Expose seqnum via sampleinfo

.azure/templates/build-test.yml

@@ -18,7 +18,15 @@ steps:
   - task: UsePythonVersion@0
     inputs:
       versionSpec: '3.8'
+    condition: eq(variables['Agent.OS'], 'Windows_NT')
     name: install_python
+  - bash: |
+      # Asan in llvm 14 provided in ubuntu 22.04 is incompatible with
+      # high-entropy ASLR in much newer kernels that GitHub runners are
+      # using leading to random crashes: https://reviews.llvm.org/D148280
+      sudo sysctl vm.mmap_rnd_bits=28
+    condition: eq(variables['Agent.OS'], 'Linux')
+    name: fix_kernel_mmap_rnd_bits
   # Set defaults from steps to share them among pipelines
   - bash: |
       [[ -n "${ARCH}" ]] || \
@@ -39,6 +47,13 @@ steps:
       echo "###vso[task.setvariable variable=pip_cache;]${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"
+      # If preferred compiler version is not available, try updating homebrew and installing it
+      if which "$CC" ; then \
+        echo "$CC" is already available ; \
+      else \
+        brew update ; \
+        brew install "`echo "$CC" | sed -e 's/-/@/'`" ; \
+      fi
     condition: eq(variables['Agent.OS'], 'Darwin')
     name: setup_macos
   # Use PowerShell rather than Bash to ensure Windows-style paths

CMakeLists.txt

@@ -134,6 +134,10 @@ elseif("${CMAKE_C_COMPILER_ID}" STREQUAL "GNU")
   if(${WERROR})
     add_compile_options(-Werror)
     add_link_options(-Werror)
+    if(CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 13.0 AND CMAKE_C_COMPILER_VERSION VERSION_LESS 13.2)
+      add_compile_options(-Wno-error=stringop-overflow -Wno-error=array-bounds)
+      add_link_options(-Wno-error=stringop-overflow -Wno-error=array-bounds)
+    endif()
   endif()
   if("${CMAKE_GENERATOR}" STREQUAL "Ninja")
     add_compile_options(-fdiagnostics-color=always)
@@ -242,6 +246,10 @@ set(MEMORYCHECK_COMMAND_OPTIONS "--track-origins=yes --leak-check=full --trace-c
 # library so we can actually build the tests.
 option(BUILD_TESTING "Build the testing tree." OFF)
 
+# For special-purpose builds it can be useful to export all symbols from the library,
+# like we do when building the tests.
+option(EXPORT_ALL_SYMBOLS "Export all symbols from the library." OFF)
+
 # Include the xtests 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.
@@ -339,6 +347,10 @@ install(
   DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
   COMPONENT dev
 )
+install(
+  FILES "${CycloneDDS_SOURCE_DIR}/cmake/Modules/Generate.cmake"
+  DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}/idlc"
+  COMPONENT dev)
 
 # Generated file paths
 # although the following files are generated, they are checked into source

PackageConfig.cmake.in

@@ -12,6 +12,4 @@
 @PACKAGE_INIT@
 
 include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")
-if(TARGET CycloneDDS::idlc)
-  include("${CMAKE_CURRENT_LIST_DIR}/idlc/Generate.cmake")
-endif()
+include("${CMAKE_CURRENT_LIST_DIR}/idlc/Generate.cmake")

README.md

@@ -114,7 +114,7 @@ In order to build Cyclone DDS you need a Linux, Mac or Windows 10 machine (or, w
   * 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 [OpenSSL](https://www.openssl.org/), we recommend a fully patched and supported version but 1.1.1 will still work;
   * 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.
 
@@ -148,6 +148,7 @@ There are some configuration options specified using CMake defines in addition t
 * `-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)
 * `-DBUILD_IDLC_XTESTS=NO`: Include a set of tests for the IDL compiler that use the 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 (not supported on Windows)
+* `-DENABLE_QOS_PROVIDER=NO`: to disable support for qos provider
 
 ### For application developers
 

azure-pipelines.yml

@@ -24,35 +24,28 @@ jobs:
     vmImage: $(image)
   strategy:
     matrix:
-      #gcc-12.2 is the first version of gcc's static analyzer that accepts this code
-      #without -Wno-analyzer-malloc-leak without any false positives.  Ubuntu is far
-      #behind in gcc versions, and so falling back to macOS is the most pragmatic
-      #option at this time.
-      #'Ubuntu 22.04 LTS with GCC 12 (Debug, x86_64)':
-      #  image: ubuntu-22.04
-      #  analyzer: on
-      #  # not enabling "undefined" because of some false positives
-      #  sanitizer: address
-      #  cc: gcc-12
-      #  coverage: on
-      'Ubuntu 20.04 LTS with GCC 10 (Release, x86_64)':
+      'Ubuntu 20.04 LTS (Release, x86_64)':
         image: ubuntu-20.04
         build_type: Release
         sanitizer: undefined
-        cc: gcc-10
-      'Ubuntu 22.04 LTS with GCC 10 (Debug, x86_64, Iceoryx)':
+        cc: gcc
+      'Ubuntu 22.04 LTS (Debug, x86_64, Iceoryx)':
         image: ubuntu-22.04
-        #analyzer: on  # disabled for now because of warnings
-        sanitizer: address,undefined
+        # No address sanitizer because of this in test run:
+        #  Shadow memory range interleaves with an existing memory mapping.
+        #  ASan cannot proceed correctly. ABORTING.
+        #  ASan shadow was supposed to be located in the [0x00007fff7000-0x10007fff7fff]
+        #  range.
+        sanitizer: undefined
         iceoryx: on
-        cc: gcc-10
+        cc: gcc
         coverage: on
-      'Ubuntu 22.04 LTS with GCC 10 (Release, x86_64)':
+      'Ubuntu 22.04 LTS (Release, x86_64)':
         image: ubuntu-22.04
         build_type: Release
         sanitizer: undefined
-        cc: gcc-10
-      'Ubuntu 22.04 LTS with GCC 10 (Debug, x86_64, security only)':
+        cc: gcc
+      'Ubuntu 22.04 LTS with GCC 12 (Debug, x86_64, security only)':
         image: ubuntu-22.04
         sanitizer: address,undefined
         ssl: off
@@ -61,72 +54,62 @@ jobs:
         type_discovery: off
         topic_discovery: off
         idlc_xtests: off # temporary disabled 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)':
+        cc: gcc-12
+      'Ubuntu 22.04 LTS with GCC 12 (Debug, x86_64, no tests)':
         image: ubuntu-22.04
-        cc: gcc-10
+        cc: gcc-12
         testing: off
         idlc_xtests: off
-      'Ubuntu 22.04 LTS with Clang 13 (Debug, x86_64)':
+      'Ubuntu 22.04 LTS with Clang (Debug, x86_64)':
         image: ubuntu-22.04
         analyzer: on
         sanitizer: address,undefined
-        cc: clang-13
-      'Ubuntu 22.04 LTS with Clang 13 (Debug, x86_64, no security)':
+        cc: clang
+      'Ubuntu 22.04 LTS with Clang (Debug, x86_64, no security)':
         image: ubuntu-22.04
         sanitizer: address,undefined
         security: off
-        cc: clang-13
-      'Ubuntu 22.04 LTS with Clang 13 (Release, x86_64, no topic discovery)':
+        cc: clang
+      'Ubuntu 22.04 LTS with Clang (Release, x86_64, no topic discovery)':
         image: ubuntu-22.04
         build_type: Release
         sanitizer: undefined
         topic_discovery: off
         idlc_xtests: off # temporary disabled because of passing -t option to idlc in this test for recursive types
-        cc: clang-13
-      'macOS 11 with Clang 12 (Debug, x86_64)':
-        image: macOS-11
-        sanitizer: address,undefined
-        deadline_update_skip: on
         cc: clang
-      'macOS 11 with Clang 12 (Release, x86_64)':
-        image: macOS-11
-        build_type: Release
-        sanitizer: undefined
+      'macOS 14 with Clang (Debug, x86_64)':
+        image: macos-14
+        sanitizer: address,undefined
         deadline_update_skip: on
         cc: clang
-      'macOS 11 with Clang 13 (Release, x86_64)':
-        image: macOS-11
+        coverage: on
+      'macOS 14 with Clang (Release, x86_64)':
+        image: macos-14
         build_type: Release
         sanitizer: undefined
-        deadline_update_skip: on
         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
+      'macOS 14 with GCC 14 (Debug, analyzer, x86_64)':
+        image: macos-14
+        cc: gcc-14
         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)':
+      'Windows 2022 with Visual Studio 2022 (Debug, x86, no security)':
         arch: x86
-        image: windows-2019
+        image: windows-2022
         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
+        generator: 'Visual Studio 17 2022'
+      'Windows 2022 with Visual Studio 2022 (Debug, x86_64)':
+        image: windows-2022
         idlc_xtests: off
-        generator: 'Visual Studio 16 2019'
-      'Windows 2019 with Visual Studio 2019 (Release, x86_64, no tests)':
-        image: windows-2019
+        generator: 'Visual Studio 17 2022'
+      'Windows 2022 with Visual Studio 2022 (Release, x86_64, no tests)':
+        image: windows-2022
         build_type: Release
         testing: off
         idlc_xtests: off
-        generator: 'Visual Studio 16 2019'
+        generator: 'Visual Studio 17 2022'
       'Windows 2019 with Visual Studio 2019 (RelWithDebInfo, x86_64)':
         image: windows-2019
         build_type: RelWithDebInfo

docs/dev/dds_security_effort.md

@@ -137,9 +137,7 @@ 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.
+We recommend a fully patched and supported version but 1.1.1 will still work.
 
 The build system should be ported from makefiles to cmake files.
 

docs/manual/about_dds/eclipse_cyclone_dds.rst

@@ -22,6 +22,7 @@
    datareaders
    datawriters
    qos
+   qos_provider
    listener
    waitset
    status
@@ -30,28 +31,28 @@
    ddsi_concepts
    contributing
 
-|var-project| is a performant and robust OMG-compliant **Data Distribution Service** 
-(DDS) implementation (see |url::dds_spec|). |var-project-short| is developed 
-completely in the open as an Eclipse IoT project (see |url::cyclone_dds-link|) with a 
-growing list of |url::cyclone_adopters|. It is a tier-1 middleware for the Robot 
+|var-project| is a performant and robust OMG-compliant **Data Distribution Service**
+(DDS) implementation (see |url::dds_spec|). |var-project-short| is developed
+completely in the open as an Eclipse IoT project (see |url::cyclone_dds-link|) with a
+growing list of |url::cyclone_adopters|. It is a tier-1 middleware for the Robot
 Operating System |url::ros2|.
 
-The core of |var-project-short| is implemented in C and provides C-APIs to applications. 
+The core of |var-project-short| is implemented in C and provides C-APIs to applications.
 Through its C++ package, the |url::omg.org| 2003 language binding is also supported.
 
 .. index:: About DDS
 
 About DDS
 =========
 
-DDS is the best-kept secret in distributed systems, one that has been around for much 
+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 
+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, 
+Types are usually defined in IDL and preprocessed with the IDL compiler included in Cyclone,
 but our |url::python-link2| allows you to define data types on the fly:
 
 .. code-block:: python
@@ -96,30 +97,30 @@ but our |url::python-link2| allows you to define data types on the fly:
          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, 
+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 
+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 
+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.
 
 |var-project| aims at full coverage of the specs and today already covers most of this.
@@ -136,8 +137,8 @@ With references to the individual OMG specifications, the following is available
 - |url::dds_xtypes| - the structural type system (some [caveats](docs/dev/xtypes_relnotes.md) here)
 - |url::dds2.5| - the interoperable network protocol
 
-The network stack in |var-project| has been around for over a decade in one form or 
-another and has proven itself in many systems, including large, high-availability 
+The network stack in |var-project| 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 inter-operation with other implementations was needed.
 
 .. include:: disclaimer.part.rst