Full Changelog

Features

• Separate log crate into front-end API and backend logger implementation crates #154
• Enable Bazel bzlmod support for iceoryx2 builds #355
• Android proof of concept with local communication #416
• C, C++, and Python language bindings for blackboard #817
• iox2 config explain cli command for config descriptions #832
• Add traits to facilitate implementation of custom tunnelling mechanisms #845
• Add platform support for QNX 8 #853
• Add logger backend that uses the POSIX APIs instead of std to log to the console #853
• Add support for no_std builds that can be enabled by disabling the new std feature when building iceoryx2 #865
• Add a C++ string container type with fixed compile-time capacity #938
• Add new C++ Expected vocabulary data type #940
• Add a C++ vector container type with fixed compile-time capacity #951
• Use epoll instead of select for the WaitSet on Linux #961
• Configuration mechanism to for replacing vocabulary types in iceoryx2-bb-cxx with STL types #971
• Add a Rust vector type with fixed compile-time capacity which has the same memory layout as the C++ vector #1073
• Add a Rust string type with fixed compile-time capacity which has the same memory layout as the C++ vector #1075
• Add unchecked, compile time const creation functions to SemanticString and system types like, FileName, Path, FilePath, ... #1109
• Add conformance test suite to be able to test out-of-tree extensions #1021
• Implement Copy for StaticString, SemanticString and system types #1114
• Support unions with ZeroCopySend #1144
• Add option to provide custom iceoryx2-pal-configuration #1176
• Add option to provide custom iceoryx2-pal-posix #1176
• Add shared memory variant based on files #1223
• Add socket directory configuration in platform #1232
• Configuration mechanism to for replacing vocabulary types in iceoryx2-bb-cxx with custom implementations #1250

Bugfixes

• Print new line after CLI output to prevent '%' from being inserted by terminal #709
• Print help for positional arguments in CLI #709
• Remove duplicate entries in iox2 command search path to prevent discovered commands from being listed multiple times #1045
• LocalService in C language binding uses IPC configuration #1059
• Trait std::fmt::Debug is not implemented for sigset_t in libc #1087
• Use IOX2_SERVICE_NAME_LENGTH in ServiceName::to_string() #1095
• Fix QNX cross compilation #1116
• Fix large server connection and data segment size #1130
• ScopeGuard check if on_drop is set before calling it #1171
• Fix C binding linker error on QNX #1174
• Fix that dev_permissions are not applied to all resources #1188
• Fix panic during cleanup #1198
• Update urllib3 dependency to 2.6.0 (security issue in 2.5.0) #1228
• Fix incomplete cleanup of file lock based monitoring concept #1252

Refactoring

• Integrate the iceoryx_hoofs subset directly into the iceoryx2 repository #301
• Decoupled tunnel implementation from tunelling mechanism #845
• Factored out platform-specific build logic from common logic #865
• Explicitly use components from core and alloc in all Rust code #865
• Enable -Wconversion warning for the C and C++ code #956
• Updated all dependencies and increased MSRV to 1.83 #1105
• Remove pre-compiled noop.exe used for testing command exeuction on Windows #1133
• Support C++14 for the C++ Bindings #1167
• Remove dependency on iceoryx2-pal-concurrency-sync in upper-level crates #1202
• Replace legacy types in public API with iceoryx2 counterparts #1234

Workflow

• Removed iceoryx2_hoofs dependency by importing relevant files into a new iceoryx2-bb-cxx CMake package to simplify the build process. #301
• Add end-to-end tests for iceoryx2-cli #709

New API features

• Add list_keys() to list all keys stored in the blackboard, EntryHandle::is_up_to_date() to check for value updates #1189
• Add option to force overwrite configuration with iox2 config generate #709

API Breaking Changes

1. Rust: Split logger frontend and backend, requiring the crate
   iceoryx2_loggers to be linked to all binaries so that the logger
   backend can be used by the frontend.

   // old
   use iceoryx2_bb_log::*;
   
   set_log_level(LogLevel::Info);
   info!("some log message")
   
   // new
   extern crate iceoryx2_loggers;
   
   use iceoryx2_log::*;
   
   set_log_level(LogLevel::Info);
   info!("some log message")

   Binary crates must also include iceoryx2_loggers as a dependency and the
   default logger must be specified via feature flags. If no
   feature flag is enabled, the logs are discarded. Details are documented
   in the iceoryx2-loggers crate.

   iceoryx2-loggers = { version = "0.7.0", features = ["std", "console"] }

2. Rust: Replaced the FixedSizeVec with the StaticVec

   // old
   use iceoryx2_bb_container::vec::FixedSizeVec;
   const VEC_CAPACITY: usize = 1234;
   let my_vec = FixedSizeVec::<MyType, VEC_CAPACITY>::new();
   
   // new
   use iceoryx2_bb_container::vector::*;
   const VEC_CAPACITY: usize = 1234;
   let my_vec = StaticVec::<MyType, VEC_CAPACITY>::new();

3. Rust: Replaced Vec with the PolymorphicVec

   // old
   use iceoryx2_bb_container::vec::Vec;
   const VEC_CAPACITY: usize = 1234;
   let my_vec = Vec::<MyType>::new();
   
   // new
   use iceoryx2_bb_container::vector::*;
   let my_stateful_allocator = acquire_allocator();
   let vec_capacity: usize = 1234;
   let my_vec = PolymorphicVec::<MyType>::new(my_stateful_allocator, vec_capacity)?;

4. Rust: Replaced the FixedSizeByteString with the StaticString

   // old
   use iceoryx2_bb_container::byte_string::FixedSizeString;
   const CAPACITY: usize = 1234;
   let my_str = FixedSizeByteString::<CAPACITY>::new();
   
   // new
   use iceoryx2_bb_container::string::*;
   const CAPACITY: usize = 1234;
   let my_str = StaticString::<CAPACITY>::new();

5. C++: Remove operator* and operator-> from ActiveRequest,
   PendingResponse, RequestMut, RequestMutUninit, Response,
   ResponseMut, Sample, SampleMut, SampleMutUninit since these can
   easily lead to confusion and bugs when used in combination with optional
   or expected. See sample.has_value() and sample->has_value() that work
   on different objects.

   // old
   auto sample = publisher.loan().expect("");
   sample->some_member = 123;
   
   // new
   auto sample = publisher.loan().expect("");
   sample.payload_mut().some_member = 123;

   // old
   auto sample =...

Full Changelog

Features

• Python language binding #419
• Tunnel over zenoh for publish-subscribe and event services #593
• Provide Official Yocto Recipe #663
• All port factories implement Send #768
• RequestResponse for entire current discovery state #777
• iox2 service listen and iox2 service notify #790
• Use minimal iceoryx_hoofs subset for iceoryx2 C++ bindings #824
• PubSub ports implement Send + Sync, samples implement Send when using **_threadsafe service variant #836
• ReqRes & events implement Send + Sync in **_threadsafe service variant #838
• Platform support for QNX 7.1 #847
• Send/receive samples with iox2 + simple record & replay #884
• C example for service attributes #909
• Example explaining the details of service types #913
• CLI Record replay, service name is stored in record file #929
• Flatmap remove API now returns Option<T> #931
• Add script to list dependencies of multiple packages #933
• Add a C++ Optional vocabulary type for use with C++ containers #939
• Add graceful disconnect feature in client #989
• Add custom mapping offset to shared memory POSIX wrapper #1010

Bugfixes

• Fix segmentation fault in event multiplexing C example #766
• Fix lifetime in ThreadGuardedStackBuilder #770
• Fix config file load failure #772
• Make Directory::create thread-safe #778
• Make CLI generated global config file accessible to all users #786
• Make iox2 config show print the available options #788
• Fix bug where CLI was not displaying positional arguments in usage help #796
• Fix startup race in pthread_create on mac os platform #799
• CMake no longer installs unusable binaries when FetchContent is used #814
• Fix build and linker error on gcc 8 and 9 #855
• Miri complains about byte_string as_bytes* operations #875
• Make changes to the config file backward compatible #921
• Make update_connections public for all ports #923
• Fix cleanup issue of stale dynamic configs #927
• Fix memory leaks when port creation fails #947
• Clean handling of thread CPU core affinity of posix::Thread #962
• Set thread priority correctly, not always min value #977
• Fix 32-bit data corruption issue in lock-free queues #986
• Fix provenance in bump allocator and remove implicit Sync impl #992
• Fix deadlock when system time changes and wait is called #1000
• Improve performance of the fill method of FixedSizeVec #1006
• Fix uninitialized user header in publisher, client, active request #1014

Refactoring

• Implement ZeroCopySend for all system types #732
• Remove trait re-exports from iceoryx2-bb-elementary #757
• Make POSIX user- and group details optional #780
• Add recommended::Ipc and recommended::Local to iceoryx2 concepts for to provide link the best implementation for the specific platform #806
• Introduce newtypes for 'uid' and 'gid' #822
• Make default max event ID smaller #828
• Remove the config/iceoryx2.toml to reduce effort to keep the built in iceoryx.toml and config.rs in sync #831
• Removed MetaVec::is_initialized field #900
• Enable standalone build of the C and C++ bindings #942
• Adjust visibility to Service constructs to allow customization #954
• Move C and C++ language bindings to the top level directory #963

Testing

• Create E2E Tests for all examples #730

Workflow

• Added brief cross-compile documentation #70
• Added development documentation for QNX #847
• Set up automated documentation builds for C/C++/Python hosted on GitHub Pages #920

New API features

• Add NodeId to sample header (to prevent loopback in tunnels) #593
• Add API to prevent self notification Notifier::__internal_notify() #794
• Enable the usage of semaphore based events in C/C++ #795
• Remove impl Drop restriction from ZeroCopySend trait #908
• Introduce convenience iceoryx2.hpp header #1016

Config Breaking Changes

1. The previously separate fields root-path-unix and root-path-windows have been unified into a single root-path entry in configs, located in the [global] section of iceoryx2.toml.

   The config file template from config/iceoryx2.toml was removed and please refer to config/README.md on how to generate a default config file. #831

2. The default max event ID was reduced to 255 in order to have make bitset based event implementations work out of the box. If a larger event ID is required, it can either be changed in the iceoryx2.toml file or with the event_id_max_value in the event service builder.

   let event = node
       .service_builder(&"MyEventName".try_into()?)
       .event()
       .event_id_max_value(511)
       .open_or_create()?;

API Breaking Changes

1. The iceoryx2-ffi crate is renamed to iceoryx2-ffi-c due to now also having a Python FFI package. The change should be transparent since the recommended way to use the C bindings is via the iceoryx2-c cmake package.

2. The custom UserHeader, RequestHeader, ResponseHeader must implement Default.

Full Changelog

Bugfixes

• Remove dependency to iceoryx2-bb-elementary #759

Full Changelog

Features

• Full C/C++ Language bindings for all features #264
• Read LogLevel from environment variable #396
• Add Request-Response messaging pattern #429
• Lookup config file in default locations #442
• Introduce socket_pair abstraction in POSIX wrapper #508
• Introduce socket_pair event concept #508
• Deadline property for event services #573
• Use 'std_instead_of_core' clippy warning #579
• Use 'std_instead_of_alloc' and 'alloc_instead_of_core' clippy warning #581
• Introduce platform abstraction based on the 'libc' crate #604
• Extend benchmarks to test setups with multiple sending/receiving ports #610
• Reduce iceoryx2 dependencies #640
• Allow customizable payload and user header type name in C++ binding #643
• Expose set_log_level_from_env* APIs to C++ #653
• Introduce a "service discovery service", which applications can subscribe and listen to for updates in service landscape #674
• Details of all service ports can be acquired #685
• Add benchmark for request-response #687

Bugfixes

• Corrupted services are removed when they are part of a dead node #458
• Remove stale shm state files in Windows #458
• Make process local services truly process local by using socket pairs for events #508
• Completion queue capacity exceeded when history > buffer #571
• Increase max supported shared memory size in Windows that restricts the maximum supported payload size #575
• Undefined behavior due to ZeroCopyConnection removal when stale resources are cleaned up #596
• Remove SIGPOLL that lead to compile issues on older glibc versions. Fix issue where fatal signals are generated with non-fatal values. #605
• LogLevel is considered for custom loggers. #608
• CLI argument parse failure handled gracefully, CLI help template used consistently #646
• Allow missing legal characters in system type for user- and group-name #677
• Fix wait_and_process_once_with_timeout deadlock #695
• Fix Miri issues with MetaVec due to temporary borrow #682
• Do not set default log level for cargo #711
• Fix flaky windows test #739

Refactoring

• Remove the print_system_configuration() function in iceoryx2-bb/posix/src/system_configuration.rs file and move it into the CLI iox2-config #432
• Remove obsolete POSIX wrapper #594
• Updated all dependencies and increased MSRV to 1.81 #638
• Reduce indentation in main.rs of CLI binaries #646
• Improve naming in AttributeSet methods and ServiceId #697
• Implement ZeroCopySend for StaticConfig and its nested types #707
• Efficient Clone for FixedSizeByteString #717
• Use Rust's native endian swapping #724
• Move Traits from iceoryx2-bb-elementary to separate crate to break dependency cycles #754

New API features

• Add CLI to display complete system configuration #432
• Add simplified attribute value accessors #590
• Add CLI to launch service discovery service #674

API Breaking Changes

1. Add requirement that every payload and user header type must implement
   ZeroCopySend for type safe shared memory usage
   #602

   // old
   #[repr(C)]
   pub struct TransmissionData {
      // ...
   }
   
   #[repr(C)]
   pub struct CustomHeader {
      // ...
   }
   
   let service = node
       .service_builder(&"ServiceName".try_into()?)
       .publish_subscribe::<TransmissionData>()
       .user_header::<CustomHeader>()
       .open_or_create()?;
   
   // new
   #[derive(ZeroCopySend)]
   #[repr(C)]
   pub struct TransmissionData {
      // ...
   }
   
   #[derive(ZeroCopySend)]
   #[repr(C)]
   pub struct CustomHeader {
      // ...
   }
   
   let service = node
       .service_builder(&"ServiceName".try_into()?)
       .publish_subscribe::<TransmissionData>()
       .user_header::<CustomHeader>()
       .open_or_create()?;

2. Renamed PublisherLoanError to LoanError

   // old
   let sample = match publisher.loan() {
     Ok(sample) => sample,
     Err(PublisherLoanError::OutOfMemory) => handle_error(),
     // ...
   };
   
   // new
   let sample = match publisher.loan() {
     Ok(sample) => sample,
     Err(LoanError::OutOfMemory) => handle_error(),
     // ...
   };

3. Renamed PublisherSendError to SendError

   // old
   match sample.send() {
     Ok(n) => println!("send data to {n} subscribers"),
     Err(PublisherSendError::ConnectionCorrupted) => handle_error(),
     // ...
   };
   
   // new
   match sample.send() {
     Ok(n) => println!("send data to {n} subscribers"),
     Err(SendError::ConnectionCorrupted) => handle_error(),
     // ...
   };

4. Renamed SubscriberReceiveError to ReceiveError

   // old
   match subscriber.receive() {
     Ok(sample) => println!("received: {:?}", *sample),
     Err(SubscriberReceiveError::ExceedsMaxBorrowedSamples) => handle_error(),
     // ...
   }
   
   // new
   match subscriber.receive() {
     Ok(sample) => println!("received: {:?}", *sample),
     Err(ReceiveError::ExceedsMaxBorrowedSamples) => handle_error(),
     // ...
   }

5. Renamed PublisherSendError::ConnectionBrokenSincePublisherNoLongerExists
   to SendError::ConnectionBrokenSinceSenderNoLongerExists

6. Renamed ConnectionFailure::UnableToMapPublishersDataSegment
   to ConnectionFailure::UnableToMapSendersDataSegment

7. Renamed AttributeSet::len()
   to AttributeSet::number_of_attributes()

8. Renamed AttributeSet::get_key_value_len()
   to AttributeSet::number_of_key_values()

9. Renamed AttributeSet::get_key_value_at()
   to AttributeSet::key_value()

10. Renamed AttributeSet::get_key_values()
    to AttributeSet::iter_key_values()

11. Renamed ServiceId::max_len()
    to ServiceId::max_number_of_characters()

12. Renamed the config entry global.service.publisher-data-segment-suffix
    to global.service.data-segment-suffix and changed the default value to
    .data.

13. Methods of ServiceName return a ServiceNameError instead of
    a SemanticStringError

14. The following types no longer implement Copy
    (they only implement Clone):

    • FixedSizeByteString
    • SemanticString
    • Base64URL
    • FileName
    • FilePath
    • GroupName
    • UserName
    • ServiceId

15. Renamed AttributeVerifier::keys() to AttributeVerifier::required_keys()

16. Renamed AttributeVerifier::attributes() to AttributeVerifier::required_attributes()

17. Attribute keys and values are now SemanticStrings

    1. All arguments of methods in Attribute, AttributeSpecifier,
       AttributeVerifier, and AttributeSet changed from &str to
       FixedSizeByteStrings that implement the SemanticString trait

    // old
    let attribute = Attribute::new("my_key", "my_value");
    
    // new - keys or value known to fit within maximum length
    let attribute = Attribute::new(&"my_key".try_into().unwrap(), &"my_value".try_into().unwrap());
    
    // new - key or value length unknown
    fn get_key() -> &str;
    fn get_value() -> &str;
    
    let key = AttributeKey::try_from(get_key()).unwrap_or_else(|e| {
        // Handle error: e.g., log error, use default key, or propagate error
    });
    let value...

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()?;

Full Changelog

Bugfixes

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

Thanks To All Contributors Of This Version

• »orecham«

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 ...

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....

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

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«