From 2c655edb394d0bb2936f9b68dcea8a192ed6982c Mon Sep 17 00:00:00 2001 From: Jorge Perez Date: Tue, 5 May 2020 18:09:38 -0300 Subject: [PATCH] Current state Quality Declaration (#639) * initial draft of the quality declaration * Reformat to match REP-2004 template * Fix README.md files accordingly for the rcl package * Fix minor typos * Fix minor issues according to peer review * Address peer review comments * Improve current state Feature documentation Signed-off-by: Jorge Perez Co-authored-by: William Woodall --- README.md | 10 +- rcl/QUALITY_DECLARATION.md | 249 +++++++++++++++++++++++++++++++++++++ rcl/README.md | 6 + 3 files changed, 263 insertions(+), 2 deletions(-) create mode 100644 rcl/QUALITY_DECLARATION.md create mode 100644 rcl/README.md diff --git a/README.md b/README.md index b50707d..26eb44c 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,8 @@ -# rcl -Library to support implementation of language specific ROS Client Libraries. +This repository contains several packages which are all related to the `rcl` package. + +## Packages + + - rcl + - rcl_action + - rcl_lifecycle + - rcl_yaml_parm_parser diff --git a/rcl/QUALITY_DECLARATION.md b/rcl/QUALITY_DECLARATION.md new file mode 100644 index 0000000..c272760 --- /dev/null +++ b/rcl/QUALITY_DECLARATION.md @@ -0,0 +1,249 @@ +This document is a declaration of software quality for the `rcl` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html). + +# `rcl` Quality Declaration + +The package `rcl` claims to be in the **Quality Level 4** category. + +Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories). + +## Version Policy [1] + +### Version Scheme [1.i] + +`rcl` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning). + +### Version Stability [1.ii] + +`rcl` is not at a stable version, i.e. `>= 1.0.0`. + +### Public API Declaration [1.iii] + +All symbols in the installed headers are considered part of the public API. + +All installed headers are in the [`include`](./include/rcl) directory of the package, headers in any other folders are not installed and considered private. + +### API Stability Policy [1.iv] + +`rcl` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released. + +### ABI Stability Policy [1.v] + +`rcl` contains C code and therefore must be concerned with ABI stability, and will maintain ABI stability within a ROS distribution. + +### ABI and ABI Stability Within a Released ROS Distribution [1.vi] + +`rcl` will not break API nor ABI within a released ROS distribution, i.e. no major releases once the ROS distribution is released. + +## Change Control Process [2] + +### Change Requests [2.i] + +All changes will occur through a pull request, check the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information. + +### Contributor Origin [2.ii] + +This package uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md). + +### Peer Review Policy [2.iii] + +All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information. + +### Continuous Integration [2.iv] + +All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers). + +Currently nightly results can be seen here: +* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rcl/) +* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rcl/) +* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rcl/) +* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rcl/) + +### Documentation Policy [2.v] + +All pull requests must resolve related documentation changes before merging. + +## Documentation [3] + +### Feature Documentation [3.i] + +`rcl` provides the main elements of its API listed using doxygen. Refer to the [ROS2 concepts](https://index.ros.org/doc/ros2/Concepts/) and [ROS2 Client Libraries](https://index.ros.org/doc/ros2/Concepts/ROS-2-Client-Libraries/) pages for reference of elements covered by this package. + +### Public API Documentation [3.ii] + +`rcl` has embedded API documentation and it is generated using doxygen. Currently, its eloquent version is hosted [here](http://docs.ros2.org/eloquent/api/rcl/). Latest version has to be generated before considering this item fully resolved. + +New additions to the public API require documentation before being added. + +### License [3.iii] + +The license for `rcl` is Apache 2.0, and a summary is in each source file, the type is declared in the [`package.xml`](./package.xml) manifest file, and a full copy of the license is in the [`LICENSE`](../LICENSE) file. + +There is an automated test which runs a linter that ensures each file has a license statement. [Here](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rcl/) can be found a list with the latest results of the various linters being run on the package. + +### Copyright Statements [3.iv] + +The copyright holders each provide a statement of copyright in each source code file in `rcl`. + +There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [Here](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rcl/copyright/). + +## Testing [4] + +### Feature Testing [4.i] + +Most features in `rcl` have corresponding tests which simulate typical usage, and they are located in the [`test`](./test) directory. +New features are required to have tests before being added. +Currently nightly test results can be seen here: +* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rcl/) +* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rcl/) +* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rcl/) +* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rcl/) + +### Public API Testing [4.ii] + +Most of the functionality of the declared API in this package is covered in its unit tests. Currently it has a line coverage of [77%](https://ci.ros2.org/job/ci_linux_coverage/85/cobertura/src_ros2_rcl_rcl_src_rcl/). + +### Coverage [4.iii] + +`rcl` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage. + +This includes: + +- tracking and reporting line coverage statistics +- no lines are manually skipped in coverage calculations + +Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers. + +Current coverage statistics can be viewed (77%) [here](https://ci.ros2.org/job/ci_linux_coverage/85/cobertura/src_ros2_rcl_rcl_src_rcl/). Current coverage statistics need to be improved to reach a higher quality level. + +### Performance [4.iv] + +`rcl` does not conduct performance tests. + +### Linters and Static Analysis [4.v] + +`rcl` 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://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms. + +Currently nightly test results can be seen here: +* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rcl/) +* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rcl/) +* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rcl/) +* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rcl/) + +## Dependencies [5] + +Below are evaluations of each of `rcl`'s run-time and build-time dependencies that have been determined to influence the quality. + +It has several "buildtool" dependencies, which do not affect the resulting quality of the package, because they do not contribute to the public library API. +It also has several test dependencies, which do not affect the resulting quality of the package, because they are only used to build and run the test code. + +### Direct Runtime ROS Dependencies [5.i] + +#### `rmw` + +The `rmw` package provides the API used by `rcl` to interact with the underlying middleware in an abstract way. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rmw/rmw/QUALITY_DECLARATION.md). + +#### `rcl_interfaces` + +The `rcl_interfaces` package provides some common ROS Message and ROS Service types which are used to implement certain client library features. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/rcl_interfaces/QUALITY_DECLARATION.md). + +#### `rcl_logging_spdlog` + +The `rcl_logging_spdlog` package provides the default logging implementation by wrapping the `spdlog` library. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl_logging/rcl_logging_spdlog/Quality_Declaration.md). + +#### `rcl_yaml_param_parser` + +The `rcl_yaml_param_parser` package provides an API that is used to parse YAML configuration files which may be used to configure ROS and specific nodes. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/Quality_Declaration.md). + +#### `rcutils` + +The `rcutils` package provides an API which contains common utilities and data structures needed when programming in C. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md). + +#### `rmw_implementation` + +The `rmw_implementation` package provides access to the default rmw implementation, and provides the ability to dynamically switch rmw implementations if more than one is available. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rmw_implementation/blob/master/QUALITY_DECLARATION.md). + +#### `rosidl_runtime_c` + +The `rosidl_runtime_c` package provides runtime interfaces in C based on user defined ROS Messages and ROS Services, as well as associated support functions for those types. + +It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rosidl/tree/master/rosidl_runtime_c/Quality_Declaration.md). + +#### `tracetools` + +The `tracetools` package provides utilities for instrumenting the code in `rcl` so that it may be traced for debugging and performance analysis. + +It is **Quality Level 4**, see its [Quality Declaration document](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md). + +### Optional Direct Runtime ROS Dependencies [5.ii] + +`rcl` has no optional Direct Runtime ROS dependencies that need to be considered for this declaration. + +### Direct Runtime non-ROS Dependency [5.iii] + +`rcl` has no Direct Runtime non-ROS dependencies that need to be considered for this declaration. + +## Platform Support [6] + +`rcl` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them. + +## Security [7] + +### Vulnerability Disclosure Policy [7.i] + +`rcl` does not have a Vulnerability Disclosure Policy. + +# Current status Summary + +The chart below compares the requirements in the REP-2004 with the current state of the `rcl` package. + +|Number| Requirement| Current state | +|--|--|--| +|1| **Version policy** |---| +|1.i|Version Policy available | ✓ | +|1.ii|Stable version |☓| +|1.iii|Declared public API|✓| +|1.iv|API stability policy|✓| +|1.v|ABI stability policy|✓| +|1.vi_|API/ABI stable within ros distribution|✓| +|2| **Change control process** |---| +|2.i| All changes occur on change request | ✓| +|2.ii| Contributor origin (DCO, CLA, etc) | ✓| +|2.iii| Peer review policy | ✓ | +|2.iv| CI policy for change requests | ✓ | +|2.v| Documentation policy for change requests | ✓ | +|3| **Documentation** | --- | +|3.i| Per feature documentation | ☓ | +|3.ii| Per public API item documentation | * | +|3.iii| Declared License(s) | ✓ | +|3.iv| Copyright in source files| ✓ | +|3.v.a| Quality declaration linked to README | ✓ | +|3.v.b| Centralized declaration available for peer review |✓| +|4| Testing | --- | +|4.i| Feature items tests | ✓ | +|4.ii| Public API tests | ✓ | +|4.iii.a| Using coverage | * | +|4.iii.a| Coverage policy | ✓ | +|4.iv.a| Performance tests (if applicable) | ☓ | +|4.iv.b| Performance tests policy| ✓ | +|4.v.a| Code style enforcement (linters)| ✓ | +|4.v.b| Use of static analysis tools | ✓ | +|5| Dependencies | --- | +|5.i| Must not have ROS lower level dependencies | ✓ | +|5.ii| Optional ROS lower level dependencies| ✓ | +|5.iii| Justifies quality use of non-ROS dependencies |✓| +|6| Platform support | --- | +|6.i| Support targets Tier1 ROS platforms| ✓ | +|7| Security | --- | +|7.i| Vulnerability Disclosure Policy | ☓ | diff --git a/rcl/README.md b/rcl/README.md new file mode 100644 index 0000000..f472a65 --- /dev/null +++ b/rcl/README.md @@ -0,0 +1,6 @@ +## rcl + +Library to support implementation of language specific ROS Client Libraries. + +This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](./QUALITY_DECLARATION.md) for more details. +