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TODO

POSIX

  • Windows stat.rs, allowed to fail if file no longer exists
  • Cargo nextest run -p iceoryx2 --test service_tests gracefully
    • Service should not be in corrupted state when listed and currently being removed

Bugs

  • posix::Mutex
    • Implement priority ceiling
  • File::read_to_string & File::read_range_to_string, check that there are no invalid UTF-8 characters contained
  • Verify ACL_LIST_CAPACITY in POSIX_config
  • Unix datagram socket, sending credentials and file descriptors no longer works
    • Was introduced with Rust 1.71.0
    • Activate unit test below again fn unix_datagram_socket_sending_receiving_with_max_supported_fd_and_credentials_works
  • MAX_NUMBER_OF_ENTRIES in shared_memory_directory/mod.rs can lead to stack overflow when too large in unsafe { files.write(FileReferenceSet::default()) }; We require placement new! 
    ptr->write(MaybeUninit<MyThing>::new());
(ptr as *mut MaybeUninit<MyThinkg>)->do_stuff_to_Initialize_yourself();
  • Better interrupt signal handling. The interrupt signal shall be always propagated up to the user for better CTRL+C handling etc.
  • condition_variable has spurious wakeups on windows since WaitOnAddress with a timeout does not really work. Remove ignore for windows from condition variable tests and fix problem.
  • CTRL+c does not work in windows, all examples do not clean up
  • Directory, Path, FileName, FilePath cannot handle UTF-8 file names
    • Directory panics when a directory contains non-ascii (UTF-8) characters
  • Windows: publisher::zero_copy::publisher_block_when_unable_to_deliver_blocks seems to sometimes deadlock

Incomplete

  • Document
    • Service
  • ?is publisher history tested?
  • Test all QoS of all services, also with requirements when opening
  • Write tests for Sample & SampleMut
  • Fix platforms
    • macOS
      • iceoryx2_bb_posix
        • Add timeout to pthread_cond_timedwait
      • Use concepts based on shared memory directory to circumvent to 30 char restriction on the shm name in macOS
    • Use second shm for shm size storage of main shm in windows instead of file
  • Stale services when creator goes out of scope
    • Add ability to create persistent service
      • Add persistency flag in static storage
    • Simplify Service (zero_copy/process_local)
      • ServiceState has new/drop to check for stale services
    • When OpenDynamicStorageFailure::IsMarkedForDestruction activated then wait for some time and retry to create the service, only if open or create was used
  • Event Messaging Pattern
    • Introduce degration callback for notifier, used when a connection to a listener could not be Established
    • Make Publisher::update_connections private
  • Rename PortFactory<...> into Service<...> and make it easier to access by the user
    • ability to store it in vec etc
  • Splitup NamedConceptBuilder into NamedConceptOpener and NamedConceptCreator
    • has_ownership only for creator
    • has_ownership/release_ownership should be part of the NamedConceptMgmt
    • Introduce acquire_ownership in NamedConceptMgmt
    • Make Windows shm persistent first
  • Event concept
    • process_local should be based on a bitset, introduce max trigger id into event/notifier * Implement atomic bitset, with compile time capacity, atomic set and atomic exchange consume via callback
    • ?add ability to create Listener in a different process and open it later, excludes every socket variant?
  • KeepAlive of Subscriber/Publisher
    • Set Publisher/Subscriber timing contract, if violated Subscriber/Publisher can close connection
  • ZeroCopyConnection
    • Remove blocking_send
    • The builder shall be able to either create a connection or open a sender or receiver
  • CommunicationChannel
    • Remove safe_overflow support
    • ?add ability to create receiver in a different instance and open it later, excludes every socket variant?
  • Rename zero_copy::Service into ipc::Service, -> ??intra_process::Service for process_local??
  • Consolidate name- and config-generation functions from ipc/src/port/publisher.rs ipc/src/service/mod.rs {dynamic|static}_config_storage_{name|config} {connection}\_{name|config}
  • Cargo.toml, add version inheritance from root workspace
  • FreeBSD
    • Advanced signal handling - signal_call_and_fetch_with_registered_handler_works
  • Windows
    • Back shm in windows with file
  • POSIX thread wrapper uses currently heap when creating new thread with pthread_create
    • Introduce global mempool allocated on program start for this operation
  • Split up UnixDatagramSocket into one with ancillary data and one without
    • Add to builder if credentials shall always be sent
    • Check if fd exchange with messages is supported
    • Check if multiple fds can be exchanged with one message
  • Check all POSIX wrapper that creation/open happens in the builder to avoid invalid states in objects
  • Ensure non-movability via separate handle + remove is_initialized and construct in builder
    • Condition variable
      • Remove IPC support for multi condition variable
  • Refactor error handling
    • Error pyramid concept
    • Extend and test fail! macro
  • ZeroCopyConnection, add builder option to enable tracking of samples from sender to receiver and back
  • Add this to port factory publisher builder
    • TEST
      • Remove all unwrap and test them
  • Refactor SampleMut, TypeStatePattern - only the initialized sample can be sent
    • Release underlying memory manually and sent/release it manually
  • Subscriber strategies for multi-publisher
    • priority?
    • timestamp?
    • random order?
  • Refactor global_config
  • RelocatableContainer test which verifies that init does not write/modify more memory then it requires according to memory_size()
  • Rename CommunicationChannel into NamedPipe
  • Subscriber internal cache which orders samples from multiple publishers
  • iceoryx2_ipc finalize
    • Remove all unwrap()
    • global_config.rs use correct string types
      • Introduce file_suffix_name.rs and use it there
    • Remove all string usages and replace it with semantic_string impls
  • Introduce BasePort, contains always
    • portId : UniquePortId
    • dynamic_config_guard
    • fn new(service: &Service) -> Self
  • Rename things
    • With modules, every public thing should be named like the module, it will be differentiate with the namespace * All iceoryx2_cals
  • What if reference_counter == 0 when creating new service ... wait for cleanup
  • Introduce ShmIpc trait and derive macro to add #[repr(C)] to all shm transferable types
    • Introduce typed shared memory to avoid this problem
      • Use it in comm channel
    • Management in communication_channel_shm_index_queue
    • IndexQueue
    • UnnamedSemaphore
    • All the other things in POSIX/etc
  • Use Rust singleton pattern for signal handler https://docs.rust-embedded.org/book/peripherals/singletons.html

Default Setup - without configuration & Grouping Support

  • Goal: multiple concepts share the same resources
    • ?introduce second name in NamedConcept, the group as FileName?
  • Create dynamic shared memory abstraction (below concept layer)
    • Must be able to dynamically resize (grow and shrink)
    • Requires sophisticated allocator that can handle arbitrary sizes
    • Must be emulate some kind of file system
      • Idea is that the concept can use this construct to create and open specified instances via name
  • Use dynamic shared memory

Performance

  • mpmc_container, mpmc_unique_index_set, try to avoid constant verify_memory_initialization call

Important Questions

  • Free list approach, what happens when publisher goes out of scope before subscriber does?
  • RelocatableContainer, make this trait somehow unmovable.
  • ServiceStaticConfig, pack individual communication pattern configs into MessagingPattern
  • Performance and Safety Critical mode
    • Default clock is in performance mode Realtime
  • Revisit concept abstraction trait structure?
    • Maybe: concept_name.rs
      • Contains trait and all impls as pubs under same namespace
  • DynamicStorage

Advanced

Containers

  • FilePath/Path check that every single entry is not longer than FILENAME_LENGTH
  • Implement StackBox where the box max size is provided as generic user argument
    • Use it in allocator Memory cleanup function
  • Introduce string
  • Introduce vector
  • Introduce list
  • Introduce red-black-tree
  • Introduce set
  • Introduce hashmap

Concurrent

  • Lock-free list
    • Use unique index set as base
  • Introduce ThreadPool
    • Introduce ActiveObject

IPC

  • POSH/IPC/service
    • Unique global service list file
      • New service must add entry there, on remove, remove entry

Open Problems

  • iceoryx2_config use lock free singleton approach from iceoryx2
  • Remove ENAMETOOLONG and replace it with a path/filename string with maximum size
    • See unlink, does_file_exist
  • Semaphore
    • Implement timedwait with GNU libc sem_clockwait
  • ReadWriteMutex
    • Implement timedwait with GNU libc pthread_rwlock_clockrdlock. pthread_rwlock_clockwrlock
  • Publisher delivers history only when calling send
    • New subscriber may waits a long time when send is not called