Merge pull request #389 from gazebosim/11-to-12-20230309

Forward port 11 to 12

Changelog.md

@@ -103,13 +103,33 @@
 
 ## 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
+    * [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
+    * [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)
 
@@ -339,6 +359,17 @@
    and publication, age, and reception statistics.
     * [Pull request 205](https://github.com/gazebosim/gz-transport/pull/205)
 
+### 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

example/CMakeLists.txt

@@ -101,6 +101,12 @@ if (EXISTS "${CMAKE_SOURCE_DIR}/requester_oneway.cc")
     gz-transport${GZ_TRANSPORT_VER}::core)
 endif()
 
+if (EXISTS "${CMAKE_SOURCE_DIR}/requester_raw.cc")
+  add_executable(requester_raw requester_raw.cc)
+  target_link_libraries(requester_raw
+    gz-transport${GZ_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

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 <iostream>
+#include <gz/msgs.hh>
+#include <gz/transport.hh>
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  // Create a transport node.
+  gz::transport::Node node;
+
+  // Prepare the input parameters.
+  gz::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, "gz.msgs.StringMsg",
+      "gz.msgs.StringMsg", timeout, repStr, result);
+
+  if (executed)
+  {
+    if (result)
+    {
+      gz::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;
+}

include/gz/transport/Node.hh

@@ -264,7 +264,7 @@ namespace gz
       public: template<typename MessageT>
       bool Subscribe(
           const std::string &_topic,
-          std::function<void(const MessageT &_msg)> &_callback,
+          std::function<void(const MessageT &_msg)> _callback,
           const SubscribeOptions &_opts = SubscribeOptions());
 
       /// \brief Subscribe to a topic registering a callback.
@@ -313,7 +313,7 @@ namespace gz
       bool Subscribe(
           const std::string &_topic,
           std::function<void(const MessageT &_msg,
-                             const MessageInfo &_info)> &_callback,
+                             const MessageInfo &_info)> _callback,
           const SubscribeOptions &_opts = SubscribeOptions());
 
       /// \brief Subscribe to a topic registering a callback.
@@ -653,6 +653,26 @@ namespace gz
       public: template<typename RequestT>
       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.

include/gz/transport/detail/Node.hh

@@ -22,6 +22,7 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
 namespace gz
 {
@@ -57,14 +58,14 @@ namespace gz
     template<typename MessageT>
     bool Node::Subscribe(
         const std::string &_topic,
-        std::function<void(const MessageT &_msg)> &_cb,
+        std::function<void(const MessageT &_msg)> _cb,
         const SubscribeOptions &_opts)
     {
       std::function<void(const MessageT &, const MessageInfo &)> f =
-        [_cb](const MessageT & _internalMsg,
+        [cb = std::move(_cb)](const MessageT & _internalMsg,
               const MessageInfo &/*_internalInfo*/)
       {
-        _cb(_internalMsg);
+        cb(_internalMsg);
       };
 
       return this->Subscribe<MessageT>(_topic, f, _opts);
@@ -111,7 +112,7 @@ namespace gz
     bool Node::Subscribe(
         const std::string &_topic,
         std::function<void(const MessageT &_msg,
-                           const MessageInfo &_info)> &_cb,
+                           const MessageInfo &_info)> _cb,
         const SubscribeOptions &_opts)
     {
       // Topic remapping.
@@ -131,7 +132,7 @@ namespace gz
           new SubscriptionHandler<MessageT>(this->NodeUuid(), _opts));
 
       // Insert the callback into the handler.
-      subscrHandlerPtr->SetCallback(_cb);
+      subscrHandlerPtr->SetCallback(std::move(_cb));
 
       std::lock_guard<std::recursive_mutex> lk(this->Shared()->mutex);
 

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 <gz/msgs/int32.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 #include <test_config.hh>
 
 #include <string>

parameters/include/gz/transport/parameters/Client.hh

@@ -101,11 +101,19 @@ namespace gz
         public: gz::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<ParametersClientPrivate> dataPtr;
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
 
-        constexpr static inline unsigned int kDefaultTimeoutMs = 5000;
+        private: constexpr static inline unsigned int kDefaultTimeoutMs = 5000;
       };
       }
     }

parameters/include/gz/transport/parameters/Registry.hh

@@ -125,8 +125,17 @@ namespace gz
           const std::string & _parameterName,
           std::unique_ptr<google::protobuf::Message> _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<ParametersRegistryPrivate> dataPtr;
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
       };
       }
     }

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 <google/protobuf/any.pb.h>
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif  // defined(_MSC_VER)
 
 namespace gz
 {

src/Node.cc

@@ -1080,3 +1080,31 @@ bool NodePrivate::RemoveHandlersFromPubQueue(const std::string &_topic)
   }
   return true;
 }
+
+/////////////////////////////////////////////////
+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<google::protobuf::Message> 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<google::protobuf::Message> 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);
+}

src/Node_TEST.cc

@@ -343,6 +343,18 @@ 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));

src/cmd/gz_src_TEST.cc

@@ -14,12 +14,19 @@
  * limitations under the License.
  *
 */
-#include <gz/msgs/int32.pb.h>
 
 #include <future>
 #include <string>
 #include <iostream>
 #include <sstream>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+#include <gz/msgs/int32.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include "gtest/gtest.h"
 #include "gz.hh"

test/integration/authPubSub.cc

@@ -14,10 +14,17 @@
  * limitations under the License.
  *
 */
-#include <gz/msgs/int32.pb.h>
 
 #include <chrono>
 #include <string>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+#include <gz/msgs/int32.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include "gtest/gtest.h"
 #include "gz/transport/Node.hh"

test/integration/authPubSubSubscriberInvalid_aux.cc

@@ -14,10 +14,20 @@
  * limitations under the License.
  *
 */
-#include <gz/msgs/int32.pb.h>
 
 #include <chrono>
 #include <string>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+#include <gz/msgs/int32.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+#ifdef _WIN32
+  #include <filesystem>
+#endif
 
 #include "gz/transport/Node.hh"
 #include "gtest/gtest.h"