QUALITY.md · FC-PX4/micro-CDR

This document is a declaration of software quality for **eProsima Micro CDR** based on the guidelines provided in the [ROS 2 REP-2004 document](https://www.ros.org/reps/rep-2004.html).

# Quality Declaration

**eProsima Micro CDR** is a C99 library that functions as a serialization tool, according to the [standard CDR](https://www.omg.org/cgi-bin/doc?formal/02-06-51) serialization mechanism.

**eProsima Micro CDR** claims to be in the **Quality Level 1** category.

Below are the rationales, notes and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html#package-requirements).

## Version Policy [1]

### Version Scheme [1.i]

The **Versioning Policy Declaration** for **eProsima Micro CDR** can be found [here](VERSIONING.md) and it adheres to [`semver`](https://semver.org/).

### Version Stability [1.ii]

**eProsima Micro CDR** is at a stable version, i.e. `>=1.0.0`.
The latest version and the release notes can be found [here](https://github.com/eProsima/Micro-CDR/releases).

### Public API Declaration [1.iii]

The public API is documented [in this repo README.md](https://github.com/eProsima/Micro-CDR#api-functions).

### API Stability Policy [1.iv]

**eProsima Micro CDR** will only break public API between major releases.

### ABI Stability Policy [1.v]

Any ABI break in **eProsima Micro CDR** will be done between minor versions and it should be clearly stated in the release notes.

## Change Control Process [2]

The stability of **eProsima Micro CDR** is ensured through reviews, CI and tests.
The change control process can be found in [CONTRIBUTING](CONTRIBUTING.md)

All changes to **eProsima Micro CDR** occur through pull requests that are required to pass all CI tests.
In case of failure, only maintainers can merge the pull request, and only when there is enough evidence that the failure is unrelated to the change.
Additionally, all pull requests must have at least one positive review from another contributor that did not author the pull request.

### Change Requests [2.i]

All changes will occur through a pull request.

### Contributor Origin [2.ii]

**eProsima Micro CDR** uses the [Developer Certificate of Origin (DCO)](https://developercertificate.org/) as its confirmation of contributor origin policy since version 1.2.2.
More information can be found in [CONTRIBUTING](CONTRIBUTING.md)

### Peer Review Policy [2.iii]

All pull requests will be peer-reviewed by at least one other contributor who did not author the pull request. Approval is required before merging.

### Continuous Integration [2.iv]

All pull requests must pass CI to be considered for merging, unless maintainers consider that there is enough evidence that the failure is unrelated to the changes.
CI testing is automatically triggered by incoming pull requests.
Current nightly results for all supported platforms can be checked at the links:

* Linux [![Linux ci](http://jenkins.eprosima.com:8080/view/Nightly/job/Micro-CDR%20Nightly%20Master%20Linux/badge/icon?subject=%20%20%20Linux%20CI%20)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-CDR%20Nightly%20Master%20Linux/)
* Windows [![Windows ci](http://jenkins.eprosima.com:8080/job/Micro-CDR%20Nightly%20Master%20Windows/badge/icon?subject=%20%20%20%20Windows%20CI%20)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-CDR%20Nightly%20Master%20Windows/)

### Documentation Policy [2.v]

All pull requests must resolve related documentation changes before merging as stated in [CONTRIBUTING](CONTRIBUTING.md).

## Documentation [3]

### Feature Documentation [3.i]

**eProsima Micro CDR** provides one feature corresponding to its serialization mechanisms:

* [Standard CDR](https://www.omg.org/cgi-bin/doc?formal/02-06-51) serialization mechanism.

### Public API Documentation [3.ii]

**eProsima Micro CDR** includes a complete API Reference documented [in this repo README.md](https://github.com/eProsima/Micro-CDR#api-functions).

### License [3.iii]

The license for **eProsima Micro CDR** is Apache 2.0, and a summary can be found in each source file.
A full copy of the license can be found [here](LICENSE).

### Copyright Statements [3.iv]

The **eProsima Micro CDR** copyright holder provides a statement of copyright in each source file.

## Testing [4]

### Feature Testing [4.i]

**eProsima Micro CDR** provides tests which simulate typical usage, and they are located in the [`test` directory](test).
New features are required to have tests before being added as stated in [CONTRIBUTING](CONTRIBUTING.md).
Current nightly results can be found here:

### Public API Testing [4.ii]

Each part of the public API has tests, and new additions or changes to the public API require tests before being added.
The tests aim to cover typical usage and corner cases.

### Coverage [4.iii]

[![Coverage](https://img.shields.io/jenkins/coverage/cobertura?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-CDR%2520Nightly%2520Master%2520Linux%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-CDR%20Nightly%20Master%20Linux/)
*eProsima Micro CDR* aims to provide a line coverage **above 90%**.
*Micro CDR* code coverage policy comprises:
1. All contributions to *Micro CDR* must increase (or at least keep) the current line coverage.
   This is done to ensure that the **90%** line coverage goal is eventually met.
1. Line coverage regressions are only permitted if properly justified and accepted by maintainers.
1. If the CI system reports a coverage regression after a pull request has been merged, the maintainers must study the case and decide how to proceed, most often reverting the changes and asking for a more thorough testing of the committed changes.
2. This policy is enforced through the [nightly Micro CDR CI job](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-CDR%20Nightly%20Master%20Linux/).

As stated in [CONTRIBUTING.md](CONTRIBUTING.md), developers and contributors are requested to run a line coverage assessment locally before submitting a PR.

### Performance [4.iv]

**eProsima Micro CDR** does not provide performance tests.
However, performance is indirectly tested by *eprosima Micro XRCE-DDS Client*.

Any performance regression detected in *eProsima Micro XRCE-DDS Client* would be analyz¡sed and, in case it is related to **eProsima Micro CDR** or could be solved by modifying this library, changes can be made to the library in order to revert the performance regression.

### Linters and Static Analysis [4.v]

**eProsima Micro CDR** [code style](https://github.com/eProsima/cpp-style) is enforced using [*uncrustify*](https://github.com/uncrustify/uncrustify).
Among the CI tests, there are tests that ensure that every pull request is compliant with the code style.
The latest pull request results can be seen [here](http://jenkins.eprosima.com:8080/job/Micro-CDR%20Manual%20Linux/lastBuild/).

**eProsima Micro CDR** uses [Synopsis Coverity static code analysis](https://scan.coverity.com/projects/eprosima-micro-cdr).

**eProsima Micro CDR** uses [CodeQL](https://github.com/eProsima/Micro-CDR/security/code-scanning?query=tool%3ACodeQL) to find security issues on the code.

## Dependencies [5]

### Direct Runtime Dependencies [5.iii]

**eProsima Micro CDR** has no run-time or build-time dependencies that need to be considered for this declaration.

## Platform Support [6]

**eProsima Micro CDR** supports the following platforms and tests each change against all of them as can be seen in the current nightly results:

More information about the supported platforms can be found in [PLATFORM_SUPPORT](PLATFORM_SUPPORT.md)

## Vulnerability Disclosure Policy [7.i]

**eprosima Micro CDR** vulnerability Disclosure Policy can be found [here](https://github.com/eProsima/policies/blob/main/VULNERABILITY.md)

# Current Status Summary

The chart below compares the requirements in the [REP-2004](https://www.ros.org/reps/rep-2004.html#quality-level-comparison-chart) with the current state of **eprosima Micro CDR**
| 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                              | ✓             |
| 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.b | Coverage policy                                   | ✓             |
| 4.iv.a  | Performance tests (if applicable)                 | N/A           |
| 4.iv.b  | Performance tests policy                          | N/A           |
| 4.v.a   | Code style enforcement (linters)                  | ✓             |
| 4.v.b   | Use of static analysis tools                      | ✓             |
| 5       | **Dependencies**                                  | ---           |
| 5.iii   | Justifies quality use of dependencies             | ✓             |
| 6       | **Platform support**                              | ---           |
| 6.i     | Support targets Tier1 ROS platforms               | ✓             |
| 7       | **Security**                                      | ---           |
| 7.i     | Vulnerability Disclosure Policy                   | ✓             |

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