatter"):
name: str
key("name")
message: str
count: int
rng = np.random.default_rng()
dp = DomainParticipant()
tp = Topic(dp, "Hello", Chatter, qos=Qos(Policy.Reliability.Reliable(0)))
dw = DataWriter(dp, tp)
dr = DataReader(dp, tp)
count = 0
while True:
sample = Chatter(name=name, message="Hello, World!", count=count)
count = count + 1
print("Writing ", sample)
dw.write(sample)
for sample in dr.take(10):
print("Read ", sample)
sleep(rng.exponential())
```
Today DDS is also popular in robotics and autonomous vehicles because those really depend on high-throughput, low-latency control systems without introducing a single point of failure by having a message broker in the middle.
Indeed, it is by far the most used and the default middleware choice in ROS 2.
It is used to transfer commands, sensor data and even video and point clouds between components.
The OMG DDS specifications cover everything one needs to build systems using publish-subscribe messaging.
They define a structural type system that allows automatic endianness conversion and type checking between readers and writers.
This type system also supports type evolution.
The interoperable networking protocol and standard C++ API make it easy to build systems that integrate multiple DDS implementations.
Zero-configuration discovery is also included in the standard and supported by all implementations.
DDS actually brings more: publish-subscribe messaging is a nice abstraction over "ordinary" networking, but plain publish-subscribe doesn't affect how one *thinks* about systems.
A very powerful architecture that truly changes the perspective on distributed systems is that of the "shared data space", in itself an old idea, and really just a distributed database.
Most shared data space designs have failed miserably in real-time control systems because they provided strong consistency guarantees and sacrificed too much performance and flexibility.
The *eventually consistent* shared data space of DDS has been very successful in helping with building systems that need to satisfy many "ilities": dependability, maintainability, extensibility, upgradeability, ...
Truth be told, that's why it was invented, and publish-subscribe messaging was simply an implementation technique.
Cyclone DDS aims at full coverage of the specs and today already covers most of this.
With references to the individual OMG specifications, the following is available:
- [DCPS](https://www.omg.org/spec/DDS/1.4/PDF) the base specification
- zero configuration discovery (if multicast works)
- publish/subscribe messaging
- configurable storage of data in subscribers
- many QoS settings - liveliness monitoring, deadlines, historical data, ...
- coverage includes the Minimum, Ownership and (partially) Content profiles
- [DDS Security](https://www.omg.org/spec/DDS-SECURITY/1.1/PDF) - providing authentication, access control and encryption
- [DDS C++ API](https://www.omg.org/spec/DDS-PSM-Cxx/1.0/PDF)
- [DDS XTypes](https://www.omg.org/spec/DDS-XTypes/1.3/PDF) - the structural type system (some [caveats](docs/dev/xtypes_relnotes.md) here)
- [DDSI-RTPS](https://www.omg.org/spec/DDSI-RTPS/2.5/PDF) - the interoperable network protocol
The network stack in Cyclone DDS has been around for over a decade in one form or another and has proven itself in many systems, including large, high-availability ones and systems where interoperatibility with other implementations was needed.
This repository provides the core of Cyclone DDS including its C API, the [OMG C++](https://github.com/eclipse-cyclonedds/cyclonedds-cxx) and the [Python](https://github.com/eclipse-cyclonedds/cyclonedds-python) language bindings are in sibling repositories.
Consult the [roadmap](ROADMAP.md) for a high-level overview of upcoming features.
# Getting Started
## Building Eclipse Cyclone DDS
In order to build Cyclone DDS you need a Linux, Mac or Windows 10 machine (or, with some caveats, a *BSD, QNX, OpenIndiana or a Solaris 2.6 one) with the following installed on your host:
* C compiler (most commonly GCC on Linux, Visual Studio on Windows, Xcode on macOS);
* Optionally GIT version control system;
* [CMake](https://cmake.org/download/), version 3.16 or later;
* Optionally [OpenSSL](https://www.openssl.org/), preferably version 1.1;
* Optionally [Eclipse Iceoryx](https://iceoryx.io) version 2.0 for shared memory and zero-copy support;
* Optionally [Bison](https://www.gnu.org/software/bison/) parser generator. A cached source is checked into the repository.
If you want to play around with the parser you will need to install the bison parser generator. On Ubuntu `apt install bison` should do the trick for getting it installed.
On Windows, installing chocolatey and `choco install winflexbison3` should get you a long way. On macOS, `brew install bison` is easiest.
To obtain Eclipse Cyclone DDS, do
$ git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
$ cd cyclonedds
$ mkdir build
Depending on whether you want to develop applications using Cyclone DDS or contribute to it you can follow different procedures:
### Build configuration
There are some configuration options specified using CMake defines in addition to the standard options like `CMAKE_BUILD_TYPE`:
* `-DBUILD_EXAMPLES=ON`: to build the included examples
* `-DBUILD_TESTING=ON`: to build the test suite (forces exporting all symbols from the library)
* `-DBUILD_IDLC=NO`: to disable building the IDL compiler (affects building examples, tests and `ddsperf`)
* `-DBUILD_DDSPERF=NO`: to disable building the [`ddsperf`](https://github.com/eclipse-cyclonedds/cyclonedds/tree/master/src/tools/ddsperf) tool for performance measurement
* `-DENABLE_SSL=NO`: to not look for OpenSSL, remove TLS/TCP support and avoid building the plugins that implement authentication and encryption (default is `AUTO` to enable them if OpenSSL is found)
* `-DENABLE_SHM=NO`: to not look for Iceoryx and disabled shared memory support (default is `AUTO` to enable it if Iceoryx is found)
* `-DENABLE_SECURITY=NO`: to not build the security interfaces and hooks in the core code, nor the plugins (one can enable security without OpenSSL present, you'll just have to find plugins elsewhere in that case)
* `-DENABLE_LIFESPAN=NO`: to exclude support for finite lifespans QoS
* `-DENABLE_DEADLINE_MISSED=NO`: to exclude support for finite deadline QoS settings
* `-DENABLE_TYPE_DISCOVERY=NO`: to exclude support for type discovery and checking type compatibility (effectively most of XTypes), requires also disabling topic discovery using `-DENABLE_TOPIC_DISCOVERY=NO`
* `-DENABLE_TOPIC_DISCOVERY=NO`: to exclude support for topic discovery
* `-DENABLE_SOURCE_SPECIFIC_MULTICAST=NO`: to disable support for source-specific multicast (disabling this and `-DENABLE_IPV6=NO` may be needed for QNX builds)
* `-DENABLE_IPV6=NO`: to disable ipv6 support (disabling this and `-DENABLE_SOURCE_SPECIFIC_MULTICAST=NO` may be needed for QNX builds)
### For application developers
To build and install the required libraries needed to develop your own applications using Cyclone
DDS requires a few simple steps.
There are some small differences between Linux and macOS on the one
hand, and Windows on the other.
For Linux or macOS:
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX= ..
$ cmake --build .
and for Windows:
$ cd build
$ cmake -G "" -DCMAKE_INSTALL_PREFIX= ..
$ cmake --build .
where you should replace `` by the directory under which you would like to install Cyclone DDS and `` by one of the ways CMake [generators](https://cmake.org/cmake/help/latest/manual/cmake-generators.7.html) offer for generating build files.
For example, "Visual Studio 15 2017 Win64" would target a 64-bit build using Visual Studio 2017.
To install it after a successful build, do:
$ cmake --build . --target install
which will copy everything to:
* `/lib`
* `/bin`
* `/include/ddsc`
* `/share/CycloneDDS`
Depending on the installation location you may need administrator privileges.
At this point you are ready to use Eclipse Cyclone DDS in your own projects.
Note that the default build type is a release build with debug information included (RelWithDebInfo), which is generally the most convenient type of build to use from applications because of a good mix between performance and still being able to debug things. If you'd rather have a Debug or pure Release build, set `CMAKE_BUILD_TYPE` accordingly.
### Contributing to Eclipse Cyclone DDS
We very much welcome all contributions to the project, whether that is questions, examples, bug
fixes, enhancements or improvements to the documentation, or anything else really.
When considering contributing code, it might be good to know that build configurations for Azure pipelines are present in the repository and that there is a test suite built using a simple testing framework and CTest that can be built locally if desired.
To build it, set the cmake variable `BUILD_TESTING` to on when configuring, e.g.:
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=ON ..
$ cmake --build .
$ ctest
## Documentation
The [documentation](https://cyclonedds.io/docs) is still rather limited and some parts of it are still only available in the form of text files in the `docs` directory.
This README is usually out-of-date and the state of the documentation is slowly improving, so it definitely worth hopping over to have a look.
## Building and Running the Roundtrip Example
We will show you how to build and run an example program that measures latency.
The examples are built automatically when you build Cyclone DDS, so you don't need to follow these steps to be able to run the program, it is merely to illustrate the process.
$ mkdir roundtrip
$ cd roundtrip
$ cmake /share/CycloneDDS/examples/roundtrip
$ cmake --build .
On one terminal start the application that will be responding to pings:
$ ./RoundtripPong
On another terminal, start the application that will be sending the pings:
$ ./RoundtripPing 0 0 0
# payloadSize: 0 | numSamples: 0 | timeOut: 0
# Waiting for startup jitter to stabilise
# Warm up complete.
# Latency measurements (in us)
# Latency [us] Write-access time [us] Read-access time [us]
# Seconds Count median min 99% max Count median min Count median min
1 28065 17 16 23 87 28065 8 6 28065 1 0
2 28115 17 16 23 46 28115 8 6 28115 1 0
3 28381 17 16 22 46 28381 8 6 28381 1 0
4 27928 17 16 24 127 27928 8 6 27928 1 0
5 28427 17 16 20 47 28427 8 6 28427 1 0
6 27685 17 16 26 51 27685 8 6 27685 1 0
7 28391 17 16 23 47 28391 8 6 28391 1 0
8 27938 17 16 24 63 27938 8 6 27938 1 0
9 28242 17 16 24 132 28242 8 6 28242 1 0
10 28075 17 16 23 46 28075 8 6 28075 1 0
The numbers above were measured on Mac running a 4.2 GHz Intel Core i7 on December 12th 2018.
From these numbers you can see how the roundtrip is very stable and the minimal latency is now down to 17 micro-seconds (used to be 25 micro-seconds) on this HW.
# Performance
Reliable message throughput is over 1MS/s for very small samples and is roughly 90% of GbE with 100
byte samples, and latency is about 30us when measured using [ddsperf](src/tools/ddsperf) between two Intel(R) Xeon(R) CPU E3-1270 V2 @ 3.50GHz (that's 2012 hardware ...) running Ubuntu 16.04, with the executables built on Ubuntu 18.04 using gcc 7.4.0 for a default (i.e., "RelWithDebInfo") build.
This is with the subscriber in listener mode, using asynchronous delivery for the throughput
test.
The configuration is a marginally tweaked out-of-the-box configuration: an increased maximum
message size and fragment size, and an increased high-water mark for the reliability window on the
writer side.
For details, see the [scripts](examples/perfscript) directory,
the
[environment details](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/config.txt) and the [throughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/sub.log) and [latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/ping.log) data underlying the graphs. These also include CPU usage ([throughput](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-cpu.png) and [latency](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/latency-sync-listener-bwcpu.png)) and [memory usage](https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/assets/performance/20190730/throughput-async-listener-memory.png).
# Run-time configuration
The out-of-the-box configuration should usually be fine, but there are a great many options that can be tweaked by creating an XML file with the desired settings and defining the `CYCLONEDDS_URI` to point to it.
E.g. (on Linux):
$ cat cyclonedds.xml
default
65500B
true
500kB
config
cdds.log.${CYCLONEDDS_PID}
$ export CYCLONEDDS_URI=file://$PWD/cyclonedds.xml
(on Windows, one would have to use `set CYCLONEDDS_URI=file://...` instead.)
This example shows a few things:
* `Interfaces` can be used to override the interfaces selected by default.
Members are
* `NetworkInterface[@autodetermine]` tells Cyclone DDS to autoselect the interface it deems best.
* `NetworkInterface[@name]` specifies the name of an interface to select (not shown above, alternative for autodetermine).
* `NetworkInterface[@ip]` specifies the ipv4/ipv6 address of an interface to select (not shown above, alternative for autodetermine).
* `NetworkInterface[@multicast]` specifies whether multicast should be used on this interface.
The default value 'default' means Cyclone DDS will check the OS reported flags of the interface and enable multicast if it is supported.
Use 'true' to ignore what the OS reports and enable it anyway and 'false' to always disable multicast on this interface.
* `NetworkInterface[@priority]` specifies the priority of an interface.
The default value (`default`) means priority `0` for normal interfaces and `2` for loopback interfaces.
* `AllowMulticast` configures the circumstances under which multicast will be used.
If the selected interface doesn't support it, it obviously won't be used (`false`); but if it does support it, the type of the network adapter determines the default value.
For a wired network, it will use multicast for initial discovery as well as for data when there are multiple peers that the data needs to go to (`true`).
On a WiFi network it will use it only for initial discovery (`spdp`), because multicast on WiFi is very unreliable.
* `EnableTopicDiscoveryEndpoints` turns on topic discovery (assuming it is enabled at compile time), it is disabled by default because it isn't used in many system and comes with a significant amount of overhead in discovery traffic.
* `Verbosity` allows control over the tracing, "config" dumps the configuration to the trace output (which defaults to "cyclonedds.log", but here the process id is appended).
Which interface is used, what multicast settings are used, etc., is all in the trace.
Setting the verbosity to "finest" gives way more output on the inner workings, and there are various other levels as well.
* `MaxMessageSize` controls the maximum size of the RTPS messages (basically the size of the UDP payload).
Large values such as these typically improve performance over the (current) default values on a loopback interface.
* `WhcHigh` determines when the sender will wait for acknowledgements from the readers because it has buffered too much unacknowledged data.
There is some auto-tuning, the (current) default value is a bit small to get really high throughput.
Background information on configuring Cyclone DDS can be found [here](docs/manual/config.rst) and a list of settings is [available](docs/manual/options.md).
# Trademarks
* "Eclipse Cyclone DDS", "Cyclone DDS", "Eclipse Iceoryx" and "Iceoryx" are trademarks of the Eclipse Foundation.
* "DDS" is a trademark of the Object Management Group, Inc.
* "ROS" is a trademark of Open Source Robotics Foundation, Inc.
eclipse-cyclonedds-cyclonedds-2cdd114/ROADMAP.md 0000664 0000000 0000000 00000004704 14621624232 0021430 0 ustar 00root root 0000000 0000000 # Cyclone DDS Roadmap
## Introduction
The Eclipse Cyclone DDS project aims at implementing the OMG DDS core standards, namely:
* [Data Distribution Service][1] (DDS)
* [DDS Interoperability Wire Protocol][2] (DDSI-RTPS)
* [DDS Security][3] (DDS-SECURITY)
* [Extensible and Dynamic Topic Types for DDS][1] (DDS-XTypes)
We ultimately aim to comply with the latest version of above OMG standards. Cyclone DDS supports currently the following language bindings for the DCPS APIs:
* C language
* C++ language ([ISO/IEC C++ 2003 Language PSM for DDS][5]) (DDS-PSM-Cxx)
The community is welcome to add new language bindings and contribute to the implementation of other OMG specifications.
The roadmap presented here is indicative and subject to change.
## Short-term milestones
**Cyclone 0.8**
* C++11 APIs (GA)
* New APIs to access to serialized CDR data
* New APIs for configuring the deployment of Cyclone DDS based application
* Multi-Network interface cards support (Consolidation)
* Content filtering support for C++
* IDL compiler front-end & back end support of the Xtypes annotations
* Topic and data type discovery
* ROS 2 Quality Level 2
* Automated performance and regression testing
* Formal feature list also showing test coverage
* APIs marked stable (each API in formal feature list), evolving or experimental
**Cyclone 0.9**
* Integration of Durability Service for Transient and Persistent data
* Shared memory transport support
* Python APIs (GA)
* Internet-scale deployment support
* DDS-Xtypes APIs
* Asynchronous mode of operation
* ROS 2 Quality Level 1
## Midterm milestones
**Cyclone 1.0**
* Static discovery
* Static memory allocation
* Writer side filtering support
* Content Querying APIs
## Long-term milestones
**Future versions**
* Network Mobility support
* C# language binding support (DDS C# API)
* Java language binding support (Java 5 Language PSM for DDS)
* Time-sensitive Networking support DDS-TSN
* Rust language binding support
* Certifiable DDS
* Face 3 support
* Network Scheduling and Federated architecture support
* [TrustZone](https://developer.arm.com/ip-products/security-ip/trustzone) support for DDS Security
[1]: https://www.omg.org/spec/DDS/About-DDS/
[2]: https://www.omg.org/spec/DDSI-RTPS/About-DDSI-RTPS/
[3]: https://www.omg.org/spec/DDS-SECURITY/About-DDS-SECURITY/
[4]: https://www.omg.org/spec/DDS-XTypes/About-DDS-XTypes/
[5]: https://www.omg.org/spec/DDS-PSM-Cxx/About-DDS-PSM-Cxx/
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# Copyright(c) 2021 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
trigger: [ '*' ]
pr: [ '*' ]
variables:
cyclonedds_uri: 'rhc,whctrueconfigstderr'
jobs:
- job: BuildAndTest
pool:
vmImage: $(image)
strategy:
matrix:
'Ubuntu 20.04 LTS with GCC 10 (Debug, x86_64)':
image: ubuntu-20.04
analyzer: on
# not enabling "undefined" because of some false positives
sanitizer: address
cc: gcc-10
coverage: on
'Ubuntu 20.04 LTS with GCC 10 (Debug, x86_64, Iceoryx)':
image: ubuntu-20.04
#analyzer: on # disabled for now because of warnings
sanitizer: address,undefined
iceoryx: on
cc: gcc-10
coverage: on
'Ubuntu 20.04 LTS with GCC 10 (Release, x86_64)':
image: ubuntu-20.04
build_type: Release
sanitizer: undefined
cc: gcc-10
'Ubuntu 20.04 LTS with GCC 10 (Debug, x86_64, security only)':
image: ubuntu-20.04
sanitizer: address,undefined
ssl: off
lifespan: off
deadline: off
type_discovery: off
topic_discovery: off
idlc_testing: off # temporary dislabled because of passing -t option to idlc in this test for recursive types
cc: gcc-10
'Ubuntu 22.04 LTS with GCC 10 (Debug, x86_64, no tests)':
image: ubuntu-22.04
cc: gcc-10
testing: off
idlc_xtests: off
'Ubuntu 22.04 LTS with Clang 12 (Debug, x86_64)':
image: ubuntu-22.04
analyzer: on
sanitizer: address,undefined
cc: clang-10
'Ubuntu 20.04 LTS with Clang 10 (Debug, x86_64, no security)':
image: ubuntu-20.04
sanitizer: address,undefined
security: off
cc: clang-10
'Ubuntu 20.04 LTS with Clang 10 (Release, x86_64, no topic discovery)':
image: ubuntu-20.04
build_type: Release
sanitizer: undefined
topic_discovery: off
idlc_testing: off # temporary dislabled because of passing -t option to idlc in this test for recursive types
cc: clang-10
'macOS 11 with Clang 12 (Debug, x86_64)':
image: macOS-11
sanitizer: address,undefined
cc: clang
'macOS 11 with Clang 12 (Release, x86_64)':
image: macOS-11
build_type: Release
sanitizer: undefined
cc: clang
'macOS 11 with Clang 13 (Release, x86_64)':
image: macOS-11
build_type: Release
sanitizer: undefined
cc: clang
coverage: on
'macOS 12 with gcc 12 (Debug, analyzer, x86_64)':
image: macOS-12
sanitizer: undefined
deadline_update_skip: on
cc: gcc-12
analyzer: on
# 32-bit Windows: without SSL/security because Chocolateley only provides 64-bit OpenSSL
'Windows 2019 with Visual Studio 2019 (Visual Studio 2017, Debug, x86, no security)':
arch: x86
image: windows-2019
ssl: off
security: off
idlc_xtests: off
generator: 'Visual Studio 16 2019'
toolset: v141
'Windows 2019 with Visual Studio 2019 (Debug, x86_64)':
image: windows-2019
idlc_testing: off
generator: 'Visual Studio 16 2019'
'Windows 2019 with Visual Studio 2019 (Release, x86_64)':
image: windows-2019
build_type: Release
idlc_testing: off
generator: 'Visual Studio 16 2019'
#'Windows 2019 with GCC 10 (Debug, x86_64)':
# image: windows-2019
# build_type: Debug
# idlc_testing: off
# generator: 'MinGW Makefiles'
# cc: 'C:/msys64/mingw64/bin/gcc.exe'
# cxx: 'C:/msys64/mingw64/bin/g++.exe'
steps:
- template: /.azure/templates/build-test.yml
- job: CoverageAndTestsReport
dependsOn: BuildAndTest
condition: succeededOrFailed() # Always run, even when failed tests, because they should be reported in the dasboard of course!
pool:
vmImage: ubuntu-20.04
steps:
- bash: |
mkdir coverage
- task: DownloadPipelineArtifact@2
inputs:
path: coverage
displayName: Download Coverage
- task: UsePythonVersion@0
- bash: |
python -m pip install gcovr==5.0 --user --upgrade
ls coverage
gcovr -a coverage/**/*.json --xml-pretty --output coverage.xml
displayName: Combine coverage reports
- task: PublishCodeCoverageResults@1
displayName: Publish Cobertura Coverage Report
inputs:
codeCoverageTool: Cobertura
summaryFileLocation: coverage.xml
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/ 0000775 0000000 0000000 00000000000 14621624232 0021076 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/cmake/AppendHashScript.cmake 0000664 0000000 0000000 00000000320 14621624232 0025273 0 ustar 00root root 0000000 0000000 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
include(HashUtilities)
append_hashes(
PREFIX ${PREFIX}
POSTFIX ${POSTFIX}
HASH_FILES ${HASH_FILES}
APPEND_FILES ${APPEND_FILES}
)
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/CheckHashScript.cmake 0000664 0000000 0000000 00000000361 14621624232 0025106 0 ustar 00root root 0000000 0000000 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
include(HashUtilities)
check_hashes(
_test
HASH_FILES ${HASH_FILES}
APPEND_FILES ${APPEND_FILES}
)
if (NOT ${_test})
message(FATAL_ERROR "Not up to date")
endif()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/ 0000775 0000000 0000000 00000000000 14621624232 0022506 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/CUnit.cmake 0000664 0000000 0000000 00000026556 14621624232 0024550 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2006 to 2021 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
set(CUNIT_DIR "${CMAKE_CURRENT_LIST_DIR}/CUnit")
function(get_cunit_header_file SOURCE_FILE HEADER_FILE)
# Return a unique (but consistent) filename where Theory macros can be
# written. The path that will be returned is the location to a header file
# located in the same relative directory, using the basename of the source
# file postfixed with .h. e.g. /foo/bar.h would be converted to
# /build/foo/bar.h.
get_filename_component(SOURCE_FILE "${SOURCE_FILE}" ABSOLUTE)
file(RELATIVE_PATH SOURCE_FILE "${PROJECT_SOURCE_DIR}" "${SOURCE_FILE}")
get_filename_component(basename "${SOURCE_FILE}" NAME_WE)
get_filename_component(dir "${SOURCE_FILE}" DIRECTORY)
set(${HEADER_FILE} "${CMAKE_BINARY_DIR}/${dir}/${basename}.h" PARENT_SCOPE)
endfunction()
function(parse_cunit_fixtures INPUT TEST_DISABLED TEST_TIMEOUT)
if(INPUT MATCHES ".disabled${s}*=${s}*([tT][rR][uU][eE]|[0-9]+)")
set(${TEST_DISABLED} "TRUE" PARENT_SCOPE)
else()
set(${TEST_DISABLED} "FALSE" PARENT_SCOPE)
endif()
if(INPUT MATCHES ".timeout${s}*=${s}*([0-9]+)")
set(${TEST_TIMEOUT} "${CMAKE_MATCH_1}" PARENT_SCOPE)
else()
set(${TEST_TIMEOUT} "0" PARENT_SCOPE)
endif()
endfunction()
# Parse a single source file, generate a header file with theory definitions
# (if applicable) and return suite and test definitions.
function(process_cunit_source_file SOURCE_FILE HEADER_FILE SUITES TESTS)
set(x "\\*")
set(s "[ \t\r\n]")
set(s_or_x "[ \t\r\n\\*]")
set(w "[_a-zA-Z0-9]")
set(ident_expr "(${s}*${w}+${s}*)")
# Very basic type recognition, only things that contain word characters and
# pointers are handled. And since this script does not actually have to
# compile any code, type checking is left to the compiler. An error (or
# warning) will be thrown if something is off.
#
# The "type" regular expression below will match things like:
# -
# - *
# - * *
set(type_expr "(${s}*${w}+${x}*${s}+${s_or_x}*)+")
set(param_expr "${type_expr}${ident_expr}")
# Test fixture support (based on test fixtures as implemented in Criterion),
# to enable per-test (de)initializers, which is very different from
# per-suite (de)initializers, and timeouts.
#
# The following fixtures are supported:
# - init
# - fini
# - disabled
# - timeout
set(data_expr "(${s}*,${s}*\\.${w}+${s}*=[^,\\)]+)*")
set(suites_wo_init_n_clean)
set(suites_w_init)
set(suites_w_clean)
file(READ "${SOURCE_FILE}" content)
# CU_Init and CU_Clean
#
# Extract all suite initializers and deinitializers so that the list of
# suites can be probably populated when tests and theories are parsed. Suites
# are only registered if it contains at least one test or theory.
set(suite_expr "CU_(Init|Clean)${s}*\\(${ident_expr}\\)")
string(REGEX MATCHALL "${suite_expr}" matches "${content}")
foreach(match ${matches})
string(REGEX REPLACE "${suite_expr}" "\\2" suite "${match}")
if("${match}" MATCHES "CU_Init")
list(APPEND suites_w_init ${suite})
elseif("${match}" MATCHES "CU_Clean")
list(APPEND suites_w_deinit ${suite})
endif()
endforeach()
# CU_Test
set(test_expr "CU_Test${s}*\\(${ident_expr},${ident_expr}${data_expr}\\)")
string(REGEX MATCHALL "${test_expr}" matches "${content}")
foreach(match ${matches})
string(REGEX REPLACE "${test_expr}" "\\1" suite "${match}")
string(REGEX REPLACE "${test_expr}" "\\2" test "${match}")
# Remove leading and trailing whitespace
string(STRIP "${suite}" suite)
string(STRIP "${test}" test)
# Extract fixtures that must be handled by CMake (.disabled and .timeout).
parse_cunit_fixtures("${match}" disabled timeout)
list(APPEND suites_wo_init_n_clean "${suite}")
list(APPEND tests "${suite}:${test}:${disabled}:${timeout}")
endforeach()
# CU_Theory
#
# CU_Theory signatures must be recognized in order to generate structures to
# hold the CU_DataPoints declarations. The generated type is added to the
# compile definitions and inserted by the preprocessor when CU_TheoryDataPoints
# is expanded.
#
# NOTE: Since not all compilers support pushing function-style definitions
# from the command line (CMake will generate a warning too), a header
# file is generated instead. A define is pushed and expanded at
# compile time. It is included by CUnit/Theory.h.
get_cunit_header_file("${SOURCE_FILE}" header)
set(theory_expr "CU_Theory${s}*\\(${s}*\\((${param_expr}(,${param_expr})*)\\)${s}*,${ident_expr},${ident_expr}${data_expr}\\)")
string(REGEX MATCHALL "${theory_expr}" matches "${content}")
foreach(match ${matches})
if(NOT theories)
# Ensure generated header is truncated before anything is written.
file(WRITE "${header}" "")
endif()
string(REGEX REPLACE "${theory_expr}" "\\1" params "${match}")
string(REGEX REPLACE "${theory_expr}" "\\7" suite "${match}")
string(REGEX REPLACE "${theory_expr}" "\\8" test "${match}")
# Remove leading and trailing whitespace
string(STRIP "${params}" params)
string(STRIP "${suite}" suite)
string(STRIP "${test}" test)
# Convert parameters from a string to a list
string(REGEX REPLACE "${s}*,${s}*" ";" params "${params}")
# Extract fixtures that must be handled by CMake (.disabled and .timeout)
parse_cunit_fixtures("${match}" disabled timeout)
list(APPEND suites_wo_init_n_clean "${suite}")
list(APPEND theories "${suite}:${test}:${disabled}:${timeout}")
set(sep)
set(size "CU_TheoryDataPointsSize_${suite}_${test}(datapoints) (")
set(slice "CU_TheoryDataPointsSlice_${suite}_${test}(datapoints, index) (")
set(typedef "CU_TheoryDataPointsTypedef_${suite}_${test}() {")
foreach(param ${params})
string(
REGEX REPLACE "(${type_expr})${ident_expr}" "\\3" name "${param}")
string(
REGEX REPLACE "(${type_expr})${ident_expr}" "\\1" type "${param}")
string(STRIP "${name}" name)
string(STRIP "${type}" type)
set(slice "${slice}${sep} datapoints.${name}.p[index]")
if (NOT sep)
set(size "${size} datapoints.${name}.n")
set(sep ",")
endif()
set(typedef "${typedef} struct { size_t n; ${type} *p; } ${name};")
endforeach()
set(typedef "${typedef} }")
set(slice "${slice} )")
set(size "${size} )")
file(APPEND "${header}" "#define ${size}\n")
file(APPEND "${header}" "#define ${slice}\n")
file(APPEND "${header}" "#define ${typedef}\n")
endforeach()
# Propagate suites, tests and theories extracted from the source file.
if(suites_wo_init_n_clean)
list(REMOVE_DUPLICATES suites_wo_init_n_clean)
list(SORT suites_wo_init_n_clean)
foreach(suite ${suites_wo_init_n_clean})
set(init "FALSE")
set(clean "FALSE")
if(${suite} IN_LIST suites_w_init)
set(init "TRUE")
endif()
if(${suite} IN_LIST suites_w_deinit)
set(clean "TRUE")
endif()
list(APPEND suites "${suite}:${init}:${clean}")
endforeach()
endif()
if(theories)
set(${HEADER_FILE} "${header}" PARENT_SCOPE)
else()
unset(${HEADER_FILE} PARENT_SCOPE)
endif()
set(${SUITES} ${suites} PARENT_SCOPE)
set(${TESTS} ${tests};${theories} PARENT_SCOPE)
endfunction()
function(set_test_library_paths TEST_NAME)
if(ENABLE_SHM)
find_library(ICEORYX_LIB iceoryx_binding_c)
get_filename_component(ICEORYX_LIB_PATH ${ICEORYX_LIB} DIRECTORY)
endif ()
file(TO_NATIVE_PATH "${CUNIT_LIBRARY_DIR}" cudir)
if(APPLE)
set_property(
TEST ${TEST_NAME}
PROPERTY ENVIRONMENT
"DYLD_LIBRARY_PATH=${cudir}:${CMAKE_LIBRARY_OUTPUT_DIRECTORY}:${ICEORYX_LIB_PATH}:$ENV{DYLD_LIBRARY_PATH}")
elseif(WIN32)
string(REPLACE "/" "\\" cudir "${cudir}")
string(REPLACE ";" "\\;" paths "$ENV{PATH}")
set_property(
TEST ${TEST_NAME}
PROPERTY ENVIRONMENT
"PATH=${cudir}\\;${ICEORYX_LIB_PATH}\\;${paths}")
else()
set_property(
TEST ${TEST_NAME}
PROPERTY ENVIRONMENT
"LD_LIBRARY_PATH=${CMAKE_LIBRARY_OUTPUT_DIRECTORY}:${ICEORYX_LIB_PATH}:$ENV{LD_LIBRARY_PATH}")
endif()
endfunction()
function(add_cunit_executable TARGET)
set(decls)
set(defns)
set(sources)
foreach(source ${ARGN})
if((EXISTS "${source}" OR EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${source}"))
unset(suites)
unset(tests)
process_cunit_source_file("${source}" header suites tests)
if(header)
set_property(
SOURCE "${source}"
PROPERTY COMPILE_DEFINITIONS CU_THEORY_INCLUDE_FILE=\"${header}\")
endif()
# Disable missing-field-initializers warnings as not having to specify
# every member, aka fixture, is intended behavior.
if(${CMAKE_C_COMPILER_ID} STREQUAL "Clang" OR
${CMAKE_C_COMPILER_ID} STREQUAL "AppleClang" OR
${CMAKE_C_COMPILER_ID} STREQUAL "GNU")
set_property(
SOURCE "${source}"
PROPERTY COMPILE_FLAGS -Wno-missing-field-initializers)
endif()
foreach(suite ${suites})
string(REPLACE ":" ";" suite ${suite})
list(GET suite 2 clean)
list(GET suite 1 init)
list(GET suite 0 suite)
set(init_func "NULL")
set(clean_func "NULL")
if(init)
set(decls "${decls}\nCU_InitDecl(${suite});")
set(init_func "CU_InitName(${suite})")
endif()
if(clean)
set(decls "${decls}\nCU_CleanDecl(${suite});")
set(clean_func "CU_CleanName(${suite})")
endif()
set(defns "${defns}\nADD_SUITE(${suite}, ${init_func}, ${clean_func});")
endforeach()
foreach(test ${tests})
string(REPLACE ":" ";" test ${test})
list(GET test 3 timeout)
list(GET test 2 disabled)
list(GET test 0 suite)
list(GET test 1 test)
set(enable "true")
if(disabled)
set(enable "false")
endif()
if(NOT timeout)
set(timeout 10)
endif()
set(decls "${decls}\nCU_TestDecl(${suite}, ${test});")
set(defns "${defns}\nADD_TEST(${suite}, ${test}, ${enable});")
set(ctest "CUnit_${suite}_${test}")
add_test(
NAME ${ctest}
COMMAND ${TARGET} -s ${suite} -t ${test})
set_property(TEST ${ctest} PROPERTY TIMEOUT ${timeout})
set_property(TEST ${ctest} PROPERTY DISABLED ${disabled})
set_test_library_paths(${ctest})
endforeach()
list(APPEND sources "${source}")
endif()
endforeach()
configure_file(
"${CUNIT_DIR}/src/main.c.in" "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.c" @ONLY)
if("2.1.3" VERSION_LESS_EQUAL
"${CUNIT_VERSION_MAJOR}.${CUNIT_VERSION_MINOR}.${CUNIT_VERSION_PATCH}")
set_property(
SOURCE "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.c"
PROPERTY COMPILE_DEFINITIONS HAVE_ENABLE_JUNIT_XML)
endif()
add_executable(
${TARGET} "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}.c" ${sources})
target_link_libraries(${TARGET} PRIVATE CycloneDDS::ucunit)
if(MSVC)
target_compile_definitions(${TARGET} PRIVATE _CRT_SECURE_NO_WARNINGS)
endif()
endfunction()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/CUnit/ 0000775 0000000 0000000 00000000000 14621624232 0023530 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/CUnit/src/ 0000775 0000000 0000000 00000000000 14621624232 0024317 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/CUnit/src/main.c.in 0000664 0000000 0000000 00000011457 14621624232 0026024 0 ustar 00root root 0000000 0000000 /*
* Copyright(c) 2006 to 2019 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#include
#include
#include
#define EX_USAGE (64)
#define EX_SOFTWARE (70)
#include
#include
#include "CUnit/Test.h"
static struct {
bool print_help;
const char *suite;
const char *test;
} opts = {
false,
"*",
"*"
};
static int patmatch(const char *pat, const char *str)
{
while (*pat) {
if (*pat == '?') {
/* any character will do */
if (*str++ == 0) {
return 0;
}
pat++;
} else if (*pat == '*') {
/* collapse a sequence of wildcards, requiring as many
characters in str as there are ?s in the sequence */
while (*pat == '*' || *pat == '?') {
if (*pat == '?' && *str++ == 0) {
return 0;
}
pat++;
}
/* try matching on all positions where str matches pat */
while (*str) {
if (*str == *pat && patmatch(pat+1, str+1)) {
return 1;
}
str++;
}
return *pat == 0;
} else {
/* only an exact match */
if (*str++ != *pat++) {
return 0;
}
}
}
return *str == 0;
}
static void usage(const char *name)
{
fprintf(stderr, "Usage: %s OPTIONS\n", name);
fprintf(stderr, "Try '%s -h' for more information\n", name);
}
static void help(const char *name)
{
printf("Usage: %s [OPTIONS]\n", name);
printf("\n");
printf("Possible options:\n");
printf(" -h display this help and exit\n");
printf(" -s PATTERN run only tests in suites matching pattern\n");
printf(" -t PATTERN run only test matching pattern\n");
printf("\n");
printf("Exit codes:\n");
printf(" %-2d Successful termination\n", EXIT_SUCCESS);
printf(" %-2d One or more failing test cases\n", EXIT_FAILURE);
printf(" %-2d Command line usage error\n", EX_USAGE);
printf(" %-2d Internal software error\n", EX_SOFTWARE);
}
static int parse_options(int argc, char *argv[])
{
int err = 0;
for (int i = 1; err == 0 && i < argc; i++) {
switch ((argv[i][0] == '-') ? argv[i][1] : 0) {
case 'h':
opts.print_help = true;
break;
case 's':
if ((i+1) < argc) {
opts.suite = argv[++i];
break;
}
/* FALLS THROUGH */
case 't':
if ((i+1) < argc) {
opts.test = argv[++i];
break;
}
/* FALLS THROUGH */
default:
err = 1;
break;
}
}
return err;
}
static void
add_suite(
const char *suite,
CU_InitializeFunc pInitFunc,
CU_CleanupFunc pCleanFunc)
{
CU_pSuite pSuite;
pSuite = CU_get_suite(suite);
if (pSuite == NULL) {
pSuite = CU_add_suite(suite, pInitFunc, pCleanFunc);
CU_set_suite_active(pSuite, patmatch(opts.suite, suite));
}
}
#define ADD_SUITE(suite, init, clean) \
add_suite(#suite, init, clean)
static void
add_test(
const char *suite,
const char *test,
CU_TestFunc pTestFunc,
bool enable)
{
CU_pSuite pSuite;
CU_pTest pTest;
pSuite = CU_get_suite(suite);
pTest = CU_add_test(pSuite, test, pTestFunc);
CU_set_test_active(pTest, enable && patmatch(opts.test, test));
}
#define ADD_TEST(suite, test, enable) \
add_test(#suite, #test, CU_TestProxyName(suite, test), enable)
/* CMake will expand the macro below to declare generated functions. */
@decls@
int main(int argc, char *argv[])
{
int ret = EXIT_SUCCESS;
if (parse_options(argc, argv) != 0) {
usage(argv[0]);
return EX_USAGE;
} else if (opts.print_help) {
help(argv[0]);
return ret;
} else if (CU_initialize_registry() != CUE_SUCCESS) {
fprintf(stderr, "CU_initialize_registry: %s\n", CU_get_error_msg());
return EX_SOFTWARE;
}
/* CMake will expand the macro below to register all suites and tests. */
@defns@
CU_basic_run_tests();
if (CU_get_error() != CUE_SUCCESS) {
ret = EX_SOFTWARE;
} else if (CU_get_number_of_failures() != 0) {
ret = EXIT_FAILURE;
}
CU_cleanup_registry();
return ret;
}
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/FindGcov.cmake 0000664 0000000 0000000 00000015167 14621624232 0025221 0 ustar 00root root 0000000 0000000 # This file is part of CMake-codecov.
#
# Copyright 2015-2017 RWTH Aachen University, Federal Republic of Germany
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the University of California, Berkeley nor the
# names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Written by Alexander Haase, alexander.haase@rwth-aachen.de
#
# include required Modules
include(FindPackageHandleStandardArgs)
# Search for gcov binary.
set(CMAKE_REQUIRED_QUIET_SAVE ${CMAKE_REQUIRED_QUIET})
set(CMAKE_REQUIRED_QUIET ${codecov_FIND_QUIETLY})
get_property(ENABLED_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
foreach (LANG ${ENABLED_LANGUAGES})
# Gcov evaluation is dependent on the used compiler. Check gcov support for
# each compiler that is used. If gcov binary was already found for this
# compiler, do not try to find it again.
if (NOT GCOV_${CMAKE_${LANG}_COMPILER_ID}_BIN)
get_filename_component(COMPILER_PATH "${CMAKE_${LANG}_COMPILER}" PATH)
if ("${CMAKE_${LANG}_COMPILER_ID}" STREQUAL "GNU")
# Some distributions like OSX (homebrew) ship gcov with the compiler
# version appended as gcov-x. To find this binary we'll build the
# suggested binary name with the compiler version.
string(REGEX MATCH "^[0-9]+" GCC_VERSION
"${CMAKE_${LANG}_COMPILER_VERSION}")
find_program(GCOV_BIN NAMES gcov-${GCC_VERSION} gcov
HINTS ${COMPILER_PATH})
elseif ("${CMAKE_${LANG}_COMPILER_ID}" STREQUAL "Clang")
# Some distributions like Debian ship llvm-cov with the compiler
# version appended as llvm-cov-x.y. To find this binary we'll build
# the suggested binary name with the compiler version.
string(REGEX MATCH "^[0-9]+.[0-9]+" LLVM_VERSION
"${CMAKE_${LANG}_COMPILER_VERSION}")
# llvm-cov prior version 3.5 seems to be not working with coverage
# evaluation tools, but these versions are compatible with the gcc
# gcov tool.
if(LLVM_VERSION VERSION_GREATER 3.4)
find_program(LLVM_COV_BIN NAMES "llvm-cov-${LLVM_VERSION}"
"llvm-cov" HINTS ${COMPILER_PATH})
mark_as_advanced(LLVM_COV_BIN)
if (LLVM_COV_BIN)
find_program(LLVM_COV_WRAPPER "llvm-cov-wrapper" PATHS
${CMAKE_MODULE_PATH})
if (LLVM_COV_WRAPPER)
set(GCOV_BIN "${LLVM_COV_WRAPPER}" CACHE FILEPATH "")
# set additional parameters
set(GCOV_${CMAKE_${LANG}_COMPILER_ID}_ENV
"LLVM_COV_BIN=${LLVM_COV_BIN}" CACHE STRING
"Environment variables for llvm-cov-wrapper.")
mark_as_advanced(GCOV_${CMAKE_${LANG}_COMPILER_ID}_ENV)
endif ()
endif ()
endif ()
if (NOT GCOV_BIN)
# Fall back to gcov binary if llvm-cov was not found or is
# incompatible. This is the default on OSX, but may crash on
# recent Linux versions.
find_program(GCOV_BIN gcov HINTS ${COMPILER_PATH})
endif ()
endif ()
if (GCOV_BIN)
set(GCOV_${CMAKE_${LANG}_COMPILER_ID}_BIN "${GCOV_BIN}" CACHE STRING
"${LANG} gcov binary.")
if (NOT CMAKE_REQUIRED_QUIET)
message("-- Found gcov evaluation for "
"${CMAKE_${LANG}_COMPILER_ID}: ${GCOV_BIN}")
endif()
unset(GCOV_BIN CACHE)
endif ()
endif ()
endforeach ()
# Add a new global target for all gcov targets. This target could be used to
# generate the gcov files for the whole project instead of calling -gcov
# for each target.
if (NOT TARGET gcov)
add_custom_target(gcov)
endif (NOT TARGET gcov)
# This function will add gcov evaluation for target . Only sources of
# this target will be evaluated and no dependencies will be added. It will call
# Gcov on any source file of once and store the gcov file in the same
# directory.
function (add_gcov_target TNAME)
set(TDIR ${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${TNAME}.dir)
# We don't have to check, if the target has support for coverage, thus this
# will be checked by add_coverage_target in Findcoverage.cmake. Instead we
# have to determine which gcov binary to use.
get_target_property(TSOURCES ${TNAME} SOURCES)
set(SOURCES "")
set(TCOMPILER "")
foreach (FILE ${TSOURCES})
codecov_path_of_source(${FILE} FILE)
if (NOT "${FILE}" STREQUAL "")
codecov_lang_of_source(${FILE} LANG)
if (NOT "${LANG}" STREQUAL "")
list(APPEND SOURCES "${FILE}")
set(TCOMPILER ${CMAKE_${LANG}_COMPILER_ID})
endif ()
endif ()
endforeach ()
# If no gcov binary was found, coverage data can't be evaluated.
if (NOT GCOV_${TCOMPILER}_BIN)
message(WARNING "No coverage evaluation binary found for ${TCOMPILER}.")
return()
endif ()
set(GCOV_BIN "${GCOV_${TCOMPILER}_BIN}")
set(GCOV_ENV "${GCOV_${TCOMPILER}_ENV}")
set(BUFFER "")
foreach(FILE ${SOURCES})
get_filename_component(FILE_PATH "${TDIR}/${FILE}" PATH)
# call gcov
add_custom_command(OUTPUT ${TDIR}/${FILE}.gcov
COMMAND ${GCOV_ENV} ${GCOV_BIN} ${TDIR}/${FILE}.gcno > /dev/null
DEPENDS ${TNAME} ${TDIR}/${FILE}.gcno
WORKING_DIRECTORY ${FILE_PATH}
)
list(APPEND BUFFER ${TDIR}/${FILE}.gcov)
endforeach()
# add target for gcov evaluation of
add_custom_target(${TNAME}-gcov DEPENDS ${BUFFER})
# add evaluation target to the global gcov target.
add_dependencies(gcov ${TNAME}-gcov)
endfunction (add_gcov_target)
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/FindLcov.cmake 0000664 0000000 0000000 00000033301 14621624232 0025214 0 ustar 00root root 0000000 0000000 # This file is part of CMake-codecov.
#
# Copyright 2015-2017 RWTH Aachen University, Federal Republic of Germany
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the University of California, Berkeley nor the
# names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Written by Alexander Haase, alexander.haase@rwth-aachen.de
#
# configuration
set(LCOV_DATA_PATH "${CMAKE_BINARY_DIR}/lcov/data")
set(LCOV_DATA_PATH_INIT "${LCOV_DATA_PATH}/init")
set(LCOV_DATA_PATH_CAPTURE "${LCOV_DATA_PATH}/capture")
set(LCOV_HTML_PATH "${CMAKE_BINARY_DIR}/lcov/html")
# Search for Gcov which is used by Lcov.
find_package(Gcov)
# This function will add lcov evaluation for target . Only sources of
# this target will be evaluated and no dependencies will be added. It will call
# geninfo on any source file of once and store the info file in the same
# directory.
#
# Note: This function is only a wrapper to define this function always, even if
# coverage is not supported by the compiler or disabled. This function must
# be defined here, because the module will be exited, if there is no coverage
# support by the compiler or it is disabled by the user.
function (add_lcov_target TNAME)
if (LCOV_FOUND)
# capture initial coverage data
lcov_capture_initial_tgt(${TNAME})
# capture coverage data after execution
lcov_capture_tgt(${TNAME})
endif ()
endfunction (add_lcov_target)
# include required Modules
include(FindPackageHandleStandardArgs)
# Search for required lcov binaries.
find_program(LCOV_BIN lcov)
find_program(GENINFO_BIN geninfo)
find_program(GENHTML_BIN genhtml)
find_package_handle_standard_args(Lcov
REQUIRED_VARS LCOV_BIN GENINFO_BIN GENHTML_BIN
)
# enable genhtml C++ demangeling, if c++filt is found.
set(GENHTML_CPPFILT_FLAG "")
find_program(CPPFILT_BIN c++filt)
if (NOT CPPFILT_BIN STREQUAL "")
set(GENHTML_CPPFILT_FLAG "--demangle-cpp")
endif (NOT CPPFILT_BIN STREQUAL "")
# enable no-external flag for lcov, if available.
if (GENINFO_BIN AND NOT DEFINED GENINFO_EXTERN_FLAG)
set(FLAG "")
execute_process(COMMAND ${GENINFO_BIN} --help OUTPUT_VARIABLE GENINFO_HELP)
string(REGEX MATCH "external" GENINFO_RES "${GENINFO_HELP}")
if (GENINFO_RES)
set(FLAG "--no-external")
endif ()
set(GENINFO_EXTERN_FLAG "${FLAG}"
CACHE STRING "Geninfo flag to exclude system sources.")
endif ()
# If Lcov was not found, exit module now.
if (NOT LCOV_FOUND)
return()
endif (NOT LCOV_FOUND)
# Create directories to be used.
file(MAKE_DIRECTORY ${LCOV_DATA_PATH_INIT})
file(MAKE_DIRECTORY ${LCOV_DATA_PATH_CAPTURE})
set(LCOV_REMOVE_PATTERNS "")
# This function will merge lcov files to a single target file. Additional lcov
# flags may be set with setting LCOV_EXTRA_FLAGS before calling this function.
function (lcov_merge_files OUTFILE ...)
# Remove ${OUTFILE} from ${ARGV} and generate lcov parameters with files.
list(REMOVE_AT ARGV 0)
# Generate merged file.
string(REPLACE "${CMAKE_BINARY_DIR}/" "" FILE_REL "${OUTFILE}")
add_custom_command(OUTPUT "${OUTFILE}.raw"
COMMAND cat ${ARGV} > ${OUTFILE}.raw
DEPENDS ${ARGV}
COMMENT "Generating ${FILE_REL}"
)
add_custom_command(OUTPUT "${OUTFILE}"
COMMAND ${LCOV_BIN} --quiet -a ${OUTFILE}.raw --output-file ${OUTFILE}
--base-directory ${PROJECT_SOURCE_DIR} ${LCOV_EXTRA_FLAGS}
COMMAND ${LCOV_BIN} --quiet -r ${OUTFILE} ${LCOV_REMOVE_PATTERNS}
--output-file ${OUTFILE} ${LCOV_EXTRA_FLAGS}
DEPENDS ${OUTFILE}.raw
COMMENT "Post-processing ${FILE_REL}"
)
endfunction ()
# Add a new global target to generate initial coverage reports for all targets.
# This target will be used to generate the global initial info file, which is
# used to gather even empty report data.
if (NOT TARGET lcov-capture-init)
add_custom_target(lcov-capture-init)
set(LCOV_CAPTURE_INIT_FILES "" CACHE INTERNAL "")
endif (NOT TARGET lcov-capture-init)
# This function will add initial capture of coverage data for target ,
# which is needed to get also data for objects, which were not loaded at
# execution time. It will call geninfo for every source file of once and
# store the info file in the same directory.
function (lcov_capture_initial_tgt TNAME)
# We don't have to check, if the target has support for coverage, thus this
# will be checked by add_coverage_target in Findcoverage.cmake. Instead we
# have to determine which gcov binary to use.
get_target_property(TSOURCES ${TNAME} SOURCES)
set(SOURCES "")
set(TCOMPILER "")
foreach (FILE ${TSOURCES})
codecov_path_of_source(${FILE} FILE)
if (NOT "${FILE}" STREQUAL "")
codecov_lang_of_source(${FILE} LANG)
if (NOT "${LANG}" STREQUAL "")
list(APPEND SOURCES "${FILE}")
set(TCOMPILER ${CMAKE_${LANG}_COMPILER_ID})
endif ()
endif ()
endforeach ()
# If no gcov binary was found, coverage data can't be evaluated.
if (NOT GCOV_${TCOMPILER}_BIN)
message(WARNING "No coverage evaluation binary found for ${TCOMPILER}.")
return()
endif ()
set(GCOV_BIN "${GCOV_${TCOMPILER}_BIN}")
set(GCOV_ENV "${GCOV_${TCOMPILER}_ENV}")
set(TDIR ${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${TNAME}.dir)
set(GENINFO_FILES "")
foreach(FILE ${SOURCES})
# generate empty coverage files
set(OUTFILE "${TDIR}/${FILE}.info.init")
list(APPEND GENINFO_FILES ${OUTFILE})
add_custom_command(OUTPUT ${OUTFILE} COMMAND ${GCOV_ENV} ${GENINFO_BIN}
--quiet --base-directory ${PROJECT_SOURCE_DIR} --initial
--gcov-tool ${GCOV_BIN} --output-filename ${OUTFILE}
${GENINFO_EXTERN_FLAG} ${TDIR}/${FILE}.gcno
DEPENDS ${TNAME}
COMMENT "Capturing initial coverage data for ${FILE}"
)
endforeach()
# Concatenate all files generated by geninfo to a single file per target.
set(OUTFILE "${LCOV_DATA_PATH_INIT}/${TNAME}.info")
set(LCOV_EXTRA_FLAGS "--initial")
lcov_merge_files("${OUTFILE}" ${GENINFO_FILES})
add_custom_target(${TNAME}-capture-init ALL DEPENDS ${OUTFILE})
# add geninfo file generation to global lcov-geninfo target
add_dependencies(lcov-capture-init ${TNAME}-capture-init)
set(LCOV_CAPTURE_INIT_FILES "${LCOV_CAPTURE_INIT_FILES}"
"${OUTFILE}" CACHE INTERNAL ""
)
endfunction (lcov_capture_initial_tgt)
# This function will generate the global info file for all targets. It has to be
# called after all other CMake functions in the root CMakeLists.txt file, to get
# a full list of all targets that generate coverage data.
function (lcov_capture_initial)
# Skip this function (and do not create the following targets), if there are
# no input files.
if ("${LCOV_CAPTURE_INIT_FILES}" STREQUAL "")
return()
endif ()
# Add a new target to merge the files of all targets.
set(OUTFILE "${LCOV_DATA_PATH_INIT}/all_targets.info")
lcov_merge_files("${OUTFILE}" ${LCOV_CAPTURE_INIT_FILES})
add_custom_target(lcov-geninfo-init ALL DEPENDS ${OUTFILE}
lcov-capture-init
)
endfunction (lcov_capture_initial)
# Add a new global target to generate coverage reports for all targets. This
# target will be used to generate the global info file.
if (NOT TARGET lcov-capture)
add_custom_target(lcov-capture)
set(LCOV_CAPTURE_FILES "" CACHE INTERNAL "")
endif (NOT TARGET lcov-capture)
# This function will add capture of coverage data for target , which is
# needed to get also data for objects, which were not loaded at execution time.
# It will call geninfo for every source file of once and store the info
# file in the same directory.
function (lcov_capture_tgt TNAME)
# We don't have to check, if the target has support for coverage, thus this
# will be checked by add_coverage_target in Findcoverage.cmake. Instead we
# have to determine which gcov binary to use.
get_target_property(TSOURCES ${TNAME} SOURCES)
set(SOURCES "")
set(TCOMPILER "")
foreach (FILE ${TSOURCES})
codecov_path_of_source(${FILE} FILE)
if (NOT "${FILE}" STREQUAL "")
codecov_lang_of_source(${FILE} LANG)
if (NOT "${LANG}" STREQUAL "")
list(APPEND SOURCES "${FILE}")
set(TCOMPILER ${CMAKE_${LANG}_COMPILER_ID})
endif ()
endif ()
endforeach ()
# If no gcov binary was found, coverage data can't be evaluated.
if (NOT GCOV_${TCOMPILER}_BIN)
message(WARNING "No coverage evaluation binary found for ${TCOMPILER}.")
return()
endif ()
set(GCOV_BIN "${GCOV_${TCOMPILER}_BIN}")
set(GCOV_ENV "${GCOV_${TCOMPILER}_ENV}")
set(TDIR ${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${TNAME}.dir)
set(GENINFO_FILES "")
foreach(FILE ${SOURCES})
# Generate coverage files. If no .gcda file was generated during
# execution, the empty coverage file will be used instead.
set(OUTFILE "${TDIR}/${FILE}.info")
list(APPEND GENINFO_FILES ${OUTFILE})
add_custom_command(OUTPUT ${OUTFILE}
COMMAND test -f "${TDIR}/${FILE}.gcda"
&& ${GCOV_ENV} ${GENINFO_BIN} --quiet --base-directory
${PROJECT_SOURCE_DIR} --gcov-tool ${GCOV_BIN}
--output-filename ${OUTFILE} ${GENINFO_EXTERN_FLAG}
${TDIR}/${FILE}.gcda
|| cp ${OUTFILE}.init ${OUTFILE}
DEPENDS ${TNAME} ${TNAME}-capture-init
COMMENT "Capturing coverage data for ${FILE}"
)
endforeach()
# Concatenate all files generated by geninfo to a single file per target.
set(OUTFILE "${LCOV_DATA_PATH_CAPTURE}/${TNAME}.info")
lcov_merge_files("${OUTFILE}" ${GENINFO_FILES})
add_custom_target(${TNAME}-geninfo DEPENDS ${OUTFILE})
# add geninfo file generation to global lcov-capture target
add_dependencies(lcov-capture ${TNAME}-geninfo)
set(LCOV_CAPTURE_FILES "${LCOV_CAPTURE_FILES}" "${OUTFILE}" CACHE INTERNAL
""
)
# Add target for generating html output for this target only.
file(MAKE_DIRECTORY ${LCOV_HTML_PATH}/${TNAME})
add_custom_target(${TNAME}-genhtml
COMMAND ${GENHTML_BIN} --quiet --sort --prefix ${PROJECT_SOURCE_DIR}
--baseline-file ${LCOV_DATA_PATH_INIT}/${TNAME}.info
--output-directory ${LCOV_HTML_PATH}/${TNAME}
--title "${CMAKE_PROJECT_NAME} - target ${TNAME}"
${GENHTML_CPPFILT_FLAG} ${OUTFILE}
DEPENDS ${TNAME}-geninfo ${TNAME}-capture-init
)
endfunction (lcov_capture_tgt)
# This function will generate the global info file for all targets. It has to be
# called after all other CMake functions in the root CMakeLists.txt file, to get
# a full list of all targets that generate coverage data.
function (lcov_capture)
# Skip this function (and do not create the following targets), if there are
# no input files.
if ("${LCOV_CAPTURE_FILES}" STREQUAL "")
return()
endif ()
# Add a new target to merge the files of all targets.
set(OUTFILE "${LCOV_DATA_PATH_CAPTURE}/all_targets.info")
lcov_merge_files("${OUTFILE}" ${LCOV_CAPTURE_FILES})
add_custom_target(lcov-geninfo DEPENDS ${OUTFILE} lcov-capture)
# Add a new global target for all lcov targets. This target could be used to
# generate the lcov html output for the whole project instead of calling
# -geninfo and -genhtml for each target. It will also be
# used to generate a html site for all project data together instead of one
# for each target.
if (NOT TARGET lcov)
file(MAKE_DIRECTORY ${LCOV_HTML_PATH}/all_targets)
add_custom_target(lcov
COMMAND ${GENHTML_BIN} --quiet --sort
--baseline-file ${LCOV_DATA_PATH_INIT}/all_targets.info
--output-directory ${LCOV_HTML_PATH}/all_targets
--title "${CMAKE_PROJECT_NAME}" --prefix "${PROJECT_SOURCE_DIR}"
${GENHTML_CPPFILT_FLAG} ${OUTFILE}
DEPENDS lcov-geninfo-init lcov-geninfo
)
endif ()
endfunction (lcov_capture)
# Add a new global target to generate the lcov html report for the whole project
# instead of calling -genhtml for each target (to create an own report
# for each target). Instead of the lcov target it does not require geninfo for
# all targets, so you have to call -geninfo to generate the info files
# the targets you'd like to have in your report or lcov-geninfo for generating
# info files for all targets before calling lcov-genhtml.
file(MAKE_DIRECTORY ${LCOV_HTML_PATH}/selected_targets)
if (NOT TARGET lcov-genhtml)
add_custom_target(lcov-genhtml
COMMAND ${GENHTML_BIN}
--quiet
--output-directory ${LCOV_HTML_PATH}/selected_targets
--title \"${CMAKE_PROJECT_NAME} - targets `find
${LCOV_DATA_PATH_CAPTURE} -name \"*.info\" ! -name
\"all_targets.info\" -exec basename {} .info \\\;`\"
--prefix ${PROJECT_SOURCE_DIR}
--sort
${GENHTML_CPPFILT_FLAG}
`find ${LCOV_DATA_PATH_CAPTURE} -name \"*.info\" ! -name
\"all_targets.info\"`
)
endif (NOT TARGET lcov-genhtml)
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/FindOpenSSL.cmake 0000664 0000000 0000000 00000003134 14621624232 0025575 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2006 to 2021 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
if(TARGET CONAN_PKG::openssl)
add_library(OpenSSL::SSL INTERFACE IMPORTED)
target_link_libraries(OpenSSL::SSL INTERFACE CONAN_PKG::openssl)
set(OPENSSL_FOUND TRUE)
else()
# Loop over a list of possible module paths (without the current directory).
get_filename_component(DIR "${CMAKE_CURRENT_LIST_DIR}" ABSOLUTE)
foreach(MODULE_DIR ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
get_filename_component(MODULE_DIR "${MODULE_DIR}" ABSOLUTE)
if(NOT MODULE_DIR STREQUAL DIR)
if(EXISTS "${MODULE_DIR}/FindOpenSSL.cmake")
set(FIND_PACKAGE_FILE "${MODULE_DIR}/FindOpenSSL.cmake")
break()
endif()
endif()
endforeach()
if(FIND_PACKAGE_FILE)
include("${FIND_PACKAGE_FILE}")
endif()
endif()
# OpenSSL DLL on Windows: use of BIO_s_fd and BIO_s_file (directly or indirectly) requires
# the executable to incorporate OpenSSL applink.c. CMake 18 adds support for handling
# this as part of the OpenSSL package, but we can't require such a new CMake version.
if(OPENSSL_FOUND AND EXISTS "${OPENSSL_INCLUDE_DIR}/openssl/applink.c")
set(CYCLONEDDS_OPENSSL_APPLINK "${OPENSSL_INCLUDE_DIR}/openssl/applink.c")
else()
set(CYCLONEDDS_OPENSSL_APPLINK "")
endif()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/FindSphinx.cmake 0000664 0000000 0000000 00000032007 14621624232 0025564 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2019 Jeroen Koekkoek
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
include(FindPackageHandleStandardArgs)
macro(_Sphinx_find_executable _exe)
string(TOUPPER "${_exe}" _uc)
# sphinx-(build|quickstart)-3 x.x.x
# FIXME: This works on Fedora (and probably most other UNIX like targets).
# Windows targets and PIP installs might need some work.
find_program(
SPHINX_${_uc}_EXECUTABLE
NAMES "sphinx-${_exe}-3" "sphinx-${_exe}" "sphinx-${_exe}.exe")
if(SPHINX_${_uc}_EXECUTABLE)
execute_process(
COMMAND "${SPHINX_${_uc}_EXECUTABLE}" --version
RESULT_VARIABLE _result
OUTPUT_VARIABLE _output
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(_result EQUAL 0 AND _output MATCHES " v?([0-9]+\\.[0-9]+\\.[0-9]+)$")
set(SPHINX_${_uc}_VERSION "${CMAKE_MATCH_1}")
endif()
if(NOT TARGET Sphinx::${_exe})
add_executable(Sphinx::${_exe} IMPORTED GLOBAL)
set_target_properties(Sphinx::${_exe} PROPERTIES
IMPORTED_LOCATION "${SPHINX_${_uc}_EXECUTABLE}")
endif()
set(Sphinx_${_exe}_FOUND TRUE)
else()
set(Sphinx_${_exe}_FOUND FALSE)
endif()
unset(_uc)
endmacro()
macro(_Sphinx_find_module _name _module)
string(TOUPPER "${_name}" _Sphinx_uc)
if(SPHINX_PYTHON_EXECUTABLE)
execute_process(
COMMAND ${SPHINX_PYTHON_EXECUTABLE} -m ${_module} --version
RESULT_VARIABLE _result
OUTPUT_VARIABLE _output
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_QUIET)
if(_result EQUAL 0)
if(_output MATCHES " v?([0-9]+\\.[0-9]+\\.[0-9]+)$")
set(SPHINX_${_Sphinx_uc}_VERSION "${CMAKE_MATCH_1}")
endif()
if(NOT TARGET Sphinx::${_name})
set(SPHINX_${_Sphinx_uc}_EXECUTABLE "${SPHINX_PYTHON_EXECUTABLE} -m ${_module}")
add_executable(Sphinx::${_name} IMPORTED GLOBAL)
set_target_properties(Sphinx::${_name} PROPERTIES
IMPORTED_LOCATION "${SPHINX_PYTHON_EXECUTABLE}")
endif()
set(Sphinx_${_name}_ARGS -m ${_module})
set(Sphinx_${_name}_FOUND TRUE)
else()
set(Sphinx_${_name}_FOUND FALSE)
endif()
else()
set(Sphinx_${_name}_FOUND FALSE)
endif()
unset(_Sphinx_uc)
endmacro()
macro(_Sphinx_find_extension _ext)
if(SPHINX_PYTHON_EXECUTABLE)
execute_process(
COMMAND ${SPHINX_PYTHON_EXECUTABLE} -c "import ${_ext}"
RESULT_VARIABLE _result)
if(_result EQUAL 0)
set(Sphinx_${_ext}_FOUND TRUE)
else()
set(Sphinx_${_ext}_FOUND FALSE)
endif()
endif()
endmacro()
#
# Find sphinx-build and sphinx-quickstart.
#
# Find sphinx-build shim.
_Sphinx_find_executable(build)
if(SPHINX_BUILD_EXECUTABLE)
# Find sphinx-quickstart shim.
_Sphinx_find_executable(quickstart)
# Locate Python executable
if(CMAKE_HOST_WIN32)
# script-build on Windows located under (when PIP is used):
# C:/Program Files/PythonXX/Scripts
# C:/Users/username/AppData/Roaming/Python/PythonXX/Sripts
#
# Python modules are installed under:
# C:/Program Files/PythonXX/Lib
# C:/Users/username/AppData/Roaming/Python/PythonXX/site-packages
#
# To verify a given module is installed, use the Python base directory
# and test if either Lib/module.py or site-packages/module.py exists.
get_filename_component(_Sphinx_directory "${SPHINX_BUILD_EXECUTABLE}" DIRECTORY)
get_filename_component(_Sphinx_directory "${_Sphinx_directory}" DIRECTORY)
if(EXISTS "${_Sphinx_directory}/python.exe")
set(SPHINX_PYTHON_EXECUTABLE "${_Sphinx_directory}/python.exe")
endif()
unset(_Sphinx_directory)
else()
file(READ "${SPHINX_BUILD_EXECUTABLE}" _Sphinx_script)
if(_Sphinx_script MATCHES "^#!([^\n]+)")
string(STRIP "${CMAKE_MATCH_1}" _Sphinx_shebang)
if(EXISTS "${_Sphinx_shebang}")
set(SPHINX_PYTHON_EXECUTABLE "${_Sphinx_shebang}")
endif()
endif()
unset(_Sphinx_script)
unset(_Sphinx_shebang)
endif()
endif()
if(NOT SPHINX_PYTHON_EXECUTABLE)
# Python executable cannot be extracted from shim shebang or path if e.g.
# virtual environments are used, fallback to find package. Assume the
# correct installation is found, the setup is probably broken in more ways
# than one otherwise.
find_package(Python3 QUIET COMPONENTS Interpreter)
if(TARGET Python3::Interpreter)
set(SPHINX_PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
# Revert to "python -m sphinx" if shim cannot be found.
if(NOT SPHINX_BUILD_EXECUTABLE)
_Sphinx_find_module(build sphinx)
_Sphinx_find_module(quickstart sphinx.cmd.quickstart)
endif()
endif()
endif()
#
# Verify components are available.
#
if(SPHINX_BUILD_VERSION)
# Breathe is required for Exhale
if("exhale" IN_LIST Sphinx_FIND_COMPONENTS AND NOT
"breathe" IN_LIST Sphinx_FIND_COMPONENTS)
list(APPEND Sphinx_FIND_COMPONENTS "breathe")
endif()
foreach(_Sphinx_component IN LISTS Sphinx_FIND_COMPONENTS)
if(_Sphinx_component STREQUAL "build")
# Do nothing, sphinx-build is always required.
continue()
elseif(_Sphinx_component STREQUAL "quickstart")
# Do nothing, sphinx-quickstart is optional, but looked up by default.
continue()
endif()
_Sphinx_find_extension(${_Sphinx_component})
endforeach()
unset(_Sphinx_component)
#
# Verify both executables are part of the Sphinx distribution.
#
if(SPHINX_QUICKSTART_VERSION AND NOT SPHINX_BUILD_VERSION STREQUAL SPHINX_QUICKSTART_VERSION)
message(FATAL_ERROR "Versions for sphinx-build (${SPHINX_BUILD_VERSION}) "
"and sphinx-quickstart (${SPHINX_QUICKSTART_VERSION}) "
"do not match")
endif()
endif()
find_package_handle_standard_args(
Sphinx
VERSION_VAR SPHINX_BUILD_VERSION
REQUIRED_VARS SPHINX_BUILD_EXECUTABLE SPHINX_BUILD_VERSION
HANDLE_COMPONENTS)
# Generate a conf.py template file using sphinx-quickstart.
#
# sphinx-quickstart allows for quiet operation and a lot of settings can be
# specified as command line arguments, therefore its not required to parse the
# generated conf.py.
function(_Sphinx_generate_confpy _target _cachedir)
if(NOT TARGET Sphinx::quickstart)
message(FATAL_ERROR "sphinx-quickstart is not available, needed by"
"sphinx_add_docs for target ${_target}")
endif()
if(NOT DEFINED SPHINX_PROJECT)
set(SPHINX_PROJECT ${PROJECT_NAME})
endif()
if(NOT DEFINED SPHINX_AUTHOR)
set(SPHINX_AUTHOR "${SPHINX_PROJECT} committers")
endif()
if(NOT DEFINED SPHINX_COPYRIGHT)
string(TIMESTAMP "%Y, ${SPHINX_AUTHOR}" SPHINX_COPYRIGHT)
endif()
if(NOT DEFINED SPHINX_VERSION)
set(SPHINX_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
endif()
if(NOT DEFINED SPHINX_RELEASE)
set(SPHINX_RELEASE "${PROJECT_VERSION}")
endif()
if(NOT DEFINED SPHINX_LANGUAGE)
set(SPHINX_LANGUAGE "en")
endif()
if(NOT DEFINED SPHINX_MASTER)
set(SPHINX_MASTER "index")
endif()
set(_known_exts autodoc doctest intersphinx todo coverage imgmath mathjax
ifconfig viewcode githubpages)
if(DEFINED SPHINX_EXTENSIONS)
foreach(_ext ${SPHINX_EXTENSIONS})
set(_is_known_ext FALSE)
foreach(_known_ext ${_known_exsts})
if(_ext STREQUAL _known_ext)
set(_opts "${opts} --ext-${_ext}")
set(_is_known_ext TRUE)
break()
endif()
endforeach()
if(NOT _is_known_ext)
if(_exts)
set(_exts "${_exts},${_ext}")
else()
set(_exts "${_ext}")
endif()
endif()
endforeach()
endif()
if(_exts)
set(_exts "--extensions=${_exts}")
endif()
set(_templatedir "${CMAKE_CURRENT_BINARY_DIR}/${_target}.template")
file(MAKE_DIRECTORY "${_templatedir}")
string(REPLACE " " ";" _Sphinx_executable ${SPHINX_QUICKSTART_EXECUTABLE})
execute_process(
COMMAND ${_Sphinx_executable}
-q --no-makefile --no-batchfile
-p "${SPHINX_PROJECT}"
-a "${SPHINX_AUTHOR}"
-v "${SPHINX_VERSION}"
-r "${SPHINX_RELEASE}"
-l "${SPHINX_LANGUAGE}"
--master "${SPHINX_MASTER}"
${_opts} ${_exts} "${_templatedir}"
RESULT_VARIABLE _result
OUTPUT_QUIET)
unset(_Sphinx_executable)
if(_result EQUAL 0 AND EXISTS "${_templatedir}/conf.py")
file(COPY "${_templatedir}/conf.py" DESTINATION "${_cachedir}")
endif()
file(REMOVE_RECURSE "${_templatedir}")
if(NOT _result EQUAL 0 OR NOT EXISTS "${_cachedir}/conf.py")
message(FATAL_ERROR "Sphinx configuration file not generated for "
"target ${_target}")
endif()
endfunction()
function(sphinx_add_docs _target)
set(_opts)
set(_single_opts BUILDER OUTPUT_DIRECTORY SOURCE_DIRECTORY)
set(_multi_opts BREATHE_PROJECTS)
cmake_parse_arguments(_args "${_opts}" "${_single_opts}" "${_multi_opts}" ${ARGN})
unset(SPHINX_BREATHE_PROJECTS)
if(NOT _args_BUILDER)
message(FATAL_ERROR "Sphinx builder not specified for target ${_target}")
elseif(NOT _args_SOURCE_DIRECTORY)
message(FATAL_ERROR "Sphinx source directory not specified for target ${_target}")
else()
if(NOT IS_ABSOLUTE "${_args_SOURCE_DIRECTORY}")
get_filename_component(_sourcedir "${_args_SOURCE_DIRECTORY}" ABSOLUTE)
else()
set(_sourcedir "${_args_SOURCE_DIRECTORY}")
endif()
if(NOT IS_DIRECTORY "${_sourcedir}")
message(FATAL_ERROR "Sphinx source directory '${_sourcedir}' for"
"target ${_target} does not exist")
endif()
endif()
set(_builder "${_args_BUILDER}")
if(_args_OUTPUT_DIRECTORY)
set(_outputdir "${_args_OUTPUT_DIRECTORY}")
else()
set(_outputdir "${CMAKE_CURRENT_BINARY_DIR}/${_target}")
endif()
if(_args_BREATHE_PROJECTS)
if(NOT Sphinx_breathe_FOUND)
message(FATAL_ERROR "Sphinx extension 'breathe' is not available. Needed"
"by sphinx_add_docs for target ${_target}")
endif()
list(APPEND SPHINX_EXTENSIONS breathe)
foreach(_doxygen_target ${_args_BREATHE_PROJECTS})
if(TARGET ${_doxygen_target})
list(APPEND _depends ${_doxygen_target})
# Doxygen targets are supported. Verify that a Doxyfile exists.
get_target_property(_dir ${_doxygen_target} BINARY_DIR)
set(_doxyfile "${_dir}/Doxyfile.${_doxygen_target}")
if(NOT EXISTS "${_doxyfile}")
message(FATAL_ERROR "Target ${_doxygen_target} is not a Doxygen"
"target, needed by sphinx_add_docs for target"
"${_target}")
endif()
# Read the Doxyfile, verify XML generation is enabled and retrieve the
# output directory.
file(READ "${_doxyfile}" _contents)
if(NOT _contents MATCHES "GENERATE_XML *= *YES")
message(FATAL_ERROR "Doxygen target ${_doxygen_target} does not"
"generate XML, needed by sphinx_add_docs for"
"target ${_target}")
elseif(_contents MATCHES "OUTPUT_DIRECTORY *= *([^ ][^\n]*)")
string(STRIP "${CMAKE_MATCH_1}" _dir)
set(_name "${_doxygen_target}")
set(_dir "${_dir}/xml")
else()
message(FATAL_ERROR "Cannot parse Doxyfile generated by Doxygen"
"target ${_doxygen_target}, needed by"
"sphinx_add_docs for target ${_target}")
endif()
elseif(_doxygen_target MATCHES "([^: ]+) *: *(.*)")
set(_name "${CMAKE_MATCH_1}")
string(STRIP "${CMAKE_MATCH_2}" _dir)
endif()
if(_name AND _dir)
if(_breathe_projects)
set(_breathe_projects "${_breathe_projects}, \"${_name}\": \"${_dir}\"")
else()
set(_breathe_projects "\"${_name}\": \"${_dir}\"")
endif()
if(NOT _breathe_default_project)
set(_breathe_default_project "${_name}")
endif()
endif()
endforeach()
endif()
set(_cachedir "${CMAKE_CURRENT_BINARY_DIR}/${_target}.cache")
file(MAKE_DIRECTORY "${_cachedir}")
file(COPY "${_sourcedir}/_static" DESTINATION "${_cachedir}")
if(EXISTS "${_sourcedir}/conf.py")
configure_file("${_sourcedir}/conf.py" "${_cachedir}/conf.py" @ONLY)
else()
_Sphinx_generate_confpy(${_target} "${_cachedir}")
endif()
if(_breathe_projects)
file(APPEND "${_cachedir}/conf.py"
"\nbreathe_projects = { ${_breathe_projects} }"
"\nbreathe_default_project = '${_breathe_default_project}'")
endif()
string(REPLACE " " ";" _Sphinx_executable ${SPHINX_BUILD_EXECUTABLE})
add_custom_target(
${_target} ALL
COMMAND ${_Sphinx_executable}
-b ${_builder}
-d "${CMAKE_CURRENT_BINARY_DIR}/${_target}.cache/_doctrees"
-c "${CMAKE_CURRENT_BINARY_DIR}/${_target}.cache"
"${_sourcedir}"
"${_outputdir}"
DEPENDS ${_depends})
unset(_Sphinx_executable)
endfunction()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/Findcodecov.cmake 0000664 0000000 0000000 00000023575 14621624232 0025747 0 ustar 00root root 0000000 0000000 # This file is part of CMake-codecov.
#
# Copyright 2015-2017 RWTH Aachen University, Federal Republic of Germany
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the University of California, Berkeley nor the
# names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Written by Alexander Haase, alexander.haase@rwth-aachen.de
#
# Add an option to choose, if coverage should be enabled or not. If enabled
# marked targets will be build with coverage support and appropriate targets
# will be added. If disabled coverage will be ignored for *ALL* targets.
option(ENABLE_COVERAGE "Enable coverage build." OFF)
set(COVERAGE_FLAG_CANDIDATES
# gcc and clang
"-O0 -g -fprofile-arcs -ftest-coverage"
# gcc and clang fallback
"-O0 -g --coverage"
)
# Add coverage support for target ${TNAME} and register target for coverage
# evaluation. If coverage is disabled or not supported, this function will
# simply do nothing.
#
# Note: This function is only a wrapper to define this function always, even if
# coverage is not supported by the compiler or disabled. This function must
# be defined here, because the module will be exited, if there is no coverage
# support by the compiler or it is disabled by the user.
function (add_coverage TNAME)
# only add coverage for target, if coverage is support and enabled.
if (ENABLE_COVERAGE)
foreach (TNAME ${ARGV})
add_coverage_target(${TNAME})
endforeach ()
endif ()
endfunction (add_coverage)
# Add global target to gather coverage information after all targets have been
# added. Other evaluation functions could be added here, after checks for the
# specific module have been passed.
#
# Note: This function is only a wrapper to define this function always, even if
# coverage is not supported by the compiler or disabled. This function must
# be defined here, because the module will be exited, if there is no coverage
# support by the compiler or it is disabled by the user.
function (coverage_evaluate)
# add lcov evaluation
if (LCOV_FOUND)
lcov_capture_initial()
lcov_capture()
endif (LCOV_FOUND)
endfunction ()
# Exit this module, if coverage is disabled. add_coverage is defined before this
# return, so this module can be exited now safely without breaking any build-
# scripts.
if (NOT ENABLE_COVERAGE)
return()
endif ()
# Find the required flags foreach language.
set(CMAKE_REQUIRED_QUIET_SAVE ${CMAKE_REQUIRED_QUIET})
set(CMAKE_REQUIRED_QUIET ${codecov_FIND_QUIETLY})
get_property(ENABLED_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
foreach (LANG ${ENABLED_LANGUAGES})
# Coverage flags are not dependent on language, but the used compiler. So
# instead of searching flags foreach language, search flags foreach compiler
# used.
set(COMPILER ${CMAKE_${LANG}_COMPILER_ID})
if (NOT COVERAGE_${COMPILER}_FLAGS)
foreach (FLAG ${COVERAGE_FLAG_CANDIDATES})
if(NOT CMAKE_REQUIRED_QUIET)
message(STATUS "Try ${COMPILER} code coverage flag = [${FLAG}]")
endif()
set(CMAKE_REQUIRED_FLAGS "${FLAG}")
unset(COVERAGE_FLAG_DETECTED CACHE)
if (${LANG} STREQUAL "C")
include(CheckCCompilerFlag)
check_c_compiler_flag("${FLAG}" COVERAGE_FLAG_DETECTED)
elseif (${LANG} STREQUAL "CXX")
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("${FLAG}" COVERAGE_FLAG_DETECTED)
elseif (${LANG} STREQUAL "Fortran")
# CheckFortranCompilerFlag was introduced in CMake 3.x. To be
# compatible with older Cmake versions, we will check if this
# module is present before we use it. Otherwise we will define
# Fortran coverage support as not available.
include(CheckFortranCompilerFlag OPTIONAL
RESULT_VARIABLE INCLUDED)
if (INCLUDED)
check_fortran_compiler_flag("${FLAG}"
COVERAGE_FLAG_DETECTED)
elseif (NOT CMAKE_REQUIRED_QUIET)
message("-- Performing Test COVERAGE_FLAG_DETECTED")
message("-- Performing Test COVERAGE_FLAG_DETECTED - Failed"
" (Check not supported)")
endif ()
endif()
if (COVERAGE_FLAG_DETECTED)
set(COVERAGE_${COMPILER}_FLAGS "${FLAG}"
CACHE STRING "${COMPILER} flags for code coverage.")
mark_as_advanced(COVERAGE_${COMPILER}_FLAGS)
break()
else ()
message(WARNING "Code coverage is not available for ${COMPILER}"
" compiler. Targets using this compiler will be "
"compiled without it.")
endif ()
endforeach ()
endif ()
endforeach ()
set(CMAKE_REQUIRED_QUIET ${CMAKE_REQUIRED_QUIET_SAVE})
# Helper function to get the language of a source file.
function (codecov_lang_of_source FILE RETURN_VAR)
get_filename_component(FILE_EXT "${FILE}" EXT)
string(TOLOWER "${FILE_EXT}" FILE_EXT)
string(SUBSTRING "${FILE_EXT}" 1 -1 FILE_EXT)
get_property(ENABLED_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
foreach (LANG ${ENABLED_LANGUAGES})
list(FIND CMAKE_${LANG}_SOURCE_FILE_EXTENSIONS "${FILE_EXT}" TEMP)
if (NOT ${TEMP} EQUAL -1)
set(${RETURN_VAR} "${LANG}" PARENT_SCOPE)
return()
endif ()
endforeach()
set(${RETURN_VAR} "" PARENT_SCOPE)
endfunction ()
# Helper function to get the relative path of the source file destination path.
# This path is needed by FindGcov and FindLcov cmake files to locate the
# captured data.
function (codecov_path_of_source FILE RETURN_VAR)
string(REGEX MATCH "TARGET_OBJECTS:([^ >]+)" _source ${FILE})
# If expression was found, SOURCEFILE is a generator-expression for an
# object library. Currently we found no way to call this function automatic
# for the referenced target, so it must be called in the directoryso of the
# object library definition.
if (NOT "${_source}" STREQUAL "")
set(${RETURN_VAR} "" PARENT_SCOPE)
return()
endif ()
string(REPLACE "${CMAKE_CURRENT_BINARY_DIR}/" "" FILE "${FILE}")
if(IS_ABSOLUTE ${FILE})
file(RELATIVE_PATH FILE ${CMAKE_CURRENT_SOURCE_DIR} ${FILE})
endif()
# get the right path for file
string(REPLACE ".." "__" PATH "${FILE}")
set(${RETURN_VAR} "${PATH}" PARENT_SCOPE)
endfunction()
# Add coverage support for target ${TNAME} and register target for coverage
# evaluation.
function(add_coverage_target TNAME)
# Check if all sources for target use the same compiler. If a target uses
# e.g. C and Fortran mixed and uses different compilers (e.g. clang and
# gfortran) this can trigger huge problems, because different compilers may
# use different implementations for code coverage.
get_target_property(TSOURCES ${TNAME} SOURCES)
set(TARGET_COMPILER "")
set(ADDITIONAL_FILES "")
foreach (FILE ${TSOURCES})
# If expression was found, FILE is a generator-expression for an object
# library. Object libraries will be ignored.
string(REGEX MATCH "TARGET_OBJECTS:([^ >]+)" _file ${FILE})
if ("${_file}" STREQUAL "")
codecov_lang_of_source(${FILE} LANG)
if (LANG)
list(APPEND TARGET_COMPILER ${CMAKE_${LANG}_COMPILER_ID})
list(APPEND ADDITIONAL_FILES "${FILE}.gcno")
list(APPEND ADDITIONAL_FILES "${FILE}.gcda")
endif ()
endif ()
endforeach ()
list(REMOVE_DUPLICATES TARGET_COMPILER)
list(LENGTH TARGET_COMPILER NUM_COMPILERS)
if (NUM_COMPILERS GREATER 1)
message(WARNING "Can't use code coverage for target ${TNAME}, because "
"it will be compiled by incompatible compilers. Target will be "
"compiled without code coverage.")
return()
elseif (NUM_COMPILERS EQUAL 0)
message(WARNING "Can't use code coverage for target ${TNAME}, because "
"it uses an unknown compiler. Target will be compiled without "
"code coverage.")
return()
elseif (NOT DEFINED "COVERAGE_${TARGET_COMPILER}_FLAGS")
# A warning has been printed before, so just return if flags for this
# compiler aren't available.
return()
endif()
# enable coverage for target
set_property(TARGET ${TNAME} APPEND_STRING
PROPERTY COMPILE_FLAGS " ${COVERAGE_${TARGET_COMPILER}_FLAGS}")
set_property(TARGET ${TNAME} APPEND_STRING
PROPERTY LINK_FLAGS " ${COVERAGE_${TARGET_COMPILER}_FLAGS}")
# Add gcov files generated by compiler to clean target.
set(CLEAN_FILES "")
foreach (FILE ${ADDITIONAL_FILES})
codecov_path_of_source(${FILE} FILE)
list(APPEND CLEAN_FILES "CMakeFiles/${TNAME}.dir/${FILE}")
endforeach()
set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES
"${CLEAN_FILES}")
add_gcov_target(${TNAME})
add_lcov_target(${TNAME})
endfunction(add_coverage_target)
# Include modules for parsing the collected data and output it in a readable
# format (like gcov and lcov).
find_package(Gcov)
find_package(Lcov)
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/Generate.cmake 0000664 0000000 0000000 00000012603 14621624232 0025244 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2021 to 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
function(IDLC_GENERATE)
set(options NO_TYPE_INFO)
set(one_value_keywords TARGET DEFAULT_EXTENSIBILITY BASE_DIR)
set(multi_value_keywords FILES FEATURES INCLUDES WARNINGS)
cmake_parse_arguments(
IDLC "${options}" "${one_value_keywords}" "${multi_value_keywords}" "" ${ARGN})
set(gen_args
${IDLC_UNPARSED_ARGUMENTS}
TARGET ${IDLC_TARGET}
BASE_DIR ${IDLC_BASE_DIR}
FILES ${IDLC_FILES}
FEATURES ${IDLC_FEATURES}
INCLUDES ${IDLC_INCLUDES}
WARNINGS ${IDLC_WARNINGS}
DEFAULT_EXTENSIBILITY ${IDLC_DEFAULT_EXTENSIBILITY})
if(${IDLC_NO_TYPE_INFO})
list(APPEND gen_args NO_TYPE_INFO)
endif()
idlc_generate_generic(${gen_args})
endfunction()
function(IDLC_GENERATE_GENERIC)
set(options NO_TYPE_INFO)
set(one_value_keywords TARGET BACKEND DEFAULT_EXTENSIBILITY BASE_DIR)
set(multi_value_keywords FILES FEATURES INCLUDES WARNINGS SUFFIXES DEPENDS)
cmake_parse_arguments(
IDLC "${options}" "${one_value_keywords}" "${multi_value_keywords}" "" ${ARGN})
# find idlc binary
if(CMAKE_CROSSCOMPILING)
find_program(_idlc_executable idlc NO_CMAKE_FIND_ROOT_PATH REQUIRED)
if(_idlc_executable)
set(_idlc_depends "")
else()
message(FATAL_ERROR "Cannot find idlc executable")
endif()
else()
set(_idlc_executable CycloneDDS::idlc)
set(_idlc_depends CycloneDDS::idlc)
endif()
if(NOT IDLC_TARGET AND NOT IDLC_FILES)
# assume deprecated invocation: TARGET FILE [FILE..]
list(GET IDLC_UNPARSED_ARGUMENTS 0 IDLC_TARGET)
list(REMOVE_AT IDLC_UNPARSED_ARGUMENTS 0 IDLC_)
set(IDLC_FILES ${IDLC_UNPARSED_ARGUMENTS})
if (IDLC_TARGET AND IDLC_FILES)
message(WARNING " Deprecated use of idlc_generate. \n"
" Consider switching to keyword based invocation.")
endif()
# Java based compiler used to be case sensitive
list(APPEND IDLC_FEATURES "case-sensitive")
endif()
if(NOT IDLC_TARGET)
message(FATAL_ERROR "idlc_generate called without TARGET")
elseif(NOT IDLC_FILES)
message(FATAL_ERROR "idlc_generate called without FILES")
endif()
# remove duplicate features
if(IDLC_FEATURES)
list(REMOVE_DUPLICATES IDLC_FEATURES)
endif()
foreach(_feature ${IDLC_FEATURES})
list(APPEND IDLC_ARGS "-f" ${_feature})
endforeach()
# add directories to include search list
if(IDLC_INCLUDES)
foreach(_dir ${IDLC_INCLUDES})
list(APPEND IDLC_INCLUDE_DIRS "-I" ${_dir})
endforeach()
endif()
# generate using which language (defaults to c)?
if(IDLC_BACKEND)
string(APPEND _language "-l" ${IDLC_BACKEND})
endif()
# set dependencies
if(IDLC_DEPENDS)
list(APPEND _depends ${_idlc_depends} ${IDLC_DEPENDS})
else()
set(_depends ${_idlc_depends})
endif()
if(IDLC_DEFAULT_EXTENSIBILITY)
set(_default_extensibility ${IDLC_DEFAULT_EXTENSIBILITY})
list(APPEND IDLC_ARGS "-x" ${_default_extensibility})
endif()
if(IDLC_WARNINGS)
foreach(_warn ${IDLC_WARNINGS})
list(APPEND IDLC_ARGS "-W${_warn}")
endforeach()
endif()
if(IDLC_NO_TYPE_INFO)
list(APPEND IDLC_ARGS "-t")
endif()
if(IDLC_BASE_DIR)
file(REAL_PATH ${IDLC_BASE_DIR} _base_dir_abs)
list(APPEND IDLC_ARGS "-b${_base_dir_abs}")
endif()
set(_dir ${CMAKE_CURRENT_BINARY_DIR})
list(APPEND IDLC_ARGS "-o${_dir}")
set(_target ${IDLC_TARGET})
foreach(_file ${IDLC_FILES})
get_filename_component(_path ${_file} ABSOLUTE)
list(APPEND _files "${_path}")
endforeach()
# set source suffixes (defaults to .c and .h)
if(NOT IDLC_SUFFIXES)
set(IDLC_SUFFIXES ".c" ".h")
endif()
set(_outputs "")
foreach(_file ${_files})
get_filename_component(_name ${_file} NAME_WE)
get_filename_component(_name_ext ${_file} NAME)
# Determine middle path for directory reconstruction
if(IDLC_BASE_DIR)
file(RELATIVE_PATH _file_path_rel ${_base_dir_abs} ${_file})
# Hard Fail
if(_file_path_rel MATCHES "^\\.\\.")
message(FATAL_ERROR "Cannot use base dir with different file tree from input file (${_base_dir_abs} to ${_file} yields ${_file_path_rel})")
endif()
string(REPLACE ${_name_ext} "" _mid_dir_path ${_file_path_rel})
string(REGEX REPLACE "[\\/]$" "" _mid_dir_path ${_mid_dir_path})
endif()
set(_file_outputs "")
foreach(_suffix ${IDLC_SUFFIXES})
if(IDLC_BASE_DIR)
list(APPEND _file_outputs "${_dir}/${_mid_dir_path}/${_name}${_suffix}")
else()
list(APPEND _file_outputs "${_dir}/${_name}${_suffix}")
endif()
endforeach()
list(APPEND _outputs ${_file_outputs})
add_custom_command(
OUTPUT ${_file_outputs}
COMMAND ${_idlc_executable}
ARGS ${_language} ${IDLC_ARGS} ${IDLC_INCLUDE_DIRS} ${_file}
DEPENDS ${_files} ${_depends})
endforeach()
add_custom_target("${_target}_generate" DEPENDS "${_outputs}")
add_library(${_target} INTERFACE)
target_sources(${_target} INTERFACE ${_outputs})
target_include_directories(${_target} INTERFACE "${_dir}")
add_dependencies(${_target} "${_target}_generate")
endfunction()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/GenerateExportHeader.cmake 0000664 0000000 0000000 00000005233 14621624232 0027560 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2021 to 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
if(__GENERATE_EXPORT_HEADER_INCLUDED__)
return()
endif()
set(__GENERATE_EXPORT_HEADER_INCLUDED__ TRUE)
get_filename_component(_current_list_dir "${CMAKE_CURRENT_LIST_DIR}" ABSOLUTE)
foreach(_module_dir ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
get_filename_component(_module_dir "${_module_dir}" ABSOLUTE)
if(NOT _current_list_dir STREQUAL _module_dir)
if(EXISTS "${_module_dir}/GenerateExportHeader.cmake")
set(_include_file "${_module_dir}/GenerateExportHeader.cmake")
break()
endif()
endif()
endforeach()
if(_include_file)
include("${_include_file}")
macro(GENERATE_EXPORT_HEADER TARGET_LIBRARY)
set(_opts)
set(_single_opts PREFIX_NAME BASE_NAME CUSTOM_CONTENT_FROM_VARIABLE)
set(_multi_opts)
cmake_parse_arguments(_GEHW "${_opts}" "${_single_opts}" "${_multi_opts}" ${ARGN})
string(MAKE_C_IDENTIFIER "${TARGET_LIBRARY}" _target_name)
set(_prefix_name "${_GEHW_PREFIX_NAME}")
set(_base_name "${TARGET_LIBRARY}")
if(_GEHW_PREFIX_NAME)
set(_prefix_name_args PREFIX_NAME "${_GEHW_PREFIX_NAME}")
endif()
if(_GEHW_BASE_NAME)
set(_base_name_args BASE_NAME "${_GEHW_BASE_NAME}")
set(_base_name ${_GEHW_BASE_NAME})
endif()
string(TOUPPER ${_base_name} _base_name_upper)
# Exporting inline functions using the __declspec(dllexport) keyword in
# dynamic-link libraries results in "multiple definitions of xxx" if
# compiled with MinGW. Export the extern inline declaration instead.
# See https://gitlab.kitware.com/cmake/cmake/-/issues/21940 for details.
set(_custom_content
"
#ifndef ${_prefix_name}${_base_name_upper}_INLINE_EXPORT
# if __MINGW32__ && (!defined(__clang__) || !defined(${_target_name}_EXPORTS))
# define ${_prefix_name}${_base_name_upper}_INLINE_EXPORT
# else
# define ${_prefix_name}${_base_name_upper}_INLINE_EXPORT ${_prefix_name}${_base_name_upper}_EXPORT
# endif
#endif
")
if(_GEHW_CUSTOM_CONTENT_FROM_VARIABLE)
set(_custom_content
"${_custom_content}\n${${_GEHW_CUSTOM_CONTENT_FROM_VARIABLE}}")
endif()
_GENERATE_EXPORT_HEADER(
${TARGET_LIBRARY}
${_prefix_name_args}
${_base_name_args}
CUSTOM_CONTENT_FROM_VARIABLE _custom_content
${_GEHW_UNPARSED_ARGUMENTS})
endmacro()
endif()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/HashUtilities.cmake 0000664 0000000 0000000 00000006057 14621624232 0026277 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
function(filter_files)
set(one_value_keywords FIND REPLACE)
set(multi_value_keywords FILES)
cmake_parse_arguments(_filter_files "" "${one_value_keywords}" "${multi_value_keywords}" "" ${ARGN})
foreach(_file ${_filter_files_FILES})
file(READ "${_file}" _file_data)
string(REPLACE "${_filter_files_FIND}" "${_filter_files_REPLACE}" _file_data "${_file_data}")
file(WRITE "${_file}" "${_file_data}")
endforeach()
endfunction()
function(hash_of_file OUTVAR HASH_FILE)
# Hashing routine, remove \r to not get confused on windows if git changes the line endings.
file(READ "${_hash_file}" _hash_data)
string(REPLACE "\r" "" _hash_data "${_hash_data}")
string(SHA1 _hash "${_hash_data}")
set(${OUTVAR} "${_hash}" PARENT_SCOPE)
endfunction()
function(generate_hash_text OUTVAR HASH_FILE PREFIX POSTFIX)
hash_of_file(_hash "${HASH_FILE}")
get_filename_component(_fname "${_hash_file}" NAME)
set(${OUTVAR} "${PREFIX} generated from ${_fname}[${_hash}] ${POSTFIX}" PARENT_SCOPE)
endfunction()
function(CHECK_HASH OUTVAR HASH_FILE APPEND_FILE)
if(NOT EXISTS "${APPEND_FILE}")
set(${OUTVAR} 0 PARENT_SCOPE)
return()
endif()
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${HASH_FILE} ${APPEND_FILE})
generate_hash_text(_gen_hash_line "${HASH_FILE}" "" "")
file(READ "${APPEND_FILE}" _file_data)
string(FIND "${_file_data}" "${_gen_hash_line}" _position)
if (${_position} EQUAL -1)
set(${OUTVAR} 0 PARENT_SCOPE)
else()
set(${OUTVAR} 1 PARENT_SCOPE)
endif()
endfunction()
function(CHECK_HASHES OUTVAR)
set(multi_value_keywords HASH_FILES APPEND_FILES)
cmake_parse_arguments(_check_hashes "" "" "${multi_value_keywords}" "" ${ARGN})
set(${OUTVAR} 1 PARENT_SCOPE)
foreach(_hash_file ${_check_hashes_HASH_FILES})
foreach(_append_file ${_check_hashes_APPEND_FILES})
check_hash(_test ${_hash_file} ${_append_file})
if (NOT ${_test})
set(${OUTVAR} 0 PARENT_SCOPE)
endif()
endforeach()
endforeach()
endfunction()
function(APPEND_HASHES)
set(one_value_keywords PREFIX POSTFIX)
set(multi_value_keywords HASH_FILES APPEND_FILES)
cmake_parse_arguments(_append_hashes "" "${one_value_keywords}" "${multi_value_keywords}" "" ${ARGN})
foreach(_hash_file ${_append_hashes_HASH_FILES})
generate_hash_text(hash_line "${_hash_file}" "${_append_hashes_PREFIX}" "${_append_hashes_POSTFIX}")
foreach(_file ${_append_hashes_APPEND_FILES})
file(APPEND "${_file}" "${hash_line}\n")
endforeach()
endforeach()
endfunction()
eclipse-cyclonedds-cyclonedds-2cdd114/cmake/Modules/llvm-cov-wrapper 0000775 0000000 0000000 00000005310 14621624232 0025650 0 ustar 00root root 0000000 0000000 #!/bin/sh
# This file is part of CMake-codecov.
#
# Copyright 2015-2017 RWTH Aachen University, Federal Republic of Germany
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the University of California, Berkeley nor the
# names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Written by Alexander Haase, alexander.haase@rwth-aachen.de
#
if [ -z "$LLVM_COV_BIN" ]
then
echo "LLVM_COV_BIN not set!" >& 2
exit 1
fi
# Get LLVM version to find out.
LLVM_VERSION=$($LLVM_COV_BIN -version | grep -i "LLVM version" \
| sed "s/^\([A-Za-z ]*\)\([0-9]\).\([0-9]\).*$/\2.\3/g")
if [ "$1" = "-v" ]
then
echo "llvm-cov-wrapper $LLVM_VERSION"
exit 0
fi
if [ -n "$LLVM_VERSION" ]
then
MAJOR=$(echo $LLVM_VERSION | cut -d'.' -f1)
MINOR=$(echo $LLVM_VERSION | cut -d'.' -f2)
if [ $MAJOR -eq 3 ] && [ $MINOR -le 4 ]
then
if [ -f "$1" ]
then
filename=$(basename "$1")
extension="${filename##*.}"
case "$extension" in
"gcno") exec $LLVM_COV_BIN --gcno="$1" ;;
"gcda") exec $LLVM_COV_BIN --gcda="$1" ;;
esac
fi
fi
if [ $MAJOR -eq 3 ] && [ $MINOR -le 5 ]
then
exec $LLVM_COV_BIN $@
fi
fi
exec $LLVM_COV_BIN gcov $@
eclipse-cyclonedds-cyclonedds-2cdd114/colcon.pkg 0000664 0000000 0000000 00000000054 14621624232 0021775 0 ustar 00root root 0000000 0000000 {
"cmake-args": [ "-DBUILD_IDLC=AUTO" ]
}
eclipse-cyclonedds-cyclonedds-2cdd114/compat/ 0000775 0000000 0000000 00000000000 14621624232 0021301 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/compat/CMakeLists.txt 0000664 0000000 0000000 00000000506 14621624232 0024042 0 ustar 00root root 0000000 0000000 include(CheckIncludeFile)
check_include_file(getopt.h HAVE_GETOPT_H)
if(WIN32 OR NOT HAVE_GETOPT_H)
add_library(compat OBJECT)
target_include_directories(compat INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}")
target_sources(compat PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/getopt.c")
else()
add_library(compat INTERFACE)
endif()
eclipse-cyclonedds-cyclonedds-2cdd114/compat/getopt.c 0000664 0000000 0000000 00000004525 14621624232 0022755 0 ustar 00root root 0000000 0000000 #include
#include
#include "getopt.h"
/* ::[[ @(#) getopt.c 1.5 89/03/11 05:40:23 ]]:: */
#if 0
static const char Id[] = "$Id: os_stdlib_getopt.c,v 1.2 2008-11-17 09:53:45 hansv Exp $";
#endif
/*
* Here's something you've all been waiting for: the AT&T public domain
* source for getopt(3). It is the code which was given out at the 1985
* UNIFORUM conference in Dallas. I obtained it by electronic mail
* directly from AT&T. The people there assure me that it is indeed
* in the public domain.
*
* There is no manual page. That is because the one they gave out at
* UNIFORUM was slightly different from the current System V Release 2
* manual page. The difference apparently involved a note about the
* famous rules 5 and 6, recommending using white space between an option
* and its first argument, and not grouping options that have arguments.
* Getopt itself is currently lenient about both of these things White
* space is allowed, but not mandatory, and the last option in a group can
* have an argument. That particular version of the man page evidently
* has no official existence, and my source at AT&T did not send a copy.
* The current SVR2 man page reflects the actual behavor of this getopt.
* However, I am not about to post a copy of anything licensed by AT&T.
*/
#define ERR(szz,czz) if(opterr){fprintf(stderr,"%s%s%c\n",argv[0],szz,czz);}
int opterr = 1;
int optind = 1;
int optopt;
char *optarg;
int
getopt(
int argc,
char **argv,
const char *opts)
{
static int sp = 1;
register int c;
register char *cp;
if (sp == 1) {
if (optind >= argc ||
argv[optind][0] != '-' || argv[optind][1] == '\0')
return (EOF);
else if (strcmp(argv[optind], "--") == 0) {
optind++;
return (EOF);
}
}
optopt = c = argv[optind][sp];
if (c == ':' || (cp = strchr(opts, c)) == NULL) {
ERR(": illegal option -- ", c);
if (argv[optind][++sp] == '\0') {
optind++;
sp = 1;
}
return ('?');
}
if (*++cp == ':') {
if (argv[optind][sp + 1] != '\0')
optarg = &argv[optind++][sp + 1];
else if (++optind >= argc) {
ERR(": option requires an argument -- ", c);
sp = 1;
return ('?');
} else
optarg = argv[optind++];
sp = 1;
} else {
if (argv[optind][++sp] == '\0') {
sp = 1;
optind++;
}
optarg = NULL;
}
return (c);
}
eclipse-cyclonedds-cyclonedds-2cdd114/compat/getopt.h 0000664 0000000 0000000 00000001157 14621624232 0022760 0 ustar 00root root 0000000 0000000 /*
* Copyright(c) 2006 to 2022 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef GETOPT_H
#define GETOPT_H
extern int opterr;
extern int optind;
extern int optopt;
extern char *optarg;
int getopt(int argc, char **argv, const char *opts);
#endif /* GETOPT_H */
eclipse-cyclonedds-cyclonedds-2cdd114/docs/ 0000775 0000000 0000000 00000000000 14621624232 0020746 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/docs/CMakeLists.txt 0000664 0000000 0000000 00000002150 14621624232 0023504 0 ustar 00root root 0000000 0000000 #
# Copyright(c) 2019 to 2022 ZettaScale Technology and others
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License v. 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
# v. 1.0 which is available at
# http://www.eclipse.org/org/documents/edl-v10.php.
#
# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
#
if(BUILD_DOCS)
find_package(Sphinx REQUIRED breathe)
sphinx_add_docs(
docs
BREATHE_PROJECTS ddsc_api_docs
BUILDER html
SOURCE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/manual")
install(
DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/docs"
DESTINATION "${CMAKE_INSTALL_DOCDIR}/manual"
COMPONENT dev)
endif()
install(
FILES ${CMAKE_CURRENT_SOURCE_DIR}/../CONTRIBUTING.md
${CMAKE_CURRENT_SOURCE_DIR}/../CYCLONEDDS_QUALITY_DECLARATION.md
${CMAKE_CURRENT_SOURCE_DIR}/../LICENSE
${CMAKE_CURRENT_SOURCE_DIR}/../NOTICE.md
${CMAKE_CURRENT_SOURCE_DIR}/../README.md
${CMAKE_CURRENT_SOURCE_DIR}/../CHANGELOG.rst
DESTINATION ${CMAKE_INSTALL_DOCDIR})
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/ 0000775 0000000 0000000 00000000000 14621624232 0021524 5 ustar 00root root 0000000 0000000 eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/async_write.md 0000664 0000000 0000000 00000004035 14621624232 0024377 0 ustar 00root root 0000000 0000000
# Asynchronous write
`Asynchronous Write` is a feature where the actual sending of the data packets occurs on a different thread, than the thread where the `dds_write()` function is invoked. By default when application writes data using a DDS data writer, the entire write operation involving the steps from serialization to writing the actual data packets on to the socket happen synchronously in the same thread, which is called `Synchronous Write`. Applications can enable `Asynchronous Write` mode where the dds_write() call will only copy the data to the writer history cache and queues the data, but the actual transmission of the data happens asynchronously in a separate thread.
### Asynchronous write behavior
By default Cyclone DDS uses "synchronous write", to use "asynchronous write", the latency budget of a data writer should be greater than zero.
```c
/* Create a Writer with non-zero latency budget */
dwQos = dds_create_qos ();
dds_qset_latency_budget(dwQos, DDS_MSECS(5));
writer = dds_create_writer (participant, topic, dwQos, NULL);
...
// This writer sends the data asynchronously
```
The below diagram shows the current API call sequence for the write:
- `sendq` thread (thread which is responsible for sending the data asynchronously) is started when the first data writer is created with a latency budget greater then zero.
- `sendq` thread is stopped during the shutdown clean-up
- When a sample is written in asynchronous mode, the following happens on the high level:
- `ddsi_serdata` is constructed from the sample
- Sample is inserted into writer history cache (WHC)
- Packs the sample into RTPS message
- Queues the RTPS messages
- `sendq` thread transmits the queued RTPS messages asynchronously
### Improvements
1. Queue individual samples (`ddsi_serdata`), pack and send them instead of queueing and sending the entire RTPS messages. This will be an improvement for use case of sending small messages at high rates. eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/data path - rbuf.svg 0000664 0000000 0000000 00000142564 14621624232 0025143 0 ustar 00root root 0000000 0000000
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/data path - receive.svg 0000664 0000000 0000000 00000165320 14621624232 0025622 0 ustar 00root root 0000000 0000000
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/data path - transmit.svg 0000664 0000000 0000000 00000126265 14621624232 0026046 0 ustar 00root root 0000000 0000000
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/data path.graffle 0000664 0000000 0000000 00001261463 14621624232 0024717 0 ustar 00root root 0000000 0000000
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eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/dds_security_effort.md 0000664 0000000 0000000 00000043125 14621624232 0026121 0 ustar 00root root 0000000 0000000 # DDS Security effort
ADLink has decided to donate their Vortex OpenSplice DDS Security
implementation to the Cyclone DDS project. However, that will not be a simple
code drop.
This document catches all the work that is foreseen to port Vortex OpenSplice
DDS Security to Cyclone DDS.
This document can be removed when DDS Security has been implemented.
**Table of contents**
- [Definition of done](#done)
- [Footprint](#footprint)
- [Multi process testing (done)](#testing)
- [Runtime library loading (done)](#loading)
- [Hopscotch utility (done)](#hopscotch)
- [FSM utility (in progress)](#fsm)
- [Port DDS Security plugin API (done)](#port-api)
- [De-Serializing messages in DDSI (done)](#deserializing)
- [De-Serializing security message parameters in DDSI (done)](#deserializing_plist)
- [Port DDS Security builtin plugins (in progress)](#port-plugins)
- [Port DDSI DDS Security (in progress)](#port-ddsi)
- [Move configuration (in progress)](#Move-configuration)
- [Failure handling](#failures)
- [Multiple configurations](#multiple-configurations)
- [Example](#example)
- [QosProvider](#qosprovider)
- [Data Tags (optional)](#datatags)
## Definition of done
When this document tells that a certain aspect is 'done', it means that it
has been accepted into the security branch of the cyclonedds repository
(https://github.com/eclipse-cyclonedds/cyclonedds/tree/security).
However, it is possible that various parts need some rework before the security
branch can be merged into the cyclonedds master branch.
## Footprint
A non-functional requirement is that cyclonedds should be buildable without
the DDS Security support in it. That will reduce the footprint (and possibly
improve performance) for applications that don't need security.
For that, the ENABLE_SECURITY build option is introduced that translates into
the DDSI_INCLUDE_SECURITY compile switch. However, the usage of that switch
should not explode. That'll reduce the maintainability.
For instance, the usage of the switch can be minimized by using functions that
will reduce to an inline function that just returns a hardcode value when
security is not included (otherwise they'll do some certain task).
The compiler can use these inline functions to do clever stuff regarding
footprint and performance.
There can be other solutions to decrease security footprint without impeding
on the maintainability of the code by inserting the switch too much.
## Multi process testing (done)
To properly test DDS Security, multi process testing will be necessary.
This is not yet available in Cyclone DDS.
See the [Multi Process Testing](multi_process_testing.md) document for
more information.
## Runtime library loading (done)
The ddsi component needs to be able to load DDS Security plugins at runtime.
These plugins are provided as libraries.
Loading libraries at runtime is currently not possible in Cyclone DDS.
## Hopscotch utility (done)
This hash table is used by the Security plugins.
Both versions on OpenSplice and Cyclone are equivalent.
No additional effort is expected.
## FSM utility (in progress)
The Finite State Machine utility has been introduced in OpenSplice to support
the handshake of DDS Security.
This has to be ported to Cyclone.
However, it already has some technical dept, which should be removed before
adding it to Cyclone. This means that a refactor should happen as part of the
porting.
The related DBTs should also be ported to Cyclone unit tests.
It was decided to just port the FSM at the moment. The refactor will take place
when trying to get the security branch into master.
## Port DDS Security plugin API (done)
The DDS Security plugin API are just a few header files. The ddsi component
uses that to link against. The implementation of the API is done in the
individual plugins. The plugins are [loaded at runtime](#loading) (when
configured).
This means that ddsi can be DDS Security prepared (after building against this
API) without there being actual DDS Security plugins.
It seems to be just a code drop of a number of header files.
Maybe add some CMake module for both ddsi and the plugins to easily link
against?
## De-Serializing messages in DDSI (done)
DDSI needs to be able to (de)serialize a few Security messages. In OpenSplice,
some functionality of the database is used. This is unavailable in Cyclone.
What is available is a serializer that uses marshaling operations (see, for
for instance, m_ops in the dds_topic_descriptor struct).
The (de)serializing of the Security messages should be supported by supplying
the m_ops sequences, message structs (if not yet available) and some
convenience functions using both.
## De-Serializing security message parameters in DDSI (done)
DDSI needs to be able to (de)serialize a few message parameters that have
been introduced by the DDS Security spec.
## Port DDS Security builtin plugins (in progress)
No major changes between the DDS Security plugins in OpenSplice and Cyclone
are expected.
The DDS Security plugins require OpenSSL. Cyclone DDS already uses OpenSSL.
However, it expects (or at least it's preferred to have) version 1.1 or newer,
while the OpenSplice Security plugins are build against 1.0.2. There are some
API changes between the two versions. This will take some porting effort.
The build system should be ported from makefiles to cmake files.
There are security_plugin DBTs in OpenSplice. These tests are base on cunit,
which is also used in Cyclone. However, it is used slightly different. A small
porting effort is expected (i.e. let it work with cmake and runner generation).
This means some additional effort, compared to just a code drop. But it is not
expected to be major.
- Authentication plugin (done).
- Access Control plugin (in progress).
- Cryptography plugin (done).
There are a few sub-features that can be implemented separately.
- Check/handle expiry dates (in progress).
- Trusted directory support.
- etc?
## Port DDSI DDS Security (in progress)
There is already quite a bit of difference between the DDSI codebases in
OpenSplice and Cyclone. So, the copy/merge of the DDSI Security code from
OpenSplice to Cyclone will not be trivial.
Most parts of the merging will not be trivial, but should be quite
straightforward nonetheless. Things that are noticed to be somewhat different
between the DDSI code bases that could impact the merging work:
- Entity matching is slightly different.
- The q_entity.c has a lot of differences that can obfuscate the differences
related to DDS Security.
- Unacked messages logic has changed a bit. Does that impact gaps?
- (De)serializing, of course
(see also [De-Serializing in DDSI](#deserializing)).
- Writer history cache is different, which can impact the builtin volatile
Security endpoints.
- Unknown unknowns.
The buildsystem has to be upgraded.
- A few files are added which are easy to add to cmake.
- There's a new dependency on the [DDS Security API](#port-api), which is done.
Then, of course, there are the tests
First of all, [Multi Process Testing](#testing) should be available, which now
it is.
When that's the case, then the OpenSplice tests business
logic have to be ported from scripts and applications to that new framework.
That porting shouldn't be that hard. However, it will probably take a while.
The DDSI Port doesn't have to be a big bang. It can be split up into various
different pull requests. Examples are
- Extend configuration XML parsing with the security configuration (done).
- Extend nn_qos with security related policies. Fill them with values from the
configuration when applicable (done).
- Add DDS Security endpoints that are non-volatile (done).
- Add DDS Security endpoint that is volatile. This change has more impact than
all the non-volatile endpoints combined (done).
- Handshake (in progress).
- Payload (en)(de)coding (DDSI support: done. Wrapper: todo).
- Submsg (en)(de)coding (DDSI support: done. Wrapper: todo).
- RTPSmsg (en)(de)coding (DDSI support: done. Wrapper: todo).
- Etc
## Move configuration (in progress)
After the port, the DDS Security configuration is still (partly) done through
the overall configuration XML file (rest is coming from the permissions and
governance files).
However, according to the specification, the configuration should happen by
means of the Participant QoS.
The ddsc dds_qos_t is mapped on the ddsi xqos. The ddsi xqos already has the
necessary policy (after the [port](#port-ddsi)), namely the property_policy.
This means that the ddsc qos itself is automatically prepared.
However, getting and setting policies are done through getter and setter
functions in ddsc.
This means we have to add these functions for the security configuration values.
The ddsc policy getter and setter functions use (arrays of) primitive types as
arguments. The configuration of Security is given by means of the property
policy, which isn't a primitive. To keep in line with the QoS API, we could add
something like:
```cpp
typedef struct dds_properties_t; /* opaque type in API, but mapped to
nn_property_qospolicy_t internally */
dds_properties_t *dds_properties_create();
void dds_properties_delete(dds_properties_t *);
void dds_properties_merge(dds_properties_t *, dds_properties_t *);
void dds_properties_add_property(dds_properties_t *, char *name, char *value);
void dds_properties_add_binaryproperty(dds_properties_t *, char *name,
uchar *value, int valuelength);
void dds_qset_properties(dds_qos_t*, dds_properties_t *);
void dds_qget_properties(dds_qos_t*, dds_properties_t **);
```
But this is very preliminary and is still up for debate.
After moving the Security configuration to the participant QoS, it's possible
to have different configurations within a single application if you have
multiple participants. However, ddsi only supports one Security configuration
for now. That doesn't change by changing where that configuration comes
from.
To solve this, it is expected that creation of a participant with a different
configuration will force a failure for now.
Until [Multiple Configurations](#multiple-configurations) is implemented.
After the ddsc API has been extended, we can decide on what to do with the
configuration through XML.
- Keep it. It seems usable: no need to change applications when changing (or
adding) Security settings. However, conflicts between XML and QoS
configuration could cause problems. Simplest seems to be to only allow QoS
security configuration when it's not configured in XML already.
- Remove it. No conflict resolving needed.
All the Security tests depend on providing (different) configurations through
XML. Depending on if we keep or remove the XML configuration option, a lot of
tests have to be updated, or a few added (that test security configuration
through QoS).
For the loading of the plugin libraries, properties with specific names have to
be added to the property policy to know the location and names of the plugins.
As inspiration, fastrtps can be used:
https://github.com/ros2/rmw_fastrtps/blob/master/rmw_fastrtps_shared_cpp/src/rmw_node.cpp#L296
## Failure handling
Currently, when an local action is tried that isn't allowed by DDS Security
(like creating a participant when it's not permitted), DDSI is shut down.
Mainly because in OpenSplice it's quite hard to get a failure state from DDSI
to the application.
In Cyclone, however, ddsc::dds_create_participant() results in a direct call to
ddsi::ddsi_new_participant(). This means that if creation of an entity (or
participant in this example) fails due to security issues in ddsi, we can fail
the actual ddsc API call with a proper error result (there's already the
DDS_RETCODE_NOT_ALLOWED_BY_SECURITY in the ddsc API (not used)).
Maybe we have to do some additional cleanup when a failure is encountered.
Some tests probably have to be adjusted for the new behaviour.
## Multiple configurations
Currently (because it's done through the overall XML configuration), only one
DDS Security configuration could be supported. Because of this fact, at various
locations, shortcuts could be made in both DDSI and plugins.
However, because the configuration is coming from participants now (see
[Move Configuration](#Move-configuration), we should be able to support
multiple different DDS Security configurations.
Until now, the creation of a second participant with a different configuration
would force a failure (again, see [Move Configuration](#Move-configuration)).
It is expected that the plugin loading still happens through the configuration
XML (see [Move Configuration](#Move-configuration)). This means that DDSI doesn't have to support
multiple sets of plugins. Just the one set, provided at initialization. This
means that DDSI shouldn't have to be changed to support this.
So, it's the plugins need to be able to support multiple configurations.
The Cryptography plugin doesn't seem to care about global DDS Security
configurations. It has basically configurations per participant/topic/
endpoints, which already works. So, this plugin doesn't have to be upgraded.
The Authentication plugin does have global DDS Security configurations. Main
function related to that is validate_local_identity(). This function already
creates a new local identity every time it is called. So, this plugin doesn't
have to be upgraded either.
That leaves the Access Control plugin.
The main function related to configuration is validate_local_permissions().
This function creates access rights depending on Permissions and Governance
files. Currently, there's only one local 'rights' structure that is linked
directly to the plugin (see also the ACCESS_CONTROL_USE_ONE_PERMISSION compile
switch).
This has to change.
The local rights structure needs to be coupled to a participant. This also
means that we have to search for it instead of having direct access when
entering the plugin.
The remote rights can be used as example. That is basically a list of rights/
permissions with the remote identity handle as key.
Tests have to be added to make sure that a setup with different Security
configurations works.
## Example
A Security example has to be added.
## QosProvider
The Participant QoS now contains Security related information. This means that
the QosProvider has to be upgraded to support that.
## Data Tags (optional)
The specification is somewhat fuzzy about the data tags.
The following is a summary (still elaborate) of how it seems to work:
The permissions document can contain the tag on publish and
subscribe level. It's related to the data samples, but don't have to be related
to the keys of those samples.
The QoS of a writer/reader can also have data tags by means of the
DataTagQosPolicy. A writer/reader can only be created when the data_tags in the
QoS matches those in the permissions document. This check should happen on both
the local and remote level.
This creation check is the only thing that DDS Security actually does with the
data tags. They are only authenticated by DDS Security, but not interpreted
further.
This is only a minor security addition, because the publisher can still publish
data that doesn't match the data tags because DDS doesn't interpret the data
nor compares it with the data tags.
What it can be used for is a kind of custom access control scheme on the
application level.
An application that consumes data can see if a publisher is allowed to publish
that sample by comparing the data within the sample with the data tag(s)
associated with that publisher. As said, this comparison is not done on the DDS
level, but has to be done within the application itself.
That leaves the question, how does the application get the tags associated with
the related writer?
In other words; the application gets a sample. It has to know from which writer
it originated and it has to have access to the data tag(s) of that writer.
The dds_sample_info_t contains the dds_instance_handle_t publication_handle,
which is unique to the writer (locally).
That dds_instance_handle_t can be used to get the right
DDS_Security_PublicationBuiltinTopicDataSecure sample for the related secure
builtin reader [**note1**].
DDS_Security_PublicationBuiltinTopicDataSecure contains QoS information
regarding that writer, including the DataTagQosPolicy. The remote
DDS_Security_PublicationBuiltinTopicDataSecure contents have been authenticated
by DDS Security and the data tags can be trusted.
The application can check the sample data against the data_tags within that
QoS.
Things to do:
- Add DataTagQosPolicy to the ddsc API and the related QoSses.
- Add DDS_Security_PublicationBuiltinTopicDataSecure data type to the ddsc API
(better yet, all secure builtin types).
- Add the related builtin reader to the ddsc99 API (better yet, all secure
builtin readers).
- Add test regarding the secure builtin readers and data.
- Add data tag comparisons between QoS and permission documents during local
and remote entity creation.
- Add data tag remote/local (mis)match tests.
Especially because of the lack of access to builtin secure readers, supporting
data tags doesn't seem feasible in the near future. Also, it's optional in the
specification.
**note1**
That DDS_Security_PublicationBuiltinTopicDataSecure reader is not yet available
within the ddsc API, nor is the related data type. Don't know how much work it
would be to add them to that API.
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/debugging.md 0000664 0000000 0000000 00000004327 14621624232 0024007 0 ustar 00root root 0000000 0000000 # Troubleshooting Travis CI builds locally in a Docker image
This document describes how to run a Travis CI build locally using docker.
Most of the information is available in the Getting Started guide under
[Common Build Problems](https://docs.travis-ci.com/user/common-build-problems/#running-a-container-based-docker-image-locally),
but this guide is specifically tailored towards building Cyclone.
> Ensure [Docker](https://www.docker.com/) is installed, the daemon is running
> and you have the required privileges.
> See this [entry](https://developer.fedoraproject.org/tools/docker/about.html)
> on the Fedora Developer Portal for setting up and using Docker on Fedora.
> The *instance:* line under *Worker information* in the *Job log* will show
> exactly which instance of the *ci-garnet* image is used, but the latest image
> will do just fine.
```
Worker information
...
instance: travis-job-70cf1506-780a-445e-8f0d-da928d16ed65 travis-ci-garnet-trusty-1512502259-986baf0 (via amqp)
...
```
1. Start a Docker container detached with `/sbin/init`.
```
$ docker run --name travis-debug --cap-add=SYS_PTRACE --security-opt seccomp=unconfined -dit travisci/ci-garnet:packer-1515445631-7dfb2e1 /sbin/init
```
> The image is quite large (4 GB) and it will take some time to download.
2. Open a login shell in the running container.
```
$ docker exec -it travis-debug bash -l
```
3. Install all packages required to build Cyclone.
```
$ add-apt-repository ppa:ubuntu-toolchain-r/test
$ echo "deb http://apt.llvm.org/trusty/ llvm-toolchain-trusty-6.0 main" >> /etc/apt/sources.list.d/llvm-toolchain-6.0.list
$ wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add -
$ apt-get update
$ apt-get install gcc-8 g++-8 clang-6.0 bison
```
4. Switch to the *travis* user.
```
su - travis
```
5. Clone the git repository.
```
$ git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
```
6. Build the project and run the tests.
> By default CMake and Conan will choose *gcc*. To switch to *clang*, set the
> CC and CXX environment variables to clang and clang++ respectively.
```
$ export CC=gcc-8
$ export CXX=g++-8
$ cd cyclonedds
$ mkdir build
$ cmake -DBUILD_TESTING=on ../src
$ cmake --build .
$ ctest -T test
```
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/freertos.md 0000664 0000000 0000000 00000011111 14621624232 0023672 0 ustar 00root root 0000000 0000000 # FreeRTOS
[FreeRTOS][1] is real-time operating system kernel for embedded devices. Think
of it as a thread library rather than a general purpose operating system like
Linux or Microsoft Windows. Out-of-the-box, FreeRTOS provides support for
tasks (threads), mutexes, semaphores and software times. Third-party modules
are available to add features. e.g. [lwIP][2] can be used to add networking.
> FreeRTOS+lwIP is currently supported by Eclipse Cyclone DDS. Support for other
> network stacks, e.g. [FreeRTOS+TCP][3], may be added in the future.
> Eclipse Cyclone DDS does not make use of [FreeRTOS+POSIX][4] because it was
> not available at the time. Future versions of Eclipse Cyclone DDS may or may
> not require FreeRTOS+POSIX for compatibility when it becomes stable.
[1]: https://www.freertos.org/
[2]: https://savannah.nongnu.org/projects/lwip/
[3]: https://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_TCP/index.html
[4]: https://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_POSIX/index.html
## Target
FreeRTOS provides an operating system kernel. Batteries are not included. i.e.
no C library or device drivers. Third-party distributions, known as board
support packages (BSP), for various (hardware) platforms are available though.
Board support packages, apart from FreeRTOS, contain:
* C library. Often ships with the compiler toolchain, e.g.
[IAR Embedded Workbench][5] includes the DLIB runtime, but open source
libraries can also be used. e.g. The [Xilinx Software Development Kit][6]
includes newlib.
* Device drivers. Generally available from the hardware vendor, e.g. NXP or
Xilinx. Device drivers for extra components, like a real-time clock, must
also be included in the board support package.
[5]: https://www.iar.com/iar-embedded-workbench/
[6]: https://www.xilinx.com/products/design-tools/embedded-software/sdk.html
A board support package is linked with the application by the toolchain to
generate a binary that can be flashed to the target.
### Requirements
Eclipse Cyclone DDS requires certain compile-time options to be enabled in
FreeRTOS (`FreeRTOSConfig.h`) and lwIP (`lwipopts.h`) for correct operation.
The compiler will croak when a required compile-time option is not enabled.
Apart from the aforementioned compile-time options, the target and toolchain
must provide the following.
* Support for thread-local storage (TLS) from the compiler and linker.
* Berkeley socket API compatible socket interface.
* Real-time clock (RTC). A high-precision real-time clock is preferred, but
the monotonic clock can be combined with an offset obtained from e.g. the
network if the target lacks an actual real-time clock. A proper
`clock_gettime` implementation is required to retrieve the wall clock time.
### Thread-local storage
FreeRTOS tasks are not threads and compiler supported thread-local storage
(tls) might not work as desired/expected under FreeRTOS on embedded targets.
i.e. the address of a given variable defined with *__thread* may be the same
for different tasks.
The compiler generates code to retrieve a unique address per thread when it
encounters a variable defined with *__thread*. What code it generates depends
on the compiler and the target it generates the code for. e.g. `iccarm.exe`
that comes with IAR Embedded Workbench requires `__aeabi_read_tp` to be
implemented and `mb-gcc` that comes with the Xilinx SDK requires
`__tls_get_addr` to be implemented.
The implementation for each of these functions is more-or-less the same.
Generally speaking they require the number of bytes to allocate, call
`pvTaskGetThreadLocalStoragePointer` and return the address of the memory
block to the caller.
## Simulator
FreeRTOS ports for Windows and POSIX exist to test compatibility. How to
cross-compile Eclipse Cyclone DDS for the [FreeRTOS Windows Port][7] or
the unofficial [FreeRTOS POSIX Port][8] can be found in the msvc and
[posix](/ports/freertos-posix) port directories.
[7]: https://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
[8]: https://github.com/shlinym/FreeRTOS-Sim.git
## Known Limitations
Triggering the socket waitset is not (yet) implemented for FreeRTOS+lwIP. This
introduces issues in scenarios where it is required.
* Receive threads require a trigger to shutdown or a thread may block
indefinitely if no packet arrives from the network.
* Sockets are created dynamically if ManySocketsMode is used and a participant
is created, or TCP is used. A trigger is issued after the sockets are added
to the set if I/O multiplexing logic does not automatically wait for data
on the newly created sockets as well.
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/gen_C99_ops.md 0000664 0000000 0000000 00000021101 14621624232 0024117 0 ustar 00root root 0000000 0000000 # Generating C99 source file: ops structure
As part of the C99 source file, there is an array of uint32\_t specifying the
operation codes for (de)marshalling the data from and to the data structures
defined in the generated header file.
This sequence is generated by starting with the struct and output some
operation codes for each of the members of the struct, followed by a return
operation code.
## Basic types
For members with a basic type, at least two uint32\_t values are used. The
first specifies the operation and the second and following the operands.
The operation is specified by combining (with bit-or) flags. The flags
specify:
* The type of the member. For the basic type this specifies the size of
the type. For string and bounded string, separate flags are used.
* Whether the field is a key field
* Whether it is an array. If it is an extra operand will speficify the
total size of the array (by multiplying the sizes of the various dimensions).
* Whether the type is a sequence. (In case the elment type is a struct,
additional information will follow the operation and its operands,
as described below.)
In case of a bounded string, an extra operand will follow, to specify the
size (including its terminating null-character) of the bounded string.
The operand for a simple type makes such of 'offsetof', which returns
the offset of a field in a struct.
### Examples of nummeric fields
Given the IDL struct definition:
```C
struct M {
char ch;
short i;
unsigned long ul;
long long ll;
float f;
double d;
};
```
will need the following operation codes (using the predefinted macros):
```C
DDS_OP_ADR | DDS_OP_TYPE_1BY, offsetof (M, chr),
DDS_OP_ADR | DDS_OP_TYPE_2BY, offsetof (M, i),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (M, ul),
DDS_OP_ADR | DDS_OP_TYPE_8BY, offsetof (M, ll),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (M, f),
DDS_OP_ADR | DDS_OP_TYPE_8BY, offsetof (M, d),
DDS_OP_RTS,
```
The `DDS_OP_ADR` macro indicates that the operand will be an address.
The `DDS_OP_TYPE_1BY` to `DDS_OP_TYPE_8BY` specify the size of the
data type. Note that there is no difference between signed and unsigned
integer values. In case one of the fields is a key the ` | DDS_OP_FLAG_KEY`
will be added to the operator.
The `DDS_OP_RTS` is to indicate the end of the operation codes for the
structure.
### Examples of strings
Given the IDL struct definition:
```C
struct M {
string str;
string<4> str4;
};
```
will need the following operation codes:
```C
DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (M, str),
DDS_OP_ADR | DDS_OP_TYPE_BST, offsetof (M, str4), 5,
DDS_OP_RTS,
```
### Example of a sequence of a basic type
Given the IDL struct definition:
```C
struct M {
sequence longs;
sequence strings;
};
```
will need the following operation codes:
```C
DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_4BY, offsetof (M, longs),
DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_STR, offsetof (M, strings),
DDS_OP_RTS,
```
In this the `DDS_OP_SUBTYPE_` define that the element type of the sequence
as being `DDS_OP_TYPE_`.
### Example of an array of a basic type
Given the IDL struct definition:
```C
struct M {
long arr[4][5];
};
```
wil need the following operation codes:
```C
DDS_OP_ADR | DDS_OP_TYPE_ARR | DDS_OP_SUBTYPE_4BY, offsetof (M, arr), 20,
DDS_OP_RTS,
```
Note that 20 is the product of 4 and 5.
## Member that is a struct itself
When a member is a struct (both embedded and refered), the members of that
struct are also included, where in `offsetof` the selection of the nested
field is used. For example, `coord.x` when the member has the name `coord`
and uses a struct that has a member with name `x`.
## Sequence of struct or sequence
In case of a member that is a sequence of struct, the definition of the struct
also needs to be included. The operation codes need to include the size of
the struct and two addresses that specify where the operation codes of for
the structure start and where they end. The, so called, jsr address specifies
the offset from the start of the current operand to the start of the operation
codes for the structure. The, so called, jmp address specifies the offset
from the start of the current operand to the operation codes for the following
element. Both addresses are 16 bits and stored together in one 32 unsigned
long, such that the lower order 16 bits contain the jsr address and the
higher order the jmp address. The operation codes describing the struct
are terminated with a return operation (`DDS_OP_RTS`).
The case of a member is a sequence of sequence of a certain type, is handled
in the same way, where the definition of the sequences is included at the place
of the struct.
### Example of sequence of struct
Given the IDL struct definitions:
```C
struct coord_t{
long x, y;
unsigned long z;
};
struct M {
sequence coords;
};
```
will need the following operation codes:
```C
DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_STU, offsetof (M, coords),
sizeof (coord_t), (11u << 16u) + 4u,
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (coord_t, x),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (coord_t, y),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (coord_t, z),
DDS_OP_RTS,
DDS_OP_RTS,
```
In expression `(11u << 16u) + 4u` in the codes, the `11u` represents the
jmp address and the `4u` the jsr address.
Note that there are two `DDS_OP_RTS`. The last one is to indicate the
end of the IDL struct `M`. The first indicates the end of the IDL stuct
`coord_t`, which is used in the sequence.
## Union
The operation code of a union is followed by a number specifying the number
of cases. This is followed by a combination of jsr and jmp addresses. The
jsr address specifies the start of the cases. A case consists of a JEQ
operation with a type and an optional jump address. When a case exists of
a structure, the jump address specifies the offset (from the start of the
current case) of the struct definition (which is terminated with a return
operation).
### Example of a union with a struct
Given the IDL definitions:
```C
struct coord_t{
long x, y;
unsigned long z;
};
union u switch (short) {
case 0:
char ch;
case 1:
coord_t coord;
};
struct s{
u u_val;
};
```
will need the following operation codes:
```C
DDS_OP_ADR | DDS_OP_TYPE_UNI | DDS_OP_SUBTYPE_2BY, offsetof (s, u_val._d), 2u, (17u << 16) + 4u,
DDS_OP_JEQ | DDS_OP_TYPE_1BY | 0, 0, offsetof (s, u_val._u.ch),
DDS_OP_JEQ | DDS_OP_TYPE_STU | 3, 1, offsetof (s, u_val._u.coord),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (coord_t, x),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (coord_t, y),
DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (coord_t, z),
DDS_OP_RTS,
DDS_OP_RTS,
```
In thus `u_val` stands for C-struct that is used for defining the IDL-union,
where `u_val._d` represents the switch parameter and the `u_val._u` the
union. In this `2u` stands for the number of cases. For the union `3`
represents the jmp address to the operation code for the `coord_t`
struct.
## Recursive types
The current implementation does not support recursive types. With a recursive
type it is not possible to follow the above procedure because it will lead to
an infinite sequence of operation codes. The operation also contain a jump
subroutine operation, called JSR, that has a 16 bit signed integer value
as an offset to the location where the code starts. It is thus possible to
execute operation codes that have been defined before. There are two methods
for deciding when to use a jump subroutine operation:
1. Whenever a recursion is detected.
2. Whenever a description of a struct already has been generated.
The second method could lead to less operations, where the first method could
lead to slightly efficient execution. In practice, this probably won't make
much difference. The second method is slightly easier to implement: simple
maintain a map of structures to offsets (of the start of a struct description
from the start of the sequence).
### Example
Give the IDL defintion:
```C
struct x {
char ch;
sequence xs;
}
```
The following operation codes can be used:
```C
DDS_OP_ADR | DDS_OP_TYPE_1BY, offsetof (x, ch),
DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_STU, offsetof (x, xs),
sizeof (coord_t), (7u << 16u) + 4u,
DDS_OP_JSR, -6,
DDS_OP_RTS,
DDS_OP_RTS,
```
Here the `-6` specifies that operation codes for the structure of the
sequence, start 6 positions before the `DDS_OP_JSR` operation. The first
`DDS_OP_RTS` indicates the end of the sequence type.
# Implementation
During the generation of operation codes, the tree needs to be traversed
(at least) twice, because the values for the various jmp addresses need to be
calculated.
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/logging.md 0000664 0000000 0000000 00000021655 14621624232 0023505 0 ustar 00root root 0000000 0000000 # Logging and tracing in Cyclone DDS
A lot of effort has gone into providing as much useful information as possible
when a log message is written and a fair number of mechanisms were put in
place to be able to do so.
The difficulty with logging in Cyclone DDS is the fact that it is both used by
user applications and internal services alike. Both use-cases have different
needs with regard to logging. e.g. a service may just want to write all
information to a log file, whereas a user application may want to display the
message in a graphical user interface or reformat it and write it to stdout.
> This document does not concern itself with error handling, return codes,
> etc. Only logging and tracing are covered.
## Design
The logging and tracing api offered by Cyclone DDS is a merger of the reporting
functionality that existed in the various modules that Cyclone is made out of.
Why the API needed to change is documented in the section
[Issues with previous implementation].
The new and improved logging mechanism in Cyclone DDS allows the user to simply
register a callback function, as is customary for libraries, that matches the
signature `dds_log_write_fn_t`. The callback can be registered by passing it
to `dds_set_log_sink` or `dds_set_trace_sink`. The functions also allow for
registering a `void *` that will be passed along on every invocation of the
the callback. To unregister a log or trace sink, call the respective function
and pass NULL for the callback. This will cause Cyclone DDS to reinstate the
default handler. aka stdout, stderr, or the file specified in the configuration
file.
```C
typedef void(*dds_log_write_fn_t)(dds_log_data_t *, void *);
struct dds_log_data {
uint32_t priority;
const char *file;
uint32_t line;
const char *function;
const char *message;
};
typedef struct dds_log_data dds_log_data_t;
dds_return_t dds_set_log_sink(dds_log_write_fn_t *, const void *);
dds_return_t dds_set_trace_sink(dds_log_write_fn_t *, const void *);
```
> Cyclone DDS offers both a logging and a tracing callback to allow the user to
> easily send traces to a different device than the log messages. The trace
> function receives both the log messages and trace messages, while the log
> function will only receive the log messages.
> The user is responsible for managing resources himself. Cyclone DDS will not
> attempt to free *userdata* under any circumstance. The user should revert to
> the default handler, or register a different sink before invalidating the
> userdata pointer.
> The *dds_set_log_sink* and *dds_set_trace_sink* functions are synchronous.
> It is guaranteed that on return no thread in the Cyclone DDS stack will
> reference the sink or the *userdata*.
To minimize the amount of information that is outputted when tracing is
enabled, the user can enable/disable tracing per category. Actually the
priority member that is passed to the handler consists of the priority,
e.g. error, info, etc and (if it's a trace message) the category.
To be specific. The last four bits of the 32-bit integer contain the priority.
The other bits implicitly indicate it's a trace message and are reserved to
specify the category to which a message belongs.
```C
#define DDS_LC_FATAL 1u
#define DDS_LC_ERROR 2u
#define DDS_LC_WARNING 4u
#define DDS_LC_INFO 8u
#define DDS_LC_CONFIG 16u
...
```
> DDSI is the Cyclone DDS module that the log and trace mechanism originated
> from. For that reason not all categories make sense to use in API code and
> some categories that you would expect may be missing. For now the categories
> are a work-in-progress and may be changed without prior notice.
To control which messages are passed to the registered sinks, the user
must call `dds_set_log_mask` or `dds_set_trace_mask`. Whether or not to call
the internal log and trace functions depends on it. The user is strongly
discouraged to enable all categories and filter messages in the registered
handler, because of the performance impact!
> Tests have shown performance to decrease by roughly 5% if the decision on
> whether or not to write the message is done outside the function. The reason
> obviously not being the *if*-statement, but the creation of the stack frame.
For developer convenience, a couple of macro's are be introduced so the
developer does not have to write boilerplate code each time. The
implementation will roughly follow what is specified below.
```C
#define DDS_FATAL(fmt, ...)
#define DDS_ERROR(fmt, ...)
#define DDS_INFO(fmt, ...)
#define DDS_WARNING(fmt, ...)
#define DDS_TRACE(cat, fmt, ...)
```
> Log and trace messages are finalized by a newline. If a newline is not
> present, the buffer is not flushed. This is can be used to extend messages,
> e.g. to easily append summaries and decisions, and already used throughout
> the ddsi module. The newline is replaced by a null character when the
> message is passed to a sink.
### Default handlers and behavior
If the user does not register a sink, messages are printed to the default
location. Usually this means a cyclonedds.log file created in the working
directory, but the location can be changed in the configuration file. By
default only error and warning messages will be printed.
> As long as no file is open (or e.g. a syslog connection is established),
> messages are printed to stderr.
For convenience a number of log handlers will ship with Cyclone. Initially
the set will consist of a handler that prints to stdout/stderr and one that
prints to a file. However, at some point it would be nice to ship handlers
that can print to the native log api offered by a target. e.g.
* Windows Event Log on Microsoft Windows
* Syslog on Linux
* Unified Logging on macOS
* logMsg or the ED&R (Error Detection and Reporting) subsystem on VxWorks
> For now it is unclear what configuration options are available for all the
> default handlers or how the API to update them will look exactly.
## Log message guidelines
* Write concise reports.
* Do not leave out information, but also don't turn it into an essay.
e.g. a message for a failed write operation could include topic and
partition names to indicate the affected system scope.
* Write consistent reports.
* Use the name of the parameter as it appears in the documentation for that
language binding to reference a parameter where applicable.
* Use the same formatting style as other messages in the same module.
* e.g. use "could not ..." or "failed to ..." consistently.
* Avoid duplicate reports as much as possible.
e.g. if a problem is reported in a lower layer, do not report it again when
the error is propagated.
* Discuss with one of the team members if you must deviate from the
formatting rules/guidelines and update this page if applicable.
* Report only meaningful events.
## Issues with previous implementation
* Multiple files are opened. DDSI, by default, writes to cyclonedds-trace.log,
but also contains info, warning and error log messages written by DDSI
itself. All other modules write to cyclone-info.log and cyclone-error.log.
Options are available, but they're all over the place. Some are adjusted by
setting certain environment variables, others are configured by modifying the
configuration file. Not exactly what you'd call user friendly. Also, simply
writing a bunch of files from a library is not considered good practice.
* Cyclone only offers writing to a *FILE* handle. The filenames mentioned
above by default, but a combination of stdout/stderr can also be used. There
is no easy way to display them in a GUI or redirect them to a logging API.
e.g. syslog on Linux or the Windows Event Log on Microsoft Windows.
* The report stack is a cumbersome mechanism to use and (to a certain extend)
error prone. Every function (at least every function in the "public" APIs)
must start with a report stack instruction and end with a report flush
instruction.
* Cyclone assumes files can always be written. For a number of supported
targets, e.g. FreeRTOS and VxWorks, this is often not the case. Also,
filling the memory with log files is probably undesirable.
* Cyclone (except for DDSI) does not support log categories to selectively
enable/disable messages that the user is interested in. Causing trace logs
to contain (possibly) too much information.
* The report mechanism expects an error code, but it's unclear what "type" of
code it is. It can be a valid errno value, os_result, utility result, DDS
return code, etc. While the problem can be fixed by adding a module field to
the log message struct. The message is often generated in the layer above
the layer that the error originated from. Apart from that, the report
callback is not the place to handle errors gracefully. Return codes and
exceptions are the mechanism to do that.
* The logging API is different across modules. DDSI uses the nn_log macro
family, the abstraction layer uses the OS_REPORT family and DDS uses the
dds_report family. Apart from the macros used, the information that would
end up in the report callback is also different.
eclipse-cyclonedds-cyclonedds-2cdd114/docs/dev/modules.md 0000664 0000000 0000000 00000032742 14621624232 0023526 0 ustar 00root root 0000000 0000000 # Eclipse Cyclone DDS Module Layout
Cyclone DDS is made up of multiple modules, each of which provides a certain
set of functionality, either private, public or a combination thereof. Since
Cyclone DDS is a middleware product, the api is of course the most visible
interface. Cyclone DDS uses the *dds* (not followed by an underscore) prefix
to avoid name collisions with other code.
The fact that Cyclone DDS is made up of multiple modules is largely historic,
but does offer a neat way to separate features logically.
|-------------|
| | DDS is not a target, it is the product, the sum of the
| DDS | targets that together form Cyclone DDS. i.e. the stable
| | api prefixed with dds\_ and the libddsc.so library.
|---|---------|
| | | ddsc implements most of dds\_ api. A modern,
| | ddsc | user-friendly implementation of the DDS specification.
| | |
| |---------|
| | | ddsi, as the name suggests, is an implementation of the
| | ddsi | RTPS-DDSI specification.
| | |
| |---------|
| | ddsrt offers target agnostic implementations of
| ddsrt | functionality required by the ddsc and ddsi targets, but
| | also exports a subset of the dds\_ api directly. e.g.
|-------------| dds_time_t and functions to read the current time from
the target are implemented here.
> The need for a separate utility module (util) has disappeared with the
> restructuring of the runtime module. The two will be merged in the not too
> distant future.
All modules are exported separately, for convenience. e.g. the *ddsrt* module
offers target agnostic interfaces to create and manage threads and
synchronization primitives, retrieve resource usage, system time, etc.
However, all symbols not referenced by including *dds.h* or prefixed with
*dds_* are considered internal and there are no guarantees with regard to api
stability and backwards compatibility. That being said, they are not expected
to change frequently. Module specific headers are located in the respective
directory under `INSTALL_PREFIX/include/dds`.
## DDS Runtime (ddsrt)
The main purpose of the runtime module is to allow modules stacked on top of
it, e.g. ddsi and dds, to be target agnostic. Meaning that, it ensures that
features required by other modules can be used in the same way across supported
targets. The runtime module will NOT try to mimic or stub features that it can
simply cannot offer on a given target. For features that cannot be implemented
on all targets, a feature macro will be introduced that other modules can use
to test for availability. e.g. *DDSRT_HAVE_IPV6* can be used to determine if
the target supports IPv6 addresses.
### Feature discovery
Discovery of target features at compile time is largely dynamic. Various target
specific predefined macros determine if a feature is supported and which
implementation is built. This is on purpose, to avoid a target specific
include directory and an abundance of configuration header files and works
well for most use cases. Of course, there are exceptions where the preprocessor
requires some hints to make the right decision. e.g. when the lwIP TCP/IP
stack should be used as opposed to the native stack. The build system is
responsible for the availability of the proper macros at compile time.
Feature implementations are often tied directly to the operating system for
general purpose operating systems. This level of abstraction is not good
enough for embedded targets though. Whether a feature is available or not
depends on (a combination) of the following.
1. Operating system. e.g. Linux, Windows, FreeRTOS.
2. Compiler. e.g. GCC, Clang, MSVC, IAR.
3. Architecture. e.g. i386, amd64, ARM.
4. C library. e.g. glibc (GNU), dlib (IAR).
#### Atomic operations
Support for atomic operations is determined by the target architecture. Most
compilers (at least GCC, Clang, Microsoft Visual Studio and Solaris Studio)
offer atomic builtins, but if support is unavailable, fall back on the
target architecture specific implementation.
#### Network stack
General purpose operating systems like Microsoft Windows and Linux come with
a network stack, as does VxWorks. FreeRTOS, however, does not and requires a
separate TCP/IP stack, which is often part of the Board Support Package (BSP).
But separate stacks can be used on Microsoft Windows and Linux too. e.g. the
network stack in Tizen RT is based on lwIP, but the platform uses the Linux
kernel. Whether or not lwIP must be used cannot be determined automatically and
the build system must hint which implementation is to be used.
### Structure
The runtime module uses a very specific directory structure to allow for
feature-based implementations and sane fallback defaults.
#### Header files
The include directory must provide a header file per feature. e.g.
`dds/ddsrt/sync.h` is used for synchronisation primitives. If there are
only minor differences between targets, everything is contained within
that file. If not, as is the case with `dds/ddsrt/types.h`, a header file per
target is a better choice.
Private headers may also be required to share type definitions between target
implementations that do not need to be public. These are located in a feature
specific include directory with the sources.
ddsrt
|- include
| \- dds
| \- ddsrt
| |- atomics
| | |- arm.h
| | |- gcc.h
| | |- msvc.h
| | \- sun.h
| |- atomics.h
| |- time.h
| |- threads
| | |- posix.h
| | \- windows.h
| \- threads.h
|
\- src
\- threads
\- include
\- dds
\- ddsrt
\- threads_priv.h
> Which target specific header file is included is determined by the top-level
> header file, not the build system. However, which files are exported
> automatically is determined by the build system.
#### Source files
Source files are grouped per feature too, but here the build system determines
what is compiled and what is not. By default the build system looks for a
directory with the system name, e.g. windows or linux, but it is possible to
overwrite it from a feature test. This allows for a non-default target to be
used as would be the case with e.g. lwip for sockets. If a target-specific
implementation cannot be found, the build system will fall back to posix. All
files with a .c extension under the selected directory will be compiled. Code
that can be shared among targets can be put in a file named after the feature
with the .c extension. Of course if there is no target-specific code, or if
there are only minimal differences there is not need to create a feature
directory.
ddsrt
\- src
|- atomics.c
|- sockets
| |- posix
| | |- gethostname.c
| | \- sockets.c
| \- windows
| |- gethostname.c
| \- sockets.c
\- sockets.c
### Development guidelines
* Be pragmatic. Use ifdefs (only) where it makes sense. Do not ifdef if target
implementations are completely different. Add a separate implementation. If
there are only minor differences, as is typically the case between unices,
use an ifdef.
* Header and source files are not prefixed. Instead they reside in a directory
named after the module that serves as a namespace. e.g. the threads feature
interface is defined in `dds/ddsrt/threads.h`.
* Macros that influence which implementation is used, must be prefixed by
*DDSRT_USE_* followed by the feature name. e.g. *DDSRT_USE_LWIP* to indicate
the lwIP TCP/IP stack must be used. Macros that are defined at compile time
to indicate whether or not a certain feature is available, must be prefixed
by *DDSR_HAVE_* followed by the feature name. e.g. *DDSRT_HAVE_IPV6* to
indicate the target supports IPv6 addresses.
### Constructors and destructors
The runtime module (on some targets) requires initialization. For that reason,
`void ddsrt_init(void)` and `void ddsrt_fini(void)` are exported. They are
called automatically when the library is loaded if the target supports it, but
even if the target does not, the application should not need to invoke the
functions as they are called by `dds_init` and `dds_fini` respectively.
Of course, if the runtime module is used by itself, and the target does not
support constructors and/or destructors, the application is required to call
the functions before any of the features from the runtime module are used.
> `ddsrt_init` and `ddsrt_fini` are idempotent. Meaning that, it is safe to
> call `ddsrt_init` more than once. However, initialization is reference
> counted and the number of calls to `ddsrt_init` must match the number of
> calls to `ddsrt_fini`.
#### Threads
Threads require initialization and finalization if not created by the runtime
module. `void ddsrt_thread_init(void)` and `void ddsrt_thread_fini(void)` are
provided for that purpose. Initialization is always automatic, finalization is
automatic if the target supports it. Finalization is primarily used to release
thread-specific memory and call routines registered by
`ddsrt_thread_cleanup_push`.
## DDS Security
### Specification
DDS Security is an [OMG specification](https://www.omg.org/spec/DDS-SECURITY/1.1/PDF) which adds several “DDS Security Support”
compliance points to the DDS Specification.
The specification defines the Security Model and Service Plugin Interface (SPI)
architecture for compliant DDS implementations. The DDS Security Model is enforced
by the invocation of these SPIs by the DDS implementation.
Security Model for DDS defines the security principals (users of the system),
the objects that are being secured, and the operations on the objects that are
to be restricted.
SPIs are defined that when combined together provide Information Assurance to
DDS systems:
* Authentication Service Plugin. Provides the means to verify the identity of the
application and/or user that invokes operations on DDS. Includes facilities to
perform mutual authentication between participants and establish a shared secret.
* AccessControl Service Plugin. Provides the means to enforce policy decisions on
what DDS related operations an authenticated user can perform. For example, which
domains it can join, which Topics it can publish or subscribe to, etc.
* Cryptographic Service Plugin. Implements (or interfaces with libraries that
implement) all cryptographic operations including encryption, decryption,
* Logging Service Plugin. Supports auditing of all DDS security-relevant events
* Data Tagging Service Plugin. Provides a way to add tags to data samples.
### Cyclone DDS Security
Cyclone DDS Security implementation is composed of the following components/modifications:
* DDS Security plugin API
* DDS Security built-in plugins that implement the API
* DDS Security Core Library that is used by the plugins and DDSI.
* Changes in the DDSI that moderate the specified security model.
The dependency diagram:
DDSI ----> DDS Security API (headers only) <----- DDS Security Plugins
| ^ |
| | |
| | |
-------> DDS Security Core <------------------------
| | |
| | |
| | |
| v |
-------> DDS_RT <------------------------
All security specific contents are under src/security.
##### DDS Security API
The DDS Security plugin API consists of just a few header files. There are separate
header files for each plugin: dds_security_api_authentication.h dds_security_api_cryptography.h
and dds_security_api_access_control.c
The API functions and types are prepared from the IDL by adding DDS_Security_ namespace
prefix to functions and data types. Instead of extending DDS builtin topic data types,
separate DDS_Security_ data type is defined for the current type and the new secure data type.
##### Built-in Plugins
Cyclone DDS Security comes with three mandatory plugins: authentication, cryptography and access control.
###### Authentication Plugin
This plugin implements authentication using a trusted Certificate Authority (CA). It performs
mutual authentication between discovered participants using the RSA or ECDSA Digital Signature
Algorithms and establishes a shared secret using Diffie-Hellman (DH) or Elliptic Curve Diffie-Hellman
(ECDH) Key Agreement Methods.
###### Cryptography Plugin
This plugin provides authenticated encryption using Advanced Encryption Standard (AES) in
Galois Counter Mode (AES-GCM). It supports two AES key sizes: 128 bits and 256 bits. It may
also provide additional reader-specific message authentication codes (MACs) using Galois MAC (AES-GMAC).
###### Access Control Plugin
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