v0.5.0

Full Changelog

Features

• C++ bindings for attributes #264
• Add Event-Multiplexer WaitSet #390
• Add PeriodicTimer into POSIX building blocks #425
• Developer permissions for resources #460
• Add --send-copy flag to Benchmark to consider mem operations #483
• Support for slices in the C++ bindings #490
• Add API to retrieve string description of error enums $491
• Add relocatable SlotMap #504
• Add ResizableSharedMemory #497
• Make signal handling optional in WaitSet and Node #528
• Support dynamic data with reallocation for publish-subscribe communication #532
• Add benchmark for iceoryx2 queues #535
• Add auto event mission for create, drop and dead notifiers #550
• Introduce health monitoring example #555
• Reuse existing cargo build with C and C++ bindings #559

Bugfixes

• Split SignalHandler signals to avoid infinite loops on SIGSEGV
  #436
• Fix misleading warning related to default config file
  #437
• Fix infinite loop triggering in WaitSet
  #518
• Fix cmake build with iceoryx2 as submodule
  #521

Refactoring

• Rename NodeEvent into WaitEvent #390
• Bazel support for the Rust crates #349
• Remove ACL dependency #457
• Remove max_slice_len publisher builder option for non-slice types #496
• Publish Subscribe Header contains number of elements contained in a Sample #498

New API features

• APIs to support slices in the C/C++ bindings #490
• Rename iox2_publisher_loan to iox2_publisher_loan_slice_uninit #490
  1. C always loans slices, for a single element, specify the
     number_of_elements to be 1
• Add APIs to C/C++ bindings to get string representation of error enum #491
  1. C API: iox2_{error_enum_name}_string(enum_value)
  2. C++ API: iox::into<const char*>(enum_value)
• APIs to retrieve the value of UniquePortIds from the C/C++ bindings #500

API Breaking Changes

1. Removed NodeEvent. Node::wait returns now Result<(), NodeWaitFailure>

   // old
   while node.wait(CYCLE_TIME) != NodeEvent::TerminationRequest {
    // ...
   }
   
   // new
   while node.wait(CYCLE_TIME).is_ok() {
    // ...
   }

2. Removed payload_type_layout() from publish_subscribe::Header.

3. Renamed max_slice_len() into initial_max_slice_len().

   // old
   let publisher = service
        .publisher_builder()
        .max_slice_len(16)
        .create()?;
   
   // new
   let publisher = service
        .publisher_builder()
        .initial_max_slice_len(16)
        .create()?;

v0.4.1

Full Changelog

Bugfixes

• Fix bug preventing iox2 from being executed from any location #409

Thanks To All Contributors Of This Version

• »orecham«

v0.4.0

Full Changelog

Features

• Subscriber buffer size can be reduced #19

• Nodes cleanup all resources of dead nodes on creation and destruction #96

• CLI for iox2 #98

  • Add iox2 CLI
  • Add iox2-service CLI
  • Add iox2-node CLI

• Introduce Nodes #102

  • Implement Serialize,Deserialize for
    • SemanticString
    • UniqueSystemId

• Nodes register in service to enable monitoring #103

• Multiple features from #195

  • Introduce payload_alignment in publish_subscribe builder to increase
    alignment of payload for all service samples
  • Introduce support for slice-types with dynamic sizes.
  • Introduce max_slice_len in the publisher builder to set support dynamic
    sized types (slices).

  use iceoryx2::prelude::*;
  
  fn main() -> Result<(), Box<dyn std::error::Error>> {
      let node = NodeBuilder::new().create::<ipc::Service>()?;
      let service = node.service_builder("My/Funk/ServiceName".try_into()?)
          .publish_subscribe::<[usize]>()
          // set a custom alignment of 512, interesting for SIMD-operations
          .payload_alignment(Alignment::new(512).unwrap())
          .open_or_create()?;
  
      let publisher = service
          .publisher()
          // defines the maximum length of a slice
          // can be set whenever a publisher is created to handle dynamic sized types
          .max_slice_len(128)
          .create()?;
  
      // loan some initialized memory and send it
      // the payload type must implement the [`core::default::Default`] trait in order to be able to use this API
      // we acquire a slice of length 12
      let mut sample = publisher.loan_slice(12)?;
      sample.payload_mut()[5] = 1337;
      sample.send()?;
  }

• 32-bit support #200

  • Introduce IoxAtomic that supports up to 128bit atomics on 32-bit
    architecture with a ReadWriteLock
  • add CI targets to officially support 32-bit

• Example that demonstrates publish-subscribe communication with dynamic data #205

• Introduce PlacementNew trait and derive proc-macro #224

• Custom service properties support, see example #231

  • Implement Serialize,Deserialize for
    • FixedSizeByteString
    • FixedSizeVec

• TryInto implemented for {Node|Service}Name #243

• Add custom user header #253

• Build the C and C++ language bindings with bazel #329

• Add Subscriber::has_samples #335

• Example that demonstrates iceoryx2 domains #370

• Add colcon package for iceoryx2 with C/C++ bindings #381

• Lock-free atomics on 32-bit architectures #401

Bugfixes

• Build failure for Windows 11 i686-pc-windows-msvc #235
• 'win32call' needs to provide the last error #241
• Mem-leak in iceoryx2-bb-posix::Directory::contents() and skip empty file names #287
• Log macros do no longer return values #292
• Fix cross-compilation issue with scandir.c #318
• Fix sample loss when publisher disconnected before subscriber called receive #337
• Service-creation-timeout is considered also for the data segment and zero copy connection #361

Refactoring

• Kebab case for config file #90
• open, open_or_create and create are untyped in pubsub-builder #195
• use ClockMode::Performance instead of ClockMode::Safety in default deployment #207
• Updated all dependencies and increased MSRV to 1.75 #221
• Remove Service::does_exist_with_custom_config and Service::list_with_custom_config #238
• Renamed PortFactory::{publisher|subscriber|listener|notifier} to PortFactory::{publisher|subscriber|listener|notifier}_builder #244
• Merged Iox2::wait with new Node and removed Iox2 #270
• Renamed zero_copy::Service and process_local::Service into ipc::Service and local::Service #323
• Introduce SampleMutUninit<Payload> without send functionality as replacement for SampleMut<MaybeUninit<Payload>> #394

Workflow

• Extended CLI parameters for benchmarks #360
• Default log-level is set from LogLevel::Trace to LogLevel::Info #392

API Breaking Changes

1. Services are created via the Node, service_builder take ServiceName by
   value

   // old
   let service = zero_copy::Service::new(&service_name)
       .event()
       .create()?;
   
   // new
   let node = NodeBuilder::new().create::<ipc::Service>()?;
   let service = node.service_builder(service_name) // service_name is moved into builder
       .event()
       .create()?;

2. Custom configurations are added to the Node. Methods
   {event|publish_subscribe}_with_custom_config are removed

   // old
   let service = zero_copy::Service::new(&service_name)
       .publish_subscribe_with_custom_config::<u64>(&custom_config)
       .open_or_create()?;
   
   // new
   let node = NodeBuilder::new()
                   .config(&custom_config)
                   .create::<ipc::Service>()?;
   
   let service = node.service_builder(service_name)
       .publish_subscribe::<u64>()
       .open_or_create()?;

3. open, open_or_create and create are untyped for publish-subscribe
   services

   // old
   let service = zero_copy::Service::new(&service_name)
       .publish_subscribe()
       .create::<u64>()?; // or open::<u64>(), or open_or_create::<u64>()
   
   // new
   let node = NodeBuilder::new().create::<ipc::Service>()?;
   let service = node.service_builder(service_name)
       .publish_subscribe::<u64>() // type is now up here
       .create()?; // or open(), or open_or_create()

4. service_name was renamed into name for consistency reasons.

   let services = ipc::Service::list()?;
   
   for service in services {
       // old
       let name = service.service_name();
   
       // new
       let name = service.name();
   }

5. Directory entries in Config converted to type Path

   let mut config = Config::default();
   
   // old
   config.global.service.directory = "Some/Directory".into();
   
   // new
   config.global.service.directory = "Some/Directory".try_into()?;

6. Suffix/prefix entries in Config converted to type FileName

   let mut config = Config::default();
   
   // old
   config.global.prefix = "iox2_".into();
   
   // new
   config.global.prefix = "iox2_".try_into()?;

7. Service::list_with_custom_config was removed.

   // old
   let services = zero_copy::Service::list()?;
   let services = zero_copy::Service::list_with_custom_config(Config::global_config())?;
   
   // new
   let services = ipc::Service::list(Config::global_config())?;

8. Service::does_exist_with_custom_config was removed.

   // old
   let services = zero_copy::Service::does_exist(service_name)?;
   let services = zero_copy::Service::does_exist_with_custom_config(service_name, Config::global_config())?;
   
   // new
   let services = ipc::Service::does_exist(service_name, Config::global_config())?;

9. Creating pub-sub ports with service.{publisher|subscriber}_builder().

   // old
   let publisher = service.publisher().create()?;
   let subscriber = service.subscriber().create()?;
   
   // new
   let publisher = service.publisher_builder().create()?;
   let subscriber = service.subscriber_builder().create()?;

10. Creating event ports with service.{listener|notifier}_builder().

    // old
    let listener = service.listener().create()?;
    let notifier = service.notifier().create()?;
    
    // new
    let listener = service.listener_builder().create()?;
    let notifier = service.notifier_builder().create()?;

11. The keys ...

v0.3.0

Full Changelog

Features

• Add docker example #83
• Introduce iceoryx2-bb-posix::process_state for process monitoring #96
• Introduce concept iceoryx2-cal::monitoring #96
• New constructs from #123
  • Introduce semantic string iceoryx2-bb-system-types::base64url
  • Introduce iceoryx2-cal::hash::HashValue that contains the result of a hash
• Port UsedChunkList from iceoryx1 #129
• From #133
  • Add Notifier|Listener|Publisher|Subscriber::id() method to acquire unique port id
  • Add Sample::origin() to determine the UniquePublisherId of the sender
• Performance improvements, especially for AMD CPUs #136
• Introduce lock-free mpmc BitSet #139
• Refactor Event API #175
  • Add event_id_max_value() setting to Event service builder
  • Add defaults.event.event_id_max_value to config file (iceoryx2.toml)
  • Add Listener::{try|timed|blocking}_wait_all to grab a batch of EventIds to avoid infinite busy loop
• Example for complex data types #175

Bugfixes

• Fix undefined behavior in spsc::{queue|index_queue} #87
• Fix open_or_create race #108
• Fixes for #116
  • Fix retrieve channel overflow caused by big publisher loans
  • Fix CreationMode::OpenOrCreate in iceoryx2-bb-posix::SharedMemory
  • Add missing memory synchronization to posix shm zero copy connection
  • Remove retrieve buffer full check from zero copy connection - sender had insufficient infos available
  • Fix data race in iceoryx2-bb-lock-free::mpmc::Container
• Fix insufficient memory reordering protection in spsc::Queue::push and spsc::Queue::pop #119
• Fix data race due to operation reordering in spmc::UnrestrictedAtomic::load #125
• Fix broken Publisher|Subscriber::populate_{subscriber|publisher}_channels() #129
• Fix failing reacquire of delivered samples in the zero copy receive channel #130
• Fix receiving of invalid samples when subscriber is connected #131
• Fix problem where sample is released to the wrong publisher #133
• Fix event notifier deadlock with reconnecting listeners #139
• Fixes for FreeBSD 14.0 #140
  • Fix segfault in iceoryx2-pal-posix;:shm_list() caused by sysctl
  • Adjust test to handle unordered event notifications
• Fix non UTF-8 windows platform error messages #145
• Correct inconsistent default config entries for windows #149
• Fix that drop is not called when DynamicStorage is destroyed #160
• Fix race in UniqueSystemId that leads to non-unique unique ids #181

Refactoring

• Replace iceoryx2::service::Service with iceoryx2::service::Details #100
• Remove 'config lifetime from all structs #100
• Remove UniqueIndex returning method from iceoryx2-bb-lock-free::mpmc::Container, cannot be implemented correctly in our context #116
• All iceoryx2-cal::shared_memory implementations use a DynamicStorage concept as base #153
• Hardening DynamicStorage, storages with distinct types cannot be opened #160
• IpcCapable handles explicity destroy underlying object in drop, instead of ref counting #162

New API features

• Add FixedSizeByteString::from_bytes_truncated #56
• Add Deref, DerefMut, Clone, Eq, PartialEq and extend_from_slice to (FixedSize)Vec #58
• MessagingPattern implements Display #64
• Introduce traits for all ports (Listen, Notify, Publish, DefaultLoan, UninitLoan, Subscribe)
  and for samples (PayloadMut, Payload) #69
• Implement Ord and PartialOrd for FixedSizeByteString and ServiceName #110
• Remove publish_subscribe::Header::time_stamp() due to ordering and performance problems #136

API Breaking Changes

1. Use SampleMut::send() instead of Publisher::send()

   // old
   let publisher = service.publisher().create()?;
   let sample = publisher.loan()?;
   // set sample value
   publisher.send(sample)?;
   
   // new
   let publisher = service.publisher().create()?;
   let sample = publisher.loan()?;
   // set sample value
   sample.send()?;

2. All port Publisher, Subscriber, Listener and Notifier no longer have a generic
   'config lifetime parameter.

   // old
   let publisher: Publisher<'service, 'config, iceoryx2::service::zero_copy::Service::Type<'config>, MessageType> = ..;
   let subscriber: Subscriber<'service, 'config, iceoryx2::service::zero_copy::Service::Type<'config>, MessageType> = ..;
   let notifier: Notifier<'service, 'config, iceoryx2::service::zero_copy::Service::Type<'config>> = ..;
   let listener: Listener<'service, 'config, iceoryx2::service::zero_copy::Service::Type<'config>> = ..;
   
   // new
   let publisher: Publisher<'service, iceoryx2::service::zero_copy::Service, MessageType> = ..;
   let subscriber: Subscriber<'service, iceoryx2::service::zero_copy::Service, MessageType> = ..;
   let notifier: Notifier<'service, iceoryx2::service::zero_copy::Service> = ..;
   let listener: Listener<'service, iceoryx2::service::zero_copy::Service> = ..;

3. iceoryx2::service::Details no longer has a generic 'config lifetime parameter.
   iceoryx2::service::Details replaced iceoryx2::service::Service. All custom services need
   to implement iceoryx2::service::Service.

   // old
   pub struct MyCustomServiceType<'config> {
       state: ServiceState<'config, static_storage::whatever::Storage, dynamic_storage::whatever::Storage<WhateverConfig>>
   }
   
   impl<'config> crate::service::Service for MyCustomServiceType<'config> {
       // ...
   }
   
   impl<'config> crate::service::Details for MyCustomServiceType<'config> {
       // ...
   }
   
   // new
   pub struct MyCustomServiceType {
       state: ServiceState<static_storage::whatever::Storage, dynamic_storage::whatever::Storage<WhateverConfig>>
   }
   
   impl crate::service::Service for MyCustomServiceType {
       // ...
   }

4. Writing functions with generic service parameter no longer require Service + Details<'config>.
   Now it suffices to just use Service

   // old
   fn my_generic_service_function<'config, ServiceType: iceoryx2::service::Service + iceoryx2::service::Details<'config>>();
   
   // new
   fn my_generic_service_function<ServiceType: iceoryx2::service::Service>();

5. Do not use Header::time_stamp(), when required make it part of the payload
   type. Be aware, this can be expensive and can lead to a significantly increased latency!

   // old
   let subscriber = service.subscriber().create()?;
   println!("sample timestamp: {:?}", sample.unwrap().header().time_stamp());
   
   // new
   use iceoryx2_bb_posix::clock::{Time, TimeBuilder};
   
   #[derive(Debug)]
   #[repr(C)]
   pub struct TimeStamp {
       seconds: u64,
       nanoseconds: u32,
   }
   
   impl TimeStamp {
       pub fn new() -> Self {
           let now = Time::now().unwrap();
           Self {
               seconds: now.seconds(),
               nanoseconds: now.nanoseconds(),
           }
       }
   }
   
   pub struct MyMessageType {
       payload: u64,
       time_stamp: TimeStamp
   }
   
   // sender side
   let publisher = service....

v0.2.2

Full Changelog

Bugfixes

• Fix clock_nanosleep on macOS #80
• Fix broken sighandler_t translation #81

Refactoring

• Use only one config file for every platform #15

Thanks To All Contributors Of This Version

• Christian »elfenpiff« Eltzschig
• Mathias »elBoberido« Kraus

v0.2.1

Full Changelog

Features

• MacOS Platform support #51
• Services with the same name for different messaging patterns are supported #16

Bugfixes

• Fix undefined behavior in FixedSizeByteString::new_unchecked #61
• Fix suffix of static config #66
• Interpret non-existing service directory as no existing services #63

Refactoring

• Rename char in platform to c_char #54
• Set reasonable rust min version to 1.70 and verify it with additional CI targets #72

Workflow

• add cargo audit for security vulnerability checking in dependencies #48

New API features

• Add FixedSizeByteString::from_bytes_truncated #56
• Add Deref, DerefMut, Clone, Eq, PartialEq and extend_from_slice to (FixedSize)Vec #58
• MessagingPattern implements Display #64

Thanks To All Contributors Of This Version

• Christian »elfenpiff« Eltzschig
• Mathias »elBoberido« Kraus
• »Shock-1«
• »hydroid7«

v0.1.1

• introduce acl feature in low level posix building block to make acl support optional

v0.1.0

Merge pull request #38 from elfenpiff/iox2-2-prepare-for-announcement

[#2] Set version to 0.1.0