versions.md

Version 2.4.0

• Implementation of WaitSet, GuardCondition and StatusCondition.
• Flow controllers (ABI breaks on RTPS layer).
• Resolve DNS names on locators.
• Allow addition of discovery servers in runtime (ABI breaks on RTPS layer).
• Allow setting custom folder for data sharing files.
• Allow setting persistence guid with static discovery.

Version 2.3.0

• New Fast DDS Statistics module
• New discovery "super-client" kind
• Added methods to get sending locators for writers and listening locators for readers (ABI break)
• Added support for unique network flows
• Added reception_timestamp to eprosima::fastdds::dds::SampleInfo (ABI break)
• Added eprosima::fastdds::dds::DataReader::get_unread_count (ABI break)
• Refactor eprosima::fastrtps::type::ReturnCode_t. Now the constant global objects are no longer available (ABI break)
• Performance tests refactored to use DDS-PIM high-level API

Version 2.2.0

• TopicDataType interface extended (ABI break)
• Upgrade to Quality Level 1
• New DataWriter API for loaning samples (extends DataWriter API, implies ABI break)
• New template classes for loanable sequences
• Added DataReader read and take APIs (implies ABI break)
• Complete DDS traditional C++ API (implies ABI breaks)
• Data sharing delivery (ABI breaks)

Version 2.1.0

This minor release is API compatible with the previous minor release, but introduces ABI breaks on two of the three public APIs:

• Methods and attributes have been added on several classes of the DDS-PIM high-level API, so indexes of symbols on dynamic libraries may have changed
• Methods and attributes have been added on several classes of the RTPS low-level API, so indexes of symbols on dynamic libraries may have changed
• Old Fast-RTPS high-level API remains ABI compatible.

Users of the RTPS low-level API should also be aware of the following API deprecations:

• History::reserve_Cache has been deprecated
  • Methods RTPSWriter::new_change or RTPSReader::reserveCache should be used instead
• History::release_Cache has been deprecated
  • Methods RTPSWriter::release_change or RTPSReader::releaseCache should be used instead

This release adds the follwing features:

• Support persistence for large data
• Added support for on_requested_incompatible_qos and on_offered_incompatible_qos
• SKIP_DEFAULT_XML environment variable
• Added FORCE value to THIRDPARTY cmake options
• New log consumer (StdOutErrConsumer)
• Added methods to get qos defined in XML Profile
• Support for persistence on TRANSIENT_LOCAL

It also includes the following improvements:

• Internal refactor for intra-process performance boost
• Allow usage of foonathan/memory library built without debug tool
• Large data support on performance tests
• Reduced flakiness of several tests

Some important bugfixes are also included:

• Fixed behavior of several DDS API methods
• Fixed interoperability issues with RTI connext
• Fixed DLL export of some methods
• Avoid redefinition of compiler defined macros
• Fixed some intra-process related segmentation faults and deadlocks
• Fixed large data payload protection issues on intra-process
• Fixed C++17 and VS 2019 warnings
• Fixed linker problems on some platforms
• Fixed transient local retransmission after participant drop
• Fixed assertion failure on persistent writers

Version 2.0.2

This release includes the following improvements:

• Improve QNX support
• Security improvements
• Fast DDS Quality Declaration (QL 2)
• Large traffic reduction when using Discovery Server (up to 85-90% for large deployments)
• Configuration of Clients of Discovery Server using an environment variable
• A CLI for Fast DDS:
  • This can be used to launch a discovery server
  • Clean SHM directories with one command
• Shared memory transport enabled by default
• Solved edge-case interoperability issue with CycloneDDS

Version 2.0.1

This release includes the following bug fixes:

• Fixed sending GAPs to late joiners
• Fixed asserting liveliness on data reception
• Avoid calling OpenSSL_add_all_algorithms when not required

Other improvements:

• Fixing warnings

Version 2.0.0

This release has the following API breaks:

• eClock API, which was deprecated on v1.9.1, has been removed
• eprosima::fastrtps::rtps::RTPSDomain::createParticipant methods now have an additional first argument domain_id
• Data member domainId has been removed from eprosima::fastrtps::rtps::RTPSParticipantAttributes and added to eprosima::fastrtps::ParticipantAttributes

Users should also be aware of the following deprecation announcement:

• All classes inside the namespace eprosima::fastrtps should be considered deprecated. Equivalent functionality is offered through namespace eprosima::fastdds.
• Namespaces beneath eprosima::fastrtps are not included in this deprecation, i.e. eprosima::fastrtps::rtps can still be used)

This release adds the following features:

• Added support for register/unregister/dispose instance
• Added DDS compliant API. This new API exposes all the functionality of the Publisher-Subscriber Fast RTPS API adhering to the Data Distribution Service (DDS) version 1.4 specification <https://www.omg.org/spec/DDS/1.4>_
• Added Security Logging Plugin (contributed by Cannonical Ltd.)
• Bump to FastCDR v1.0.14

It also includes the following bug fixes and improvements:

• Support for OpenSSL 1.1.1d and higher
• Support for latest versions of gtest
• Support for FreeBSD
• Fault tolerance improvements to Shared Memory transport
• Fixed segfault when no network interfaces are detected
• Correctly ignoring length of PID_SENTINEL on parameter list
• Improved traffic on PDP simple mode
• Reduced CPU and memory usage

Version 1.10.0

This release adds the following features:

• New built-in :ref:comm-transports-shm
• Transport API refactored to support locator iterators
• Added subscriber API to retrieve info of first non-taken sample
• Added parameters to fully avoid dynamic allocations
• History of built-in endpoints can be configured
• Bump to FastCDR v1.0.13.
• Bump to Fast-RTPS-Gen v1.0.4.
• Require CMake 3.5 but use policies from 3.13

It also includes the following bug fixes and improvements:

• Fixed alignment on parameter lists
• Fixed error sending more than 256 fragments.
• Fix handling of STRICT_REALTIME.
• Fixed submessage_size calculation on last data_frag.
• Solved an issue when recreating a publishing participant with the same GUID.
• Solved an issue where a publisher could block on write for a long time when a new subscriber (late joiner) is matched, if the publisher had already sent a large number of messages.
• Correctly handling the case where lifespan expires at the same time on several samples.
• Solved some issues regarding liveliness on writers with no readers.
• Correctly removing changes from histories on keyed topics.
• Not reusing cache change when sample does not fit.
• Fixed custom wait_until methods when time is in the past.
• Several data races and ABBA locks fixed.
• Reduced CPU and memory usage.
• Reduced flakiness of liveliness tests.
• Allow for more use cases on performance tests.

Several bug fixes on discovery server:

• Fixed local host communications.
• Correctly trimming server history.
• Fixed backup server operation.
• Fixed timing issues.

Version 1.9.4

This release adds the following features:

• Intra-process delivery mechanism is now active by default.
• Synchronous writers are now allowed to send fragments.
• New memory mode DYNAMIC_RESERVE on history pool.
• Performance tests can now be run on Windows and Mac.
• XML profiles for requester and replier.

It also includes the following bug fixes and improvements:

• Bump to FastCDR v1.0.12.
• Bump to Fast-RTPS-Gen v1.0.3.
• Fixed deadlock between PDP and StatefulReader.
• Improved CPU usage and allocations on timed events management.
• Performance improvements on reliable writers.
• Fixing bugs when Intra-process delivery is activated.
• Reducing dynamic allocations and memory footprint.
• Improvements and fixes on performance tests.
• Other minor bug fixes and improvements.

Version 1.9.3

This release adds the following features:

• Participant discovery filtering flags.
• Intra-process delivery mechanism opt-in.

It also includes the following bug fixes and improvements:

• Bump to Fast-RTPS-Gen v1.0.2.
• Bring back compatibility with XTypes 1.1 on PID_TYPE_CONSISTENCY.
• Ensure correct alignment when reading a parameter list.
• Add CHECK_DOCUMENTATION cmake option.
• EntityId_t and GuidPrefix_t have now their own header files.
• Fix potential race conditions and deadlocks.
• Improve the case where check_acked_status is called between reader matching process and its acknack reception.
• RTPSMessageGroup_t instances now use the thread-local storage.
• FragmentedChangePitStop manager removed.
• Remove the data fragments vector on CacheChange_t.
• Only call find_package for TinyXML2 if third-party options are off
• Allow XMLProfileManager methods to not show error log messages if a profile is not found.

Version 1.9.2

This release includes the following feature:

• Multiple initial PDP announcements.
• Flag to avoid builtin multicast.

It also adds the following bug fixes and improvements:

• Bump to Fast-RTPS-Gen v1.0.1.
• Bump to IDL-Parser v1.0.1.

Version 1.9.1

This release includes the following features:

• Fast-RTPS-Gen is now an independent project.
• Header eClock.h is now marked as deprecated.

It also adds the following bug fixes and improvements:

• Bump to FastCDR v1.0.11.
• Installation from sources documentation fixed.
• Fixed assertion on WriterProxy.
• Fixed potential fall through while parsing Parameters.
• Removed deprecated guards causing compilation errors in some 32 bits platforms.
• addTOCDRMessage method is now exported in the DLL, fixing issues related with Parameters' constructors.
• Improve windows performance by avoiding usage of _Cnd_timedwait method.
• Fixed reported communication issues by sending multicast through localhost too.
• Fixed potential race conditions and deadlocks.
• Eliminating use of acceptMsgDirectTo.
• Discovery Server framework reconnect/recreate strategy.
• Removed unused folders.
• Restored subscriber API.
• SequenceNumber_t improvements.
• Added STRICT_REALTIME cmake option.
• SubscriberHistory improvements.
• Assertion of participant liveliness by receiving RTPS messages from the remote participant.
• Fixed error while setting next deadline event in create_new_change_with_params.

Version 1.9.0

This release includes the following features:

• Partial implementation of allocation QoS.
• Implementation of Discovery Server.
• Implementation of non-blocking calls.

It also adds the following bug fixes and improvements:

• Added sliding window to BitmapRange.
• Modified default behavior for unknown writers.
• A Flush() method was added to the logger to ensure all info is logged.
• A test for loading Duration_t from XML was added.
• Optimized WLP when removing local writers.
• Some liveliness tests were updated so that they are more stable on Windows.
• A fix was added to CMakeLists.txt for installing static libraries.
• A fix was added to performance tests so that they can run on the RT kernel.
• Fix for race condition on built-in protocols creation.
• Fix for setting nullptr in a fixed_string.
• Fix for v1.8.1 not building with -DBUILD_JAVA=ON.
• Fix for GAP messages not being sent in some cases.
• Fix for coverity report.
• Several memory issues fixes.
• fastrtps.repos file was updated.
• Documentation for building with Colcon was added.
• Change CMake configuration directory if INSTALLER_PLATFORM is set.
• IDL sub-module updated to current version.

Version 1.8.4

This release adds the following feature:

• XML profiles for requester and replier

It also has the following important bug fixes:

• Solved an issue when recreating a publishing participant with the same GUID (either on purpose or by chance)
• Solved an issue where a publisher could block on write for a long time when, after a large number of samples have been sent, a new subscriber is matched.

Version 1.8.3

This release adds the following bug fixes and improvements:

• Fix serialization of TypeConsistencyEnforcementQosPolicy.
• Bump to Fast-RTPS-Gen v1.0.2.
• Bump to IDL-Parser v1.0.1.

Version 1.8.2

This release includes the following features:

• Modified unknown writers default behavior.
• Multiple initial PDP announcements.
• Flag to avoid builtin multicast.
• STRICT_REALTIME compilation flag.

It also adds the following bug fixes and improvements:

• Fix for setting nullptr in a fixed string.
• Fix for not sending GAP in several cases.
• Solve Coverity report issues.
• Fix issue of fastrtpsgen failing to open IDL.g4 file.
• Fix unnamed lock in AESGCMGMAC_KeyFactory.cpp.
• Improve XMLProfiles example.
• Multicast is now sent through localhost too.
• BitmapRange now implements sliding window.
• Improve SequenceNumber_t struct.
• Participant's liveliness is now asserted when receiving any RTPS message.
• Fix leak on RemoteParticipantLeaseDuration.
• Modified default values to improve behavior in Wi-Fi scenarios.
• SubscriberHistory improvements.
• Removed use of acceptMsgDirectTo.
• WLP improvements.

Version 1.8.1

This release includes the following features:

• Implementation of :ref:livelinessqospolicy QoS.

It also adds the following bug fixes and improvements:

• Fix for get_change on history, which was causing issues during discovery.
• Fix for announcement of participant state, which was sending ParticipantBuiltinData twice.
• Fix for closing multicast UDP channel.
• Fix for race conditions in SubscriberHistory, UDPTransportInterface and StatefulReader.
• Fix for lroundl error on Windows in Time_t.
• CDR & IDL submodules update.
• Use of java 1.8 or greater for fastrtpsgen.jar generation.

Version 1.8.0

This release included the following features:

• Implementation of IDL 4.2.
• Implementation of :ref:deadlineqospolicy QoS.
• Implementation of :ref:lifespanqospolicy QoS.
• Implementation of :ref:disablepositiveacksqospolicy QoS.
• Secure sockets on TCP transport (:ref:TLS).

It also adds the following improvements and bug fixes:

• Real-time improvements: non-blocking write calls for best-effort writers, addition of fixed size strings, fixed size bitmaps, resource limited vectors, etc.
• Duration parameters now use nanoseconds.
• Configuration of participant mutation tries.
• Automatic calculation of the port when a value of 0 is received on the endpoint custom locators.
• Non-local addresses are now filtered from whitelists.
• Optimization of check for acked status for stateful writers.
• Linked libs are now not exposed when the target is a shared lib.
• Limitation on the domain ID has been added.
• UDP non-blocking send is now optional and configurable via XML.
• Fix for non-deterministic tests.
• Fix for ReaderProxy history being reloaded incorrectly in some cases.
• Fix for RTPS domain hostid being potentially not unique.
• Fix for participants with different lease expiration times failing to reconnect.

Known issues

• When using TPC transport, sometimes callbacks are not invoked when removing a participant due to a bug in ASIO.

Version 1.7.2

This release fixes an important bug:

• Allocation limits on subscribers with a KEEP_LAST QoS was taken from resource limits configuration and didn't take history depth into account.

It also has the following improvements:

• Vendor FindThreads.cmake from CMake 3.14 release candidate to help with sanitizers.
• Fixed format of gradle file.

Some other minor bugs and performance improvements.

Version 1.7.1

This release included the following features:

• LogFileConsumer added to the logging system.
• Handle FASTRTPS_DEFAULT_PROFILES_FILE environment variable indicating the default profiles XML file.
• XML parser made more restrictive and with better error messages.

It also fixes some important bugs:

• Fixed discovery issues related to the selected network interfaces on Windows.
• Improved discovery times.
• Workaround ASIO issue with multicast on QNX systems.
• Improved TCP transport performance.
• Improved handling of key-only data submessages.

Some other minor bugs and performance improvements.

KNOWN ISSUES

• Allocation limits on subscribers with a KEEP_LAST QoS is taken from resource limits configuration and doesn't take history depth into account.

Version 1.7.0

This release included the following features:

• :ref:comm-transports-tcp.
• :ref:dynamic-types.
• Security 1.1 compliance.

Also bug fixing, allocation and performance improvements.

Version 1.6.0

This release included the following features:

• :ref:persistence.
• Security access control plugin API and builtin :ref:access-permissions plugin.

Also bug fixing.

Version 1.5.0

This release included the following features:

• Configuration of Fast RTPS entities through XML profiles.
• Added heartbeat piggyback support.

Also bug fixing.

Version 1.4.0

This release included the following:

• Added secure communications.
• Removed all Boost dependencies. Fast RTPS is not using Boost libraries anymore.
• Added compatibility with Android.
• Bug fixing.

Version 1.3.1

This release included the following:

• New examples that illustrate how to tweak Fast RTPS towards different applications.
• Improved support for embedded Linux.
• Bug fixing.

Version 1.3.0

This release introduced several new features:

• Unbound Arrays support: Now you can send variable size data arrays.
• Extended Fragmentation Configuration: It allows you to setup a Message/Fragment max size different to the standard 64Kb limit.
• Improved logging system: Get even more introspection about the status of your communications system.
• Static Discovery: Use XML to map your network and keep discovery traffic to a minimum.
• Stability and performance improvements: A new iteration of our built-in performance tests will make benchmarking easier for you.
• ReadTheDocs Support: We improved our documentation format and now our installation and user manuals are available online on ReadTheDocs.

Version 1.2.0

This release introduced two important new features:

• Flow Controllers: A mechanism to control how you use the available bandwidth avoiding data bursts. The controllers allow you to specify the maximum amount of data to be sent in a specific period of time. This is very useful when you are sending large messages requiring fragmentation.
• Discovery Listeners: Now the user can subscribe to the discovery information to know the entities present in the network (Topics, Publishers & Subscribers) dynamically without prior knowledge of the system. This enables the creation of generic tools to inspect your system.

But there is more:

• Full ROS2 Support: Fast RTPS is used by ROS2, the upcoming release of the Robot Operating System (ROS).
• Better documentation: More content and examples.
• Improved performance.
• Bug fixing.