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| Original file line number | Diff line number | Diff line change |
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| 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). | ||
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| # `rcl` Quality Declaration | ||
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| The package `rcl` claims to be in the **Quality Level 4** category. | ||
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| 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). | ||
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| ## Version Policy [1] | ||
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| ### Version Scheme [1.i] | ||
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| `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). | ||
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| ### Version Stability [1.ii] | ||
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| `rcl` is not at a stable version, i.e. `>= 1.0.0`. | ||
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| ### Public API Declaration [1.iii] | ||
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| All symbols in the installed headers are considered part of the public API. | ||
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| All installed headers are in the [`include`](./include/rcl) directory of the package, headers in any other folders are not installed and considered private. | ||
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| ### API Stability Policy [1.iv] | ||
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| `rcl` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released. | ||
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| ### ABI Stability Policy [1.v] | ||
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| `rcl` contains C code and therefore must be concerned with ABI stability, and will maintain ABI stability within a ROS distribution. | ||
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| ### ABI and ABI Stability Within a Released ROS Distribution [1.vi] | ||
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| `rcl` will not break API nor ABI within a released ROS distribution, i.e. no major releases once the ROS distribution is released. | ||
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| ## Change Control Process [2] | ||
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| ### Change Requests [2.i] | ||
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| 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. | ||
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| ### Contributor Origin [2.ii] | ||
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| This package uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md). | ||
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| ### Peer Review Policy [2.iii] | ||
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| 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. | ||
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| ### Continuous Integration [2.iv] | ||
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| All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers). | ||
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| 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/) | ||
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| ### Documentation Policy [2.v] | ||
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| All pull requests must resolve related documentation changes before merging. | ||
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| ## Documentation [3] | ||
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| ### Feature Documentation [3.i] | ||
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| `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. | ||
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| ### Public API Documentation [3.ii] | ||
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| `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. | ||
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| New additions to the public API require documentation before being added. | ||
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| ### License [3.iii] | ||
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| 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. | ||
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| 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. | ||
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| ### Copyright Statements [3.iv] | ||
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| The copyright holders each provide a statement of copyright in each source code file in `rcl`. | ||
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| 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/). | ||
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| ## Testing [4] | ||
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| ### Feature Testing [4.i] | ||
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| 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/) | ||
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| ### Public API Testing [4.ii] | ||
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| 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/). | ||
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| ### Coverage [4.iii] | ||
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| `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. | ||
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| This includes: | ||
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| - tracking and reporting line coverage statistics | ||
| - no lines are manually skipped in coverage calculations | ||
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| 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. | ||
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| 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. | ||
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| ### Performance [4.iv] | ||
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| `rcl` does not conduct performance tests. | ||
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| ### Linters and Static Analysis [4.v] | ||
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| `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. | ||
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| 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/) | ||
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| ## Dependencies [5] | ||
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| Below are evaluations of each of `rcl`'s run-time and build-time dependencies that have been determined to influence the quality. | ||
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| 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. | ||
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| ### Direct Runtime ROS Dependencies [5.i] | ||
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| #### `rmw` | ||
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| The `rmw` package provides the API used by `rcl` to interact with the underlying middleware in an abstract way. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rmw/rmw/QUALITY_DECLARATION.md). | ||
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| #### `rcl_interfaces` | ||
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| The `rcl_interfaces` package provides some common ROS Message and ROS Service types which are used to implement certain client library features. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/rcl_interfaces/QUALITY_DECLARATION.md). | ||
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| #### `rcl_logging_spdlog` | ||
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| The `rcl_logging_spdlog` package provides the default logging implementation by wrapping the `spdlog` library. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl_logging/rcl_logging_spdlog/Quality_Declaration.md). | ||
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| #### `rcl_yaml_param_parser` | ||
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| 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. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/Quality_Declaration.md). | ||
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| #### `rcutils` | ||
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| The `rcutils` package provides an API which contains common utilities and data structures needed when programming in C. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md). | ||
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| #### `rmw_implementation` | ||
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| 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. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rmw_implementation/blob/master/QUALITY_DECLARATION.md). | ||
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| #### `rosidl_runtime_c` | ||
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| 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. | ||
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| It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rosidl/tree/master/rosidl_runtime_c/Quality_Declaration.md). | ||
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| #### `tracetools` | ||
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| The `tracetools` package provides utilities for instrumenting the code in `rcl` so that it may be traced for debugging and performance analysis. | ||
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| 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). | ||
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| ### Optional Direct Runtime ROS Dependencies [5.ii] | ||
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| `rcl` has no optional Direct Runtime ROS dependencies that need to be considered for this declaration. | ||
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| ### Direct Runtime non-ROS Dependency [5.iii] | ||
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| `rcl` has no Direct Runtime non-ROS dependencies that need to be considered for this declaration. | ||
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| ## Platform Support [6] | ||
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| `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. | ||
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| ## Security [7] | ||
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| ### Vulnerability Disclosure Policy [7.i] | ||
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| `rcl` does not have a Vulnerability Disclosure Policy. | ||
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| # Current status Summary | ||
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| The chart below compares the requirements in the REP-2004 with the current state of the `rcl` package. | ||
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| |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 | ☓ | |
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| Original file line number | Diff line number | Diff line change |
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| `rcl` consists of functions and structs (pure C) organized into ROS concepts. | ||
| ## rcl | ||
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| Library to support implementation of language specific ROS Client Libraries. | ||
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| Features are described in detail at [http://docs.ros2.org](http://docs.ros2.org/latest/api/rcl/index.html) | ||
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| This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](./QUALITY_DECLARATION.md) for more details. |
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