Contributing to Eclipse iceoryx

Thanks for your interest in this project.

Project description

In domains like automotive, robotics or gaming, a huge amount of data must be transferred between different parts of the system. If these parts are actually different processes on a POSIX based operating system like Linux, this huge amount of data has to be transferred via an inter-process-communication (IPC) mechanism. Find more infos on the Eclipse site.

Eclipse Contributor Agreement

Before your contribution can be accepted by the project team, contributors must electronically sign the Eclipse Contributor Agreement (ECA).

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.

Contact

Contact the project developers via the project's "dev" list.

iceoryx-dev@eclipse.org

Feature request and bugs

We love pull requests! The next sections try to cover most of the relevant questions. For larger contributions or architectural changes, we'd kindly ask you to either:

Raise the proposed changes during a developer meetup

or

Create a design document and raise it in a separate pull request beforehand

If you would like to report a bug or propose a new feature, please raise an issue before raising a pull request. Please have a quick search upfront if a similar issue already exists. An release board is used to prioritize the issues for a specific release. This makes it easier to track the work-in-progress. If you have troubles getting an issue assigned to you please contact the maintainers via Gitter.

Please make sure you have:

Signed the Eclipse Contributor Agreement
Created an issue before creating a branch, e.g. Super duper feature with issue number 123
All branches have the following naming format: iox-#[issue]-branch-name e.g. iox-#123-super-duper-feature
All commits have the following naming format: iox-#[issue] commit message e.g. iox-#123 implemented super-duper feature
All commits have been signed with git commit -s
You open your pull request towards the base branch master
Link the pull request to the according Github issue and set the label accordingly

NOTE: For support while developing you can use little helper scripts, see git-hooks.

Branching strategy

master

Main development branch
Open for external contributions

release_x.y

Branch for stablising a certain release
Write access limited to maintainers
Fine-tuning of external contribution e.g. running Axivion SCA
Finish any missing implementations regarding the quality levels

As depicted below, after the release branch has been created the stabilisation phase will begin. After finishing the release, a git tag will be created to point to HEAD of the release branch. Follow-up releases will be branched off from the git tag.

o---o---o---o---o  master
     \
      \      v1.0.0      v1.0.1
       \        |           |
        o---o---o---o---o---o---o  release_1.0
                         \
                          \      v1.1.0
                           \        |
                            o---o---o  release_1.1

Coding style

We love the C++ core guidelines. If in doubt please try to follow them as well as our unwritten conventions in the existing parts of the code base. Please format your code with the provided clang-format and clang-tidy before raising a pull request. Lots of IDEs do read the clang-format file these days.

We created some convenient rules to highlight some bits that you might not be used to in other FOSS projects. They are helpful to build embedded systems for safety fields like automotive or avionics. It is possible that not the whole codebase follows these rules, things are work in progress.

No heap is allowed, static memory management hugely decreases the complexity of your software (e.g. cxx::vector without heap)
No exceptions are allowed, all function and methods need to have noexcept in their signature
No undefined behavior, zero-cost abstract is not feasible in high safety environments
Use C++14
Rule of Five, if there is a non-default destructor needed, the rule of five has to be applied
STL, we aim to be compatible towards the STL, but our code may contain additions which are not compatible with the STL (e.g. iox::cxx::vector::emplace_back() does return a bool)
Always use iox::log::Logger, instead of printf()
Always use iox::ErrorHandler(), when an error occurs that cannot or shall not be propagated via an iox::cxx::expected, the iox::ErrorHandler() shall be used; exceptions are not allowed

See error-handling.md for additional information about logging and error handling.

Naming conventions

File names with lower_snake_case: my_thing.hpp
Structs, classes and enum classes in UpperCamelCase: class MyClass{}
Methods and variables in lowerCamelCase: uint16_t myVariable
Compile time constants, also enum values in UPPER_SNAKE_CASE: static constexpr uint16_t MY_CONSTANT
Class members start with m_: m_myMember
- Public members of structs and classes do not have the m_ prefix
Namespaces in lower_snake_case : my_namespace
Aliases have a _t postfix : using FooString_t = iox::cxx::string<100>;

Doxygen

Please use doxygen to document your code.

The following doxygen comments are required for public API headers:

    /// @brief short description
    /// @param[in] / [out] / [in,out] name description
    /// @return description

A good example for code formatting and doxygen structure is at swe_docu_guidelines.md (WIP)

Folder structure

The folder structure boils down to:

iceoryx_COMPONENT
- cmake: All cmakes files go here, needed for find_pkg()
- doc: Manuals and documentation
- include: public headers with stable API
  - internal: public headers with unstable API, which might change quite frequently
- source: implementation files
- test: unit and integration tests
- CMakeLists.txt: Build the component separately
examples_iceoryx: Examples described in iceoryx_examples

All new code should follow the folder structure.

How to add a new example

Add the example in the "List of all examples"
Create a new file in doc/website/getting-started/examples/foobar.md. This file shall only set the title and include the readme from ./iceoryx_examples/foobar/README.md
Add an add_subdirectory directive into iceoryx_meta/CMakeLists.txt in the if(EXAMPLES) section.
Consider using geoffrey for syncing code in code blocks with the respective source files
Add integration test for example
Record an asciicast and embed image link

Testing

We use Google test for our unit and integration tests. We require compatibility with the version 1.8.1.

Have a look at our best practice guidelines for writing tests and installation guide for contributors for building them.

Unit tests (aka module tests)

Unit tests are black box tests that test the public interface of a class. They are required for all new code.

Integration tests

Integration tests are composition of more than one class and test their interaction. They are optional for new code.

Coverage Scan

To ensure that the provided testcode covers the productive code you can do a coverage scan with gcov. The reporting is done with lcov and htmlgen. You will need to install the following packages:

sudo apt install lcov

In iceoryx we have multiple testlevels for testcoverage: 'unit', 'integration', 'component' and ’all’ for all testlevels together. You can create reports for these different testlevels or for all tests. Coverage is done with gcc. The coverage scan applies to Quality level 3 and partly level 2 with branch coverage.

For having a coverage report iceoryx needs to be compiled with coverage flags and the tests needs to be executed. You can do this with one command in iceroyx folder like this:

./tools/iceoryx_build_test.sh clean build-all -c <testlevel>

Optionally you can use build-all option to get coverage for extensions like DDS or C-Binding. The -c flag indicates that you want to have a coverage report and you can pass there the needed testlevel. Per default the testlevel is set to 'all'. example:

./tools/iceoryx_build_test.sh debug build-all -c unit

NOTE Iceoryx needs to be built as static library for working with gcov flags. The script does it automatically.

The flag -c unit is for having only reports for unit-tests. In the script tools/gcov/lcov_generate.sh is the initial scan, filtering and report generation automatically done.

All reports are stored locally in build/lcov as html report (index.html). In Github, we are using codecov for a general reporting of the code coverage. Codecov gives a brief overview of the code coverage and also indicates in Pull-Requests if newly added code is not covered by tests. If you want to download the detailed html reports from the Pull-Requests or master build you can do it by the following way:

Open the "Checks" view in the PR
Open the "Details" link for the check iceoryx-coverage-doxygen-ubuntu in Test Coverage + Doxygen Documentation
On the right side you find a menu button Artifacts which shows lcov-report as download link

Legal & Compliance

Safety & security

The iceoryx maintainers aim for ASIL-D compliance. The ISO26262 is also a good read-up if you want to learn more about automotive safety. A nice introduction video was presented on CppCon 2019.

If you want to report a vulnerability, please use the Eclipse process.

Static code analysis

The iceoryx maintainers have a partnership with Axivion and use their Axivion Suite to run a static-code analysis.

Github labels are used to group issues into the rulesets:

Ruleset name	Github issue label	Priority
Adaptive AUTOSAR C++14	AUTOSAR	⭐⭐⭐
SEI CERT C++ 2016 Coding Standard	CERT	⭐⭐
MISRA C++ 2008	MISRA	⭐

The enabled rules can be found here. It is possible that not the whole codebase follows these rules, things are work in progress. But this is where we want to go.

If one of the rules is not followed, a rationale is added in the following manner:

With a comment in the same line:

    *mynullptr = foo; // PRQA S 4242 # Short description why

With a comment one line above (with the number after the warning number, next ’n’ lines are inclusive)

    // PRQA S 4242 1 # Short description why
    *mynullptr = foo;

Scan results of the master branch are available on a Axivion dashboard. Please contact one of the maintainers, if you're interested in getting access.

Don't be afraid if you don't have Axivion available. As we want to make it easy for developers to contribute, please raise a pull request and one of the maintainers will provided you access to the dashboard.

As an alternative it is also possible to use Perforce's Helix QAC++ 2019.2 to perform a static-code analysis.

Header

Each source file needs to have this header:

    // Copyright (c) [YEAR OF INITIAL CONTRIBUTION] - [YEAR LAST CONTRIBUTION] by [CONTRIBUTOR]. All rights reserved.
    //
    // Licensed under the Apache License, Version 2.0 (the "License");
    // you may not use this file except in compliance with the License.
    // You may obtain a copy of the License at
    //
    //     http://www.apache.org/licenses/LICENSE-2.0
    //
    // Unless required by applicable law or agreed to in writing, software
    // distributed under the License is distributed on an "AS IS" BASIS,
    // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    // See the License for the specific language governing permissions and
    // limitations under the License.
    //
    // SPDX-License-Identifier: Apache-2.0

Note: The date is either a year or a range of years with the first and last years of the range separated by a dash. For example: "2004" (initial and last contribution in the same year) or "2000 - 2004". The first year is when the contents of the file were first created and the last year is when the contents were last modified. The years of contribution should be ordered in chronological order, thus the last date in the list should be the year of the most recent contribution. If there is a gap between contributions of one or more calendar years, use a comma to separate the disconnected contribution periods (e.g. "2000 - 2004, 2006").

Example:

    // Copyright (c) 2019 - 2020, 2022 by Acme Corporation. All rights reserved.
    // Copyright (c) 2020 - 2022 by Jane Doe <jane@example.com>. All rights reserved.
    //
    // Licensed under the Apache License, Version 2.0 (the "License");
    // you may not use this file except in compliance with the License.
    // You may obtain a copy of the License at
    //
    //     http://www.apache.org/licenses/LICENSE-2.0
    //
    // Unless required by applicable law or agreed to in writing, software
    // distributed under the License is distributed on an "AS IS" BASIS,
    // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    // See the License for the specific language governing permissions and
    // limitations under the License.
    //
    // SPDX-License-Identifier: Apache-2.0

NOTE: For scripts or CMake files you can use the respective comment syntax like # for the header.

Quality levels

The CMake targets are developed according to the ROS quality levels. Despite developing some of the targets according to automotive standards like ISO26262, the code base standalone does NOT legitimize the usage in a safety-critical system. All requirements of a lower quality level are included in higher quality levels e.g. quality level 4 is included in quality level 3.

Quality level 5

This quality level is the default quality level. It is meant for examples and helper tools.

Derived from ROS quality level 5
- Reviewed by two approver
- No compiler warnings
- License and copyright statement available
- No version policy required
- No unit tests required

Quality level 4

Derived from ROS quality level 4
- Basic unit tests are required
- Builds and runs on Windows, MacOS, Linux and QNX

Quality level 3

Derived from ROS quality level 3
- Doxygen and documentation required
- Test specification required
- Version policy required

Quality level 2

This quality level is meant for all targets that need tier 1 support in ROS 2.

Derived from ROS quality level 2
- Must have a quality declaration document

Quality level 1

Derived from ROS quality level 1
- Version policy for stable API and ABI required
- ASPICE SWE.6 tests available
- Performance tests and regression policy required
- Static code analysis warnings in Axivion addressed
- Enforcing the code style is required
- Unit tests have full statement and branch coverage

Quality level 1+

This quality level goes beyond the ROS quality levels and contains extensions.

Code coverage according to MC/DC available

Training material recommended for contributors

Effective C++ by Scott Meyers
Unit Testing and the Arrange, Act and Assert (AAA) Pattern by Paulo Gomes
The C++ Standard Library by Nicolai M. Josuttis
Modern C++ Programming with Test-Driven Development: Code Better, Sleep Better by Jeff Langr
Modern C++ Design: Generic Programming and Design Patterns by Andrei Alexandrescu
Exceptional C++ by Herb Sutter
C++ Concurrency in Action by Anthony Williams

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CONTRIBUTING.md

CONTRIBUTING.md

Contributing to Eclipse iceoryx

Project description

Eclipse Contributor Agreement

Contact

Feature request and bugs

Branching strategy

Coding style

Naming conventions

Doxygen

Folder structure

How to add a new example

Testing

Unit tests (aka module tests)

Integration tests

Coverage Scan

Legal & Compliance

Safety & security

Static code analysis

Header

Quality levels

Quality level 5

Quality level 4

Quality level 3

Quality level 2

Quality level 1

Quality level 1+

Training material recommended for contributors

Files

CONTRIBUTING.md

Latest commit

History

CONTRIBUTING.md

File metadata and controls

Contributing to Eclipse iceoryx

Project description

Eclipse Contributor Agreement

Contact

Feature request and bugs

Branching strategy

Coding style

Naming conventions

Doxygen

Folder structure

How to add a new example

Testing

Unit tests (aka module tests)

Integration tests

Coverage Scan

Legal & Compliance

Safety & security

Static code analysis

Header

Quality levels

Quality level 5

Quality level 4

Quality level 3

Quality level 2

Quality level 1

Quality level 1+

Training material recommended for contributors