From de204e7624b9e7ba4ddbb012d4ff536c371b7aa1 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Thu, 17 Nov 2022 15:34:01 -0800 Subject: [PATCH 01/14] 8.4.0 release (#370) Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- CMakeLists.txt | 2 +- Changelog.md | 11 +++++++++++ 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c32bc900e..5e3aab859 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-transport8 VERSION 8.3.0) +project(ignition-transport8 VERSION 8.4.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 8dc0f78af..3d1eae8e5 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,16 @@ ## Ignition Transport 8 +### Gazebo Transport 8.4.0 (2022-11-17) + +1. ign -> gz : Remove redundant namespace references. + * [Pull request #345](https://github.com/gazebosim/gz-transport/pull/345) + +1. Backport Windows fix from main branch. + * [Pull request #350](https://github.com/gazebosim/gz-transport/pull/350) + +1. ign -> gz Migrate Ignition Headers : gz-transport. + * [Pull request #347](https://github.com/gazebosim/gz-transport/pull/347) + ### Gazebo Transport 8.3.0 (2022-07-27) 1. Ignition -> Gazebo From 918f14e21c8ea68e5ae011c2ecac7f4b76afa5ed Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Thu, 1 Dec 2022 19:37:33 -0600 Subject: [PATCH 02/14] Fix CLI configuration install path to ignition (#372) Signed-off-by: Michael Carroll Co-authored-by: Steve Peters --- conf/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt index 6f5089fca..b2c29e8da 100644 --- a/conf/CMakeLists.txt +++ b/conf/CMakeLists.txt @@ -24,4 +24,4 @@ configure_file( # Install the yaml configuration files in an unversioned location. install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml - DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/) + DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/) From 4b93f75a90b90274b7437f59e6446a0160ca61eb Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 2 Dec 2022 08:29:08 -0600 Subject: [PATCH 03/14] =?UTF-8?q?=F0=9F=8E=88=2011.3.1=20(#373)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Michael Carroll --- CMakeLists.txt | 2 +- Changelog.md | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d1d2c271f..fa8773397 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-transport11 VERSION 11.3.0) +project(ignition-transport11 VERSION 11.3.1) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 75f4d675b..d935573b5 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,12 +1,17 @@ ## Gazebo Transport 11.X +### Gazebo Transport 11.3.1 (2022-12-01) + +1. Fix CLI configuration install path to ignition + * [Pull request #372](https://github.com/gazebosim/gz-transport/pull/372) + ### Gazebo Transport 11.3.0 (2022-10-31) 1. Add parameters component - * [Pull request #305](https://github.com/gazebosim/ign-transport/pull/305) + * [Pull request #305](https://github.com/gazebosim/gz-transport/pull/305) 1. Fix build for Debian Bullseye - * [Pull request #363](https://github.com/gazebosim/ign-transport/pull/363) + * [Pull request #363](https://github.com/gazebosim/gz-transport/pull/363) ### Gazebo Transport 11.2.0 (2022-08-16) From f159d97f95cdfe7da98a28d57246b1b5e750b9db Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Thu, 8 Dec 2022 09:11:36 -0800 Subject: [PATCH 04/14] Fix include/ignition/.../parameters header files (#374) The ignition redirection headers for the parameters component were not installed. Also fix result.hh. Signed-off-by: Steve Peters --- parameters/include/CMakeLists.txt | 2 ++ parameters/include/gz/CMakeLists.txt | 1 + .../include/ignition/transport/parameters.hh | 19 +++++++++++++++++++ .../transport/{ => parameters}/Client.hh | 0 .../ignition/transport/parameters/Export.hh | 19 +++++++++++++++++++ .../transport/{ => parameters}/Interface.hh | 0 .../transport/{ => parameters}/Registry.hh | 0 .../transport/{ => parameters}/result.hh | 2 +- 8 files changed, 42 insertions(+), 1 deletion(-) create mode 100644 parameters/include/CMakeLists.txt create mode 100644 parameters/include/gz/CMakeLists.txt create mode 100644 parameters/include/ignition/transport/parameters.hh rename parameters/include/ignition/transport/{ => parameters}/Client.hh (100%) create mode 100644 parameters/include/ignition/transport/parameters/Export.hh rename parameters/include/ignition/transport/{ => parameters}/Interface.hh (100%) rename parameters/include/ignition/transport/{ => parameters}/Registry.hh (100%) rename parameters/include/ignition/transport/{ => parameters}/result.hh (93%) diff --git a/parameters/include/CMakeLists.txt b/parameters/include/CMakeLists.txt new file mode 100644 index 000000000..4b2bdd7bb --- /dev/null +++ b/parameters/include/CMakeLists.txt @@ -0,0 +1,2 @@ +add_subdirectory(gz) +install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}) diff --git a/parameters/include/gz/CMakeLists.txt b/parameters/include/gz/CMakeLists.txt new file mode 100644 index 000000000..321a9fe17 --- /dev/null +++ b/parameters/include/gz/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(transport) diff --git a/parameters/include/ignition/transport/parameters.hh b/parameters/include/ignition/transport/parameters.hh new file mode 100644 index 000000000..def0d44c3 --- /dev/null +++ b/parameters/include/ignition/transport/parameters.hh @@ -0,0 +1,19 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include diff --git a/parameters/include/ignition/transport/Client.hh b/parameters/include/ignition/transport/parameters/Client.hh similarity index 100% rename from parameters/include/ignition/transport/Client.hh rename to parameters/include/ignition/transport/parameters/Client.hh diff --git a/parameters/include/ignition/transport/parameters/Export.hh b/parameters/include/ignition/transport/parameters/Export.hh new file mode 100644 index 000000000..bcd978a8b --- /dev/null +++ b/parameters/include/ignition/transport/parameters/Export.hh @@ -0,0 +1,19 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include diff --git a/parameters/include/ignition/transport/Interface.hh b/parameters/include/ignition/transport/parameters/Interface.hh similarity index 100% rename from parameters/include/ignition/transport/Interface.hh rename to parameters/include/ignition/transport/parameters/Interface.hh diff --git a/parameters/include/ignition/transport/Registry.hh b/parameters/include/ignition/transport/parameters/Registry.hh similarity index 100% rename from parameters/include/ignition/transport/Registry.hh rename to parameters/include/ignition/transport/parameters/Registry.hh diff --git a/parameters/include/ignition/transport/result.hh b/parameters/include/ignition/transport/parameters/result.hh similarity index 93% rename from parameters/include/ignition/transport/result.hh rename to parameters/include/ignition/transport/parameters/result.hh index 01a18c815..e1f6b884c 100644 --- a/parameters/include/ignition/transport/result.hh +++ b/parameters/include/ignition/transport/parameters/result.hh @@ -15,5 +15,5 @@ * */ -#include +#include #include From a185b8cf8741d5a996b83214265733a082bb7d94 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Thu, 8 Dec 2022 10:05:10 -0800 Subject: [PATCH 05/14] Prepare for 11.3.2 release (#375) Signed-off-by: Steve Peters --- CMakeLists.txt | 2 +- Changelog.md | 5 +++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fa8773397..cf5821e06 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-transport11 VERSION 11.3.1) +project(ignition-transport11 VERSION 11.3.2) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index d935573b5..8b844d43b 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,10 @@ ## Gazebo Transport 11.X +### Gazebo Transport 11.3.2 (2022-12-08) + +1. Fix include/ignition/.../parameters header files + * [Pull request #374](https://github.com/gazebosim/gz-transport/pull/374) + ### Gazebo Transport 11.3.1 (2022-12-01) 1. Fix CLI configuration install path to ignition From 4771514b53a85d21ce9caea304d9d5819eede35b Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 13 Jan 2023 18:26:08 -0600 Subject: [PATCH 06/14] Suppress some Windows warnings (#367) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Suppress some Windows warnings Signed-off-by: Michael Carroll * Suppress more 4251 protobuf warnings Signed-off-by: Steve Peters * Fix windows warngigns Signed-off-by: Nate Koenig Signed-off-by: Michael Carroll Signed-off-by: Steve Peters Signed-off-by: Nate Koenig Co-authored-by: Alejandro Hernández Cordero Co-authored-by: Steve Peters Co-authored-by: Nate Koenig --- log/test/integration/ChirpParams.hh | 7 +++++++ parameters/include/gz/transport/parameters/Client.hh | 12 ++++++++++-- .../include/gz/transport/parameters/Registry.hh | 9 +++++++++ parameters/src/Utils.hh | 9 ++++++++- src/cmd/gz_src_TEST.cc | 9 ++++++++- test/integration/authPubSub.cc | 9 ++++++++- test/integration/authPubSubSubscriberInvalid_aux.cc | 9 ++++++++- test/integration/fastPub_aux.cc | 9 ++++++++- 8 files changed, 66 insertions(+), 7 deletions(-) diff --git a/log/test/integration/ChirpParams.hh b/log/test/integration/ChirpParams.hh index 435ede56b..e3fbb4488 100644 --- a/log/test/integration/ChirpParams.hh +++ b/log/test/integration/ChirpParams.hh @@ -18,7 +18,14 @@ #ifndef GZ_TRANSPORT_LOG_TEST_INTEGRATION_CHIRPPARAMS_HH_ #define GZ_TRANSPORT_LOG_TEST_INTEGRATION_CHIRPPARAMS_HH_ +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable: 4251) +#endif #include +#ifdef _MSC_VER +#pragma warning(pop) +#endif #include #include diff --git a/parameters/include/gz/transport/parameters/Client.hh b/parameters/include/gz/transport/parameters/Client.hh index df6a121fa..29358ab6a 100644 --- a/parameters/include/gz/transport/parameters/Client.hh +++ b/parameters/include/gz/transport/parameters/Client.hh @@ -101,11 +101,19 @@ namespace ignition public: ignition::msgs::ParameterDeclarations ListParameters() const final; - private: +#ifdef _WIN32 +// Disable warning C4251 which is triggered by +// std::unique_ptr +#pragma warning(push) +#pragma warning(disable: 4251) +#endif /// \brief Pointer to implementation. private: std::unique_ptr dataPtr; +#ifdef _WIN32 +#pragma warning(pop) +#endif - constexpr static inline unsigned int kDefaultTimeoutMs = 5000; + private: constexpr static inline unsigned int kDefaultTimeoutMs = 5000; }; } } diff --git a/parameters/include/gz/transport/parameters/Registry.hh b/parameters/include/gz/transport/parameters/Registry.hh index f9ebbdc3a..d03f514f0 100644 --- a/parameters/include/gz/transport/parameters/Registry.hh +++ b/parameters/include/gz/transport/parameters/Registry.hh @@ -125,8 +125,17 @@ namespace ignition const std::string & _parameterName, std::unique_ptr _value); +#ifdef _WIN32 +// Disable warning C4251 which is triggered by +// std::unique_ptr +#pragma warning(push) +#pragma warning(disable: 4251) +#endif /// \brief Pointer to implementation. private: std::unique_ptr dataPtr; +#ifdef _WIN32 +#pragma warning(pop) +#endif }; } } diff --git a/parameters/src/Utils.hh b/parameters/src/Utils.hh index 739a62981..80422b9d1 100644 --- a/parameters/src/Utils.hh +++ b/parameters/src/Utils.hh @@ -24,7 +24,14 @@ #include "gz/transport/config.hh" #include "gz/transport/parameters/Export.hh" +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable: 4251) // Missing dll-interface +#endif // defined(_MSC_VER) #include +#if defined(_MSC_VER) +#pragma warning(pop) +#endif // defined(_MSC_VER) namespace ignition { @@ -53,4 +60,4 @@ namespace ignition } } -#endif +#endif // IGNITION_TRANSPORT_PARAMETERS_UTILS_HH_ diff --git a/src/cmd/gz_src_TEST.cc b/src/cmd/gz_src_TEST.cc index fc72b8121..33418478a 100644 --- a/src/cmd/gz_src_TEST.cc +++ b/src/cmd/gz_src_TEST.cc @@ -19,7 +19,14 @@ #include #include #include -#include +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable: 4251) +#endif +#include +#ifdef _MSC_VER +#pragma warning(pop) +#endif #include "gtest/gtest.h" #include "gz.hh" diff --git a/test/integration/authPubSub.cc b/test/integration/authPubSub.cc index 99fd7001a..5e32fa289 100644 --- a/test/integration/authPubSub.cc +++ b/test/integration/authPubSub.cc @@ -17,7 +17,14 @@ #include #include -#include +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable: 4251) +#endif +#include +#ifdef _MSC_VER +#pragma warning(pop) +#endif #include "gtest/gtest.h" #include "gz/transport/Node.hh" diff --git a/test/integration/authPubSubSubscriberInvalid_aux.cc b/test/integration/authPubSubSubscriberInvalid_aux.cc index 3dea37402..f5cb20f4b 100644 --- a/test/integration/authPubSubSubscriberInvalid_aux.cc +++ b/test/integration/authPubSubSubscriberInvalid_aux.cc @@ -17,7 +17,14 @@ #include #include -#include +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable: 4251) +#endif +#include +#ifdef _MSC_VER +#pragma warning(pop) +#endif #ifdef _WIN32 #include #endif diff --git a/test/integration/fastPub_aux.cc b/test/integration/fastPub_aux.cc index 30bb33bc9..4ce8f3592 100644 --- a/test/integration/fastPub_aux.cc +++ b/test/integration/fastPub_aux.cc @@ -16,7 +16,14 @@ */ #include #include -#include +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable: 4251) +#endif +#include +#ifdef _MSC_VER +#pragma warning(pop) +#endif #include "gz/transport/Node.hh" #include "gz/transport/test_config.h" From d52aa701d871ca6d49e1a35914d7baa3f9ee6f8d Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 15 Feb 2023 08:26:02 -0800 Subject: [PATCH 07/14] Pass std::function by value to Node::Subscribe (#382) * Pass std::function by value to Node::Subscribe Signed-off-by: Nate Koenig * Added a few moves Signed-off-by: Nate Koenig --------- Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- include/gz/transport/Node.hh | 4 ++-- include/gz/transport/detail/Node.hh | 11 ++++++----- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/include/gz/transport/Node.hh b/include/gz/transport/Node.hh index 56c2ecff9..68d4737e6 100644 --- a/include/gz/transport/Node.hh +++ b/include/gz/transport/Node.hh @@ -273,7 +273,7 @@ namespace ignition public: template bool Subscribe( const std::string &_topic, - std::function &_callback, + std::function _callback, const SubscribeOptions &_opts = SubscribeOptions()); /// \brief Subscribe to a topic registering a callback. @@ -322,7 +322,7 @@ namespace ignition bool Subscribe( const std::string &_topic, std::function &_callback, + const MessageInfo &_info)> _callback, const SubscribeOptions &_opts = SubscribeOptions()); /// \brief Subscribe to a topic registering a callback. diff --git a/include/gz/transport/detail/Node.hh b/include/gz/transport/detail/Node.hh index fdefdf8d5..18859a6cf 100644 --- a/include/gz/transport/detail/Node.hh +++ b/include/gz/transport/detail/Node.hh @@ -20,6 +20,7 @@ #include #include +#include namespace ignition { @@ -55,14 +56,14 @@ namespace ignition template bool Node::Subscribe( const std::string &_topic, - std::function &_cb, + std::function _cb, const SubscribeOptions &_opts) { std::function f = - [_cb](const MessageT & _internalMsg, + [cb = std::move(_cb)](const MessageT & _internalMsg, const MessageInfo &/*_internalInfo*/) { - _cb(_internalMsg); + cb(_internalMsg); }; return this->Subscribe(_topic, f, _opts); @@ -109,7 +110,7 @@ namespace ignition bool Node::Subscribe( const std::string &_topic, std::function &_cb, + const MessageInfo &_info)> _cb, const SubscribeOptions &_opts) { // Topic remapping. @@ -129,7 +130,7 @@ namespace ignition new SubscriptionHandler(this->NodeUuid(), _opts)); // Insert the callback into the handler. - subscrHandlerPtr->SetCallback(_cb); + subscrHandlerPtr->SetCallback(std::move(_cb)); std::lock_guard lk(this->Shared()->mutex); From 376b57e6cdf891fe18402a8fe2949c5cdd10c596 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 8 Mar 2023 13:10:07 -0800 Subject: [PATCH 08/14] Added Node::RequestRaw (#351) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Added Node::RequestRaw Signed-off-by: Nate Koenig * Added example Signed-off-by: Nate Koenig * Code check Signed-off-by: Nate Koenig * Typo Signed-off-by: Carlos Agüero * Checks Signed-off-by: Nate Koenig * Refactor request raw Signed-off-by: Nate Koenig * Address comments Signed-off-by: Nate Koenig --------- Signed-off-by: Nate Koenig Signed-off-by: Carlos Agüero Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig Co-authored-by: Carlos Agüero --- example/CMakeLists.txt | 6 ++++ example/requester_raw.cc | 55 ++++++++++++++++++++++++++++++++++++ include/gz/transport/Node.hh | 20 +++++++++++++ src/Node.cc | 28 ++++++++++++++++++ src/Node_TEST.cc | 12 ++++++++ 5 files changed, 121 insertions(+) create mode 100644 example/requester_raw.cc diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt index b620630b2..15305ac09 100644 --- a/example/CMakeLists.txt +++ b/example/CMakeLists.txt @@ -101,6 +101,12 @@ if (EXISTS "${CMAKE_SOURCE_DIR}/requester_oneway.cc") ignition-transport${IGN_TRANSPORT_VER}::core) endif() +if (EXISTS "${CMAKE_SOURCE_DIR}/requester_raw.cc") + add_executable(requester_raw requester_raw.cc) + target_link_libraries(requester_raw + ignition-transport${IGN_TRANSPORT_VER}::core) +endif() + if (EXISTS "${CMAKE_SOURCE_DIR}/responser_no_input.cc") add_executable(responser_no_input responser_no_input.cc) target_link_libraries(responser_no_input diff --git a/example/requester_raw.cc b/example/requester_raw.cc new file mode 100644 index 000000000..091eb817a --- /dev/null +++ b/example/requester_raw.cc @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include +#include + +////////////////////////////////////////////////// +int main(int argc, char **argv) +{ + // Create a transport node. + ignition::transport::Node node; + + // Prepare the input parameters. + ignition::msgs::StringMsg req; + req.set_data("HELLO"); + + bool result; + unsigned int timeout = 5000; + + std::string reqStr, repStr; + req.SerializeToString(&reqStr); + + // Request the "/echo" service. + bool executed = node.RequestRaw("/echo", reqStr, "ignition.msgs.StringMsg", + "ignition.msgs.StringMsg", timeout, repStr, result); + + if (executed) + { + if (result) + { + ignition::msgs::StringMsg rep; + rep.ParseFromString(repStr); + std::cout << "Response: [" << rep.data() << "]" << std::endl; + } + else + std::cout << "Service call failed" << std::endl; + } + else + std::cerr << "Service call timed out" << std::endl; +} diff --git a/include/gz/transport/Node.hh b/include/gz/transport/Node.hh index 68d4737e6..8d3d63999 100644 --- a/include/gz/transport/Node.hh +++ b/include/gz/transport/Node.hh @@ -662,6 +662,26 @@ namespace ignition public: template bool Request(const std::string &_topic, const RequestT &_request); + /// \brief Request a new service using a blocking call. This request + /// function expects a serialized protobuf message as the request and + /// returns a serialized protobuf message as the response. + /// \param[in] _topic Service name requested. + /// \param[in] _request Protobuf message serialized into a string + /// containing the request's parameters. + /// \param[in] _requestType Message type of the request. + /// \param[in] _responseType Message type of the response. + /// \param[in] _timeout The request will timeout after '_timeout' ms. + /// \param[out] _response Serialized protobuf message containing the + /// response. + /// \param[out] _result Result of the service call. + /// \return true when the request was executed or false if the timeout + /// expired. + public: bool RequestRaw(const std::string &_topic, + const std::string &_request, const std::string &_requestType, + const std::string &_responseType, unsigned int _timeout, + std::string &_response, + bool &_result); + /// \brief Unadvertise a service. /// \param[in] _topic Service name to be unadvertised. /// \return true if the service was successfully unadvertised. diff --git a/src/Node.cc b/src/Node.cc index a49c45963..cee315ed0 100644 --- a/src/Node.cc +++ b/src/Node.cc @@ -1036,3 +1036,31 @@ bool Node::SubscribeHelper(const std::string &_fullyQualifiedTopic) { return this->dataPtr->SubscribeHelper(_fullyQualifiedTopic); } + +///////////////////////////////////////////////// +bool Node::RequestRaw(const std::string &_topic, + const std::string &_request, const std::string &_requestType, + const std::string &_responseType, unsigned int _timeout, + std::string &_response, bool &_result) +{ + std::unique_ptr req = + msgs::Factory::New(_requestType); + if (!req) + { + std::cerr << "Unable to create request of type[" << _requestType << "].\n"; + return false; + } + req->ParseFromString(_request); + + std::unique_ptr res = + msgs::Factory::New(_responseType); + if (!res) + { + std::cerr << "Unable to create response of type[" + << _responseType << "].\n"; + return false; + } + + bool executed = this->Request(_topic, *req, _timeout, *res, _result); + return executed && res->SerializeToString(&_response); +} diff --git a/src/Node_TEST.cc b/src/Node_TEST.cc index b22ce7edf..d3a8709e5 100644 --- a/src/Node_TEST.cc +++ b/src/Node_TEST.cc @@ -341,6 +341,18 @@ class MyTestClass this->Reset(); + // Request a valid service using RequestRaw. + std::string reqStr, repStr, repTypeName; + req.SerializeToString(&reqStr); + EXPECT_TRUE(this->node.RequestRaw(g_topic, reqStr, req.GetTypeName(), + rep.GetTypeName(), timeout, repStr, result)); + rep.ParseFromString(repStr); + ASSERT_TRUE(result); + EXPECT_EQ(rep.data(), data); + EXPECT_TRUE(this->callbackSrvExecuted); + + this->Reset(); + // Service requests with wrong types. EXPECT_FALSE(this->node.Request(g_topic, wrongReq, timeout, rep, result)); EXPECT_FALSE(this->node.Request(g_topic, req, timeout, wrongRep, result)); From da92193c0b9ba59ed43e6537d364d863c9e088aa Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 8 Mar 2023 14:33:37 -0800 Subject: [PATCH 09/14] 11.4.0 release (#388) Signed-off-by: Nate Koenig --- CMakeLists.txt | 2 +- Changelog.md | 10 ++++++++++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index cf5821e06..638596bf5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-transport11 VERSION 11.3.2) +project(ignition-transport11 VERSION 11.4.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 60ed578aa..1c05dd0ef 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,15 @@ ## Gazebo Transport 11.X +### Gazebo Transport 11.4.0 (2023-03-08) + +1. Added Node::RequestRaw + * [Pull request #351](https://github.com/gazebosim/gz-transport/pull/351) + +1. Suppress some Windows warnings. + * [Pull request #367](https://github.com/gazebosim/gz-transport/pull/367) + +1. All changes up to version 8.2.0. + ### Gazebo Transport 11.3.2 (2022-12-08) 1. Fix include/ignition/.../parameters header files From 2e3cec05017440ca7beaa6cf754f33e217feeae8 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Thu, 9 Mar 2023 00:59:38 +0000 Subject: [PATCH 10/14] Use gz headers Signed-off-by: Nate Koenig --- src/cmd/gz_src_TEST.cc | 2 +- test/integration/authPubSub.cc | 2 +- test/integration/authPubSubSubscriberInvalid_aux.cc | 2 +- test/integration/fastPub_aux.cc | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/cmd/gz_src_TEST.cc b/src/cmd/gz_src_TEST.cc index e3df0c68b..57ef9661c 100644 --- a/src/cmd/gz_src_TEST.cc +++ b/src/cmd/gz_src_TEST.cc @@ -23,7 +23,7 @@ #pragma warning(push) #pragma warning(disable: 4251) #endif -#include +#include #ifdef _MSC_VER #pragma warning(pop) #endif diff --git a/test/integration/authPubSub.cc b/test/integration/authPubSub.cc index e3c8ce62c..f0fd6eaf5 100644 --- a/test/integration/authPubSub.cc +++ b/test/integration/authPubSub.cc @@ -21,7 +21,7 @@ #pragma warning(push) #pragma warning(disable: 4251) #endif -#include +#include #ifdef _MSC_VER #pragma warning(pop) #endif diff --git a/test/integration/authPubSubSubscriberInvalid_aux.cc b/test/integration/authPubSubSubscriberInvalid_aux.cc index 55f16cdf2..9b8d2d4dd 100644 --- a/test/integration/authPubSubSubscriberInvalid_aux.cc +++ b/test/integration/authPubSubSubscriberInvalid_aux.cc @@ -21,7 +21,7 @@ #pragma warning(push) #pragma warning(disable: 4251) #endif -#include +#include #ifdef _MSC_VER #pragma warning(pop) #endif diff --git a/test/integration/fastPub_aux.cc b/test/integration/fastPub_aux.cc index 40be53a68..bd04c41e7 100644 --- a/test/integration/fastPub_aux.cc +++ b/test/integration/fastPub_aux.cc @@ -20,7 +20,7 @@ #pragma warning(push) #pragma warning(disable: 4251) #endif -#include +#include #ifdef _MSC_VER #pragma warning(pop) #endif From 559ba5ada83d0ce816664e4b6a3765ffe5cffe2f Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Thu, 16 Mar 2023 15:00:55 -0700 Subject: [PATCH 11/14] Support clang and std::filesystem (#390) * Support clang and std::filesystem Signed-off-by: Nate Koenig * A bit cleaner Signed-off-by: Nate Koenig --------- Signed-off-by: Nate Koenig --- test/test_config.h.in | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/test/test_config.h.in b/test/test_config.h.in index 9d67b46b3..80358af4a 100644 --- a/test/test_config.h.in +++ b/test/test_config.h.in @@ -31,7 +31,12 @@ #endif #ifndef __APPLE__ - #if __unix__ && __GNUC__ < 8 + #if ((defined(__clang__) && __cplusplus < 201703L) || \ + (__unix__ && __GNUC__ < 8)) + #define GZ_EXPERIMENTAL_FILESYSTEM + #endif + + #ifdef GZ_EXPERIMENTAL_FILESYSTEM #include #else #include @@ -98,7 +103,7 @@ namespace testing // Ugly as hell but trying to avoid boost::filesystem return _str1 + "/" + _str2; #else - #if __unix__ && __GNUC__ < 8 + #ifdef GZ_EXPERIMENTAL_FILESYSTEM using namespace std::experimental::filesystem; #else using namespace std::filesystem; From fc5d454eb9cb21c0ade40e9a525a19e80855d550 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Mon, 20 Mar 2023 09:31:12 -0700 Subject: [PATCH 12/14] CI workflow: use checkout v3 (#391) Version v2 of the actions/checkout workflow is deprecated, so switch to v3. Part of gazebo-tooling/release-tools#862. Signed-off-by: Steve Peters --- .github/workflows/ci.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 901a02396..daaa73b73 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -8,7 +8,7 @@ jobs: name: Ubuntu Bionic CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: ignition-tooling/action-ignition-ci@bionic @@ -19,7 +19,7 @@ jobs: name: Ubuntu Focal CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: ignition-tooling/action-ignition-ci@focal From a95b593eda33464bdfd8bdc86cf4a3db6c7784fc Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Mon, 20 Mar 2023 14:17:53 -0700 Subject: [PATCH 13/14] Rename COPYING to LICENSE (#392) The LICENSE file contained a copy of the stanze used at the top of source code files, while the actual license was in the COPYING file. So remove the stanza and put the actual Apache 2.0 license text in LICENSE. Similar to gazebosim/gz-math#521. Signed-off-by: Steve Peters --- COPYING | 178 ----------------------------------------------------- LICENSE | 185 ++++++++++++++++++++++++++++++++++++++++++++++++++++---- 2 files changed, 174 insertions(+), 189 deletions(-) delete mode 100644 COPYING diff --git a/COPYING b/COPYING deleted file mode 100644 index 4909afd04..000000000 --- a/COPYING +++ /dev/null @@ -1,178 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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From 8b7835c52b96cc566e4d7f23ce8363aa809b2b14 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 24 Mar 2023 14:22:59 -0700 Subject: [PATCH 14/14] CI workflow: use checkout v3 (#394) Version v2 of the actions/checkout workflow is deprecated, so switch to v3. Part of gazebo-tooling/release-tools#862. Signed-off-by: Steve Peters --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 7e248f65e..08af0a8b1 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -32,7 +32,7 @@ jobs: name: Ubuntu Jammy CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: ignition-tooling/action-ignition-ci@jammy