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Roadmap

Main Focus

The list is sorted by priority

Planned For v0.7

  • Python Language Bindings
  • Basic Host2Host Communication based on zenoh
  • iox2 cli service debugging
  • Detailed getting started documentation for all supported languages

After v0.7

  • Embedded Platforms: QNX 7.1 & QNX 8.0
  • Blackboard Messaging Pattern

Backlog

Important

The features in our backlog have no set timeline and will be eventually worked on if capacity becomes available.

If there is a feature you would like to see completed within a certain timeline, please don't hesitate to reach out! Features in the backlog (or new ones) can be sponsored to be prioritized.

The funds we receive through sponsored features help us keep the lights on - they go towards making iceoryx2 awesome and making sure we can continue maintaining it for everyone.

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
  • iceoryx2 on a rover on the moon
  • iceoryx2 can communicate with every SOA protocol transparently with gateways that are activated automatically

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++
  • Python
  • C#
  • Dash/Flutter
  • Kotlin
  • Go
  • Lua
  • Swift
  • Typescript
  • 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 (ZeroCopySend)
    • ensure that only these types are used for inter-process communication

Gateways

  • Host2Host Communication based on https://github.com/smoltcp-rs/smoltcp
  • Host2Host Communication based on zenoh
  • mqtt (rumqtt)
  • dds (rustdds or dustdds)
  • zenoh
  • someip (maybe sommr)
  • dbus (zbus)
  • websocket

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
  • iox2 cli service debugging

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
  • Log 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
  • Zero-copy based on dma-heap in linux

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
  • Android Automotive
  • Linux
  • Windows
  • Mac Os
  • iOS
  • WatchOS
  • FreeBSD
  • FreeRTOS
  • QNX
  • VxWorks
  • BareMetal
  • Sandbox Mode (only process internal communication)

Hardware Support

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

Framework Integration

  • ROS2 rmw binding
  • dora-rs integration

Safety & Security

  • Mixed Criticality setup, e.g. applications do not interfere 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 core::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