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Roadmap

v0.5

Main Focus

  • (Waitset), event multiplexing and advanced push notifications
  • Finalize C and C++ API
  • Fully dynamic payload for pub/sub
  • ROS 2 rmw binding
  • Health monitoring
  • Reliability features for pub/sub

Bonus

  • Derive macro for SHM transferable types
  • serde-based shm serialization to transmit arbitrary types
  • Request/Response

Moonshots

  • high performance d-bus alternative (thanks to true zero-copy)
  • #![no_std] on nightly on all tier 1 platforms
  • #![no_std] on stable on all tier 1 platforms
  • completely dynamic setup with dynamic shared memory
  • iceoryx on a rover on the moon

Shared Memory Container & Types

  • Make iceoryx2_bb_container public with announcement
  • Create and document dynamic size container concept for shared memory and apply it to all existing containers: ByteString, Vec, Queue
    • Open Question: How can these containers be cloned, copied?
  • Introduce additional containers: HashMap, Tree, Set, List
  • Introduce elementary types, look into: simple-si-units crate
    • Add types like: memory size, percentage, strict percentage (0..100), data throughput, resolution (further types found in informatics)
  • Add derive proc macro to ensure that only shm compatible types can be transferred via zero-copy

Language Bindings

  • C
  • C++
  • Lua
  • Python
  • Zig

Building Blocks

  • WaitSet - event multiplexer based on reactor pattern
  • Introduce trait and proc macro to generate types that can be sent via shared memory
    • ensure that only these types are used for inter-process communication

Gateways

Microservices (Quality of Life Improvements)

iceoryx Tooling

  • Service Discovery
  • Introspection Service
  • Process Monitor (process can register and cleans up resources when process dies)
  • Health Monitor
  • Basic command line introspection tooling
  • Tooling for advanced introspection, cool WebGUI
  • Command line client as interface to microservices

Tools and Gadgets

  • System Monitor (show CPU load etc. like top)

Communication

  • publish subscribe
  • events
  • integrated serialization to send non-shm compatible types, see: https://github.com/rkyv/rkyv
  • Single Publisher Subscribe with history
  • Multi Publisher without history (except there is a brilliant idea on how to realize it with history)
  • Request Response Messaging Pattern
  • Blackboard Messaging Pattern
  • Pipeline Messaging Pattern
  • PubSub, ReqRes, Pipeline variant that works with copies (poor mans mixed criticality)
  • Zero-copy GPU communication with Cuda, NvSci, Vulkan
  • Zero-copy across hypervisor partitions
  • Zero-copy via QEMU ivshmem: https://www.qemu.org/docs/master/system/devices/ivshmem.html
  • dmabuf support, see: https://blaztinn.gitlab.io/post/dmabuf-texture-sharing/
  • Support dynamic sized types in a memory efficient manner
    • Buddy allocator for sender data-segment
    • Introduce runtime fixed-size types
  • Untyped API

Expert/Advanced Features

  • Filtering/Routing of messages in pub-sub
  • Handle approach to resend samples that could not be delivered caused by a full queue in pub-sub

Robustness

  • Node as basis for monitoring and resource cleanup
  • Add ability to recover samples when subscriber died
    • add sample tracker into ZeroCopyConnection
    • add detection when subscriber returns non-received samples
  • Large Communication Setup Support
    • handle the restriction of a max amount of POSIX shared memory objects of an OS
    • add iceoryx2_cal implementations that are using the SharedMemoryGroup

Platform Support

  • Android
  • Linux
  • Windows
  • Mac Os
  • iOS
  • WatchOS
  • FreeBSD
  • FreeRTOS
  • QNX

Hardware Support

  • x86_64
  • aarch64
  • armv7
  • x32
  • risc-v

Framework Integration

  • ROS2 rmw binding
  • dora-rs integration

Safety & Security

  • Mixed Criticallity setup, e.g. applications do not interfer with each other
  • Sample Tracking when application crashes
  • Identity and Access Management, e.g. service that create additional services
  • Use Kani, Loom and Miri for tests of lock-free constructs

Development

  • Tracing integration for advanced performance measurements, see google chrome chrome://tracing/ and flame graphs See lttng, add trace points to the source code on the important functions

Quality Of Life Improvements

  • Evaluate and refactor basic error handling approach based on enums
    • all error classes should implement std::error::Error for the non no_std build (maybe use thiserror)
    • should be compatible with anyhow and eyre
    • explore error pyramid concept
  • Rename enable_safe_overflow into set_safe_overflow in ServiceBuilder publish_subscribe
    • or maybe rename it into behavior: queue and ringbuffer, get inspired by crossbeam queues
  • Provide [T] (slice) as special transmission type for pub/sub
    • loan_slice, loan_uninit_slice and loan_uninit_slice_with_alignment
  • QoS feature for blocking publisher or pub/sub failures to perform custom error handling or expert behavior
    • explore implementation as trait
    • explore implementation as callback
  • Explore if it is useful to have the same service name for different messaging patterns
    • separate them via internal suffix/prefix
    • simple use case: pub/sub + event to notify subscriber to notify sample send
    • would reduce error handling: connect to service with wrong messaging pattern
  • Implement Resizable SharedMemoryConcept that is able to extend the shared memory by adding additional POSIX shared memory objects

Integration Into Other Projects

  • Maybe Hyprland