Quality declaration

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

CONTRIBUTING.md

@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

README.md

@@ -194,3 +194,10 @@ One way to ensure this is to call `rclcpp::shutdown()` when the program exits.
 Note that composable nodes should *never* call `rclcpp::shutdown()`, as the composable node container will automatically do this.
 
 For more details, see https://github.com/ros2/rmw_zenoh/issues/170.
+
+## Quality Declaration files
+
+Quality Declarations for each package in this repository:
+
+* [`rmw_zenoh_cpp`](rmw_zenoh_cpp/QUALITY_DECLARATION.md)
+* [`zenoh_cpp_vendor`](zenoh_cpp_vendor/QUALITY_DECLARATION.md)

rmw_zenoh_cpp/QUALITY_DECLARATION.md

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+This document is a declaration of software quality for the `rmw_zenoh_cpp` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+# `rmw_zenoh_cpp` Quality Declaration
+
+The package `rmw_zenoh_cpp` claims to be in the **Quality Level 2** category.
+
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 2 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+## Version Policy [1]
+
+### Version Scheme [1.i]
+
+`rmw_zenoh_cpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning).
+
+### Version Stability [1.ii]
+
+TODO(ahcorde): when can we consider this stable ?
+<!-- `rmw_zenoh_cpp` is at a stable version, i.e. `>= 1.0.0`. -->
+The current version can be found in its [package.xml](package.xml), and its change history can be found in its [CHANGELOG](CHANGELOG.rst).
+
+### 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` directory of the package, headers in any other folders are not installed and considered private.
+
+### API Stability Within a Released ROS Distribution [1.iv]/[1.vi]
+
+`rmw_zenoh_cpp` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released.
+
+### ABI Stability Within a Released ROS Distribution [1.v]/[1.vi]
+
+`rmw_zenoh_cpp` contains C and C++ code and therefore must be concerned with ABI stability, and will maintain ABI stability within a ROS distribution.
+
+## Change Control Process [2]
+
+`rmw_zenoh_cpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#quality-practices).
+
+### Change Requests [2.i]
+
+This package requires that all changes occur through a pull request.
+
+### 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]
+
+Following the recommended guidelines for ROS Core packages, all pull requests must have at least 1 peer review.
+
+### Continuous Integration [2.iv]
+
+All pull request must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers).
+
+### Documentation Policy [2.v]
+
+All pull requests must resolve related documentation changes before merging.
+
+## Documentation [3]
+
+### Feature Documentation [3.i]
+
+Some of the `rmw_zenoh_cpp` features are documented on the repository level [README](../README.md).
+Much of Zenoh itself has feature documentation [hosted publicly](https://zenoh-c.readthedocs.io/en/).
+
+### Public API Documentation [3.ii]
+
+Most of `rmw_zenoh_cpp` has embedded API documentation. It is not yet hosted publicly.
+
+### License [3.iii]
+
+The license for `rmw_zenoh_cpp` 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.
+
+TODO(ahcorde): review link
+<!-- Most recent test results can be found [here](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rmw_zenoh_cpp/copyright/) -->
+
+### Copyright Statements [3.iv]
+
+The copyright holders each provide a statement of copyright in each source code file in `rmw_zenoh_cpp`.
+
+There is an automated test which runs a linter that ensures each file has at least one copyright statement.
+
+TODO(ahcorde): Review link
+<!-- The results of the test can be found [here](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rmw_zenoh_cpp/copyright/). -->
+
+## Testing [4]
+
+### Feature Testing [4.i]
+
+All `rmw_zenoh_cpp` public features are ROS middleware features.
+
+Unit, integration, and system tests higher up in the stack, such as those found in [`test_rmw_implementation`](https://github.com/ros2/rmw_implementation/tree/master/test_rmw_implementation), [`test_rclcpp`](https://github.com/ros2/system_tests/tree/master/test_rclcpp), and [`test_communication`](https://github.com/ros2/system_tests/tree/master/test_communication) packages, provide feature coverage. Nightly CI jobs in [`ci.ros2.org`](https://ci.ros2.org/) and [`build.ros2.org`](https://build.ros2.org/).
+
+### Public API Testing [4.ii]
+
+`rmw_zenoh_cpp` implements the ROS middleware public API, but also provides public API of its own.
+
+TODO(ahcorde): we don't have unit test for this package
+<!-- Unit tests located in the [`test`](https://github.com/ros2/rmw_zenoh_cpp/tree/master/rmw_zenoh_cpp/test) directory provide coverage for public but `rmw_zenoh_cpp` specific API. -->
+New additions or changes to this API require tests before being added.
+
+Unit, integration, and system tests higher up in the stack, such as those found in [`test_rmw_implementation`](https://github.com/ros2/rmw_implementation/tree/master/test_rmw_implementation), [`test_rclcpp`](https://github.com/ros2/system_tests/tree/master/test_rclcpp), and [`test_communication`](https://github.com/ros2/system_tests/tree/master/test_communication) packages, ensure compliance with the ROS middleware API specification (see [`rmw`](https://github.com/ros2/rmw) package) and further extend coverage.
+
+### Coverage [4.iii]
+
+`rmw_zenoh_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use branch coverage instead of line coverage.
+
+This includes:
+
+- tracking and reporting line coverage statistics
+- achieving and maintaining a reasonable branch line coverage (90-100%)
+- 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.
+
+TODO(ahcorde): Review link
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/ci_linux_coverage/lastSuccessfulBuild/cobertura/).
+
+This package claims to meet the coverage requirements for the current quality level, even though it doesn't have 95% line coverage.
+
+A summary of how these statistics are calculated can be found in the [ROS 2 On-boarding guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#note-on-coverage-runs).
+
+### Performance [4.iv]
+
+`rmw_zenoh_cpp` does not currently have performance tests.
+
+### Linters and Static Analysis [4.v]
+
+`rmw_zenoh_cpp` uses and passes all the standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis).
+
+TODO(ahcorde): review link
+Results of the nightly linter tests can be found [here](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rmw_zenoh_cpp).
+
+## Dependencies [5]
+
+### Direct Runtime ROS Dependencies [5.i]/[5.ii]
+
+`rmw_zenoh_cpp` has the following runtime ROS dependencies:
+* `ament_index_cpp`: [QUALITY DECLARATION](https://github.com/ament/ament_index/blob/rolling/ament_index_cpp/QUALITY_DECLARATION.md)
+* `rcpputils`: [QUALITY DECLARATION](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md)
+* `rcutils`: [QUALITY DECLARATION](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md)
+* `rmw`: [QUALITY DECLARATION](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md)
+QUALITY_DECLARATION.md)
+* `rosidl_typesupport_fastrtps_c`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport_fastrtps/blob/master/rosidl_typesupport_fastrtps_c/QUALITY_DECLARATION.md)
+* `rosidl_typesupport_fastrtps_cpp`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport_fastrtps/blob/master/rosidl_typesupport_fastrtps_cpp/QUALITY_DECLARATION.md)
+* `tracetools`: [QUALITY DECLARATION](https://github.com/ros2/ros2_tracing/blob/rolling/tracetools/QUALITY_DECLARATION.md)
+
+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 Non-ROS Dependencies [5.iii]
+
+`rmw_zenoh_cpp` has the following runtime non-ROS dependencies.
+* `fastcdr`: *eProsima Fast CDR* claims to be Quality Level 2. For more information, please refer to its [QUALITY DECLARATION](https://github.com/eProsima/Fast-CDR/blob/master/QUALITY.md)
+
+## Platform Support [6]
+
+`rmw_zenoh_cpp` 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.
+
+TODO(ahcorde): Review links
+Currently nightly results can be seen here:
+* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rmw_zenoh_cpp/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rmw_zenoh_cpp/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rmw_zenoh_cpp/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rmw_zenoh_cpp/)
+
+## Security [7]
+
+### Vulnerability Disclosure Policy [7.i]
+
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+
+# Current status Summary
+
+The chart below compares the requirements in the REP-2004 with the current state of the `rmw_zenoh_cpp` 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 | ✓ |

rmw_zenoh_cpp/README.md

@@ -0,0 +1,8 @@
+# rmw_zenoh_cpp
+
+`rmw_zenoh_cpp` is a [ROS 2](https://docs.ros.org/en/rolling) middleware implementation, providing and interface between ROS 2 and [Zetta Scale](https://www.zettascale.tech/) [Zenoh](https://github.com/eclipse-zenoh/zenoh) middleware.
+
+## Quality Declaration
+
+TODO(ahcorde): Review level
+This package claims to be in the **Quality Level X** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.