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Fix Harmonic links in the tutorials #439

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Fix Harmonic links in the tutorials #439

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741505a
Fix Harmonic links in the tutorials.
caguero Sep 14, 2023
e1175c9
Use snippet to include two files.
caguero Sep 27, 2023
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2 changes: 2 additions & 0 deletions example/publisher.cc
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Expand Up @@ -15,6 +15,7 @@
*
*/

//! [complete]
#include <atomic>
#include <chrono>
#include <csignal>
Expand Down Expand Up @@ -71,3 +72,4 @@ int main(int argc, char **argv)

return 0;
}
//! [complete]
2 changes: 2 additions & 0 deletions example/subscriber.cc
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Expand Up @@ -15,6 +15,7 @@
*
*/

//! [complete]
#include <iostream>
#include <string>
#include <gz/msgs.hh>
Expand Down Expand Up @@ -45,3 +46,4 @@ int main(int argc, char **argv)

return 0;
}
//! [complete]
108 changes: 11 additions & 97 deletions tutorials/04_messages.md
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Expand Up @@ -17,66 +17,10 @@ cd ~/gz_transport_tutorial

## Publisher

Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/publisher.cc) file within the `gz_transport_tutorial`
Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/publisher.cc) file within the `gz_transport_tutorial`
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folder and open it with your favorite editor:

```{.cpp}
#include <atomic>
#include <chrono>
#include <csignal>
#include <iostream>
#include <string>
#include <thread>
#include <gz/msgs.hh>
#include <gz/transport.hh>

/// brief Flag used to break the publisher loop and terminate the program.
static std::atomic<bool> g_terminatePub(false);

//////////////////////////////////////////////////
/// brief Function callback executed when a SIGINT or SIGTERM signals are
/// captured. This is used to break the infinite loop that publishes messages
/// and exit the program smoothly.
void signal_handler(int _signal)
{
if (_signal == SIGINT || _signal == SIGTERM)
g_terminatePub = true;
}

//////////////////////////////////////////////////
int main(int argc, char **argv)
{
// Install a signal handler for SIGINT and SIGTERM.
std::signal(SIGINT, signal_handler);
std::signal(SIGTERM, signal_handler);

// Create a transport node and advertise a topic.
gz::transport::Node node;
std::string topic = "/foo";

auto pub = node.Advertise<gz::msgs::StringMsg>(topic);
if (!pub)
{
std::cerr << "Error advertising topic [" << topic << "]" << std::endl;
return -1;
}

// Prepare the message.
gz::msgs::StringMsg msg;
msg.set_data("HELLO");

// Publish messages at 1Hz.
while (!g_terminatePub)
{
if (!pub.Publish(msg))
break;
std::cout << "Publishing hello on topic [" << topic << "]" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}

return 0;
}
```
\snippet example/publisher.cc complete

### Walkthrough

Expand Down Expand Up @@ -132,40 +76,10 @@ The method *Publish()* sends a message to all the subscribers.

## Subscriber

Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/subscriber.cc)
Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/subscriber.cc)
file into the `gz_transport_tutorial` folder and open it with your favorite editor:

```{.cpp}
#include <iostream>
#include <string>
#include <gz/msgs.hh>
#include <gz/transport.hh>

//////////////////////////////////////////////////
/// brief Function called each time a topic update is received.
void cb(const gz::msgs::StringMsg &_msg)
{
std::cout << "Msg: " << _msg.data() << std::endl << std::endl;
}

//////////////////////////////////////////////////
int main(int argc, char **argv)
{
gz::transport::Node node;
std::string topic = "/foo";
// Subscribe to a topic by registering a callback.
if (!node.Subscribe(topic, cb))
{
std::cerr << "Error subscribing to topic [" << topic << "]" << std::endl;
return -1;
}

// Zzzzzz.
gz::transport::waitForShutdown();

return 0;
}
```
\snippet example/subscriber.cc complete

### Walkthrough

Expand Down Expand Up @@ -212,7 +126,7 @@ until you hit *CTRL-C*. Note that this function captures the *SIGINT* and

## Building the code

Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.
Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.

Once you have all your files, go ahead and create a `build/` directory within
the `gz_transport_tutorial` directory.
Expand Down Expand Up @@ -359,7 +273,7 @@ between Gazebo Transport and another protocol or if you want to just print the
content of a generic protobuf message using `DebugString()`, among other use
cases.

Download the [subscriber_generic.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/subscriber_generic.cc) file within the `gz_transport_tutorial` folder and open it with your favorite editor:
Download the [subscriber_generic.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/subscriber_generic.cc) file within the `gz_transport_tutorial` folder and open it with your favorite editor:

```{.cpp}
#include <google/protobuf/message.h>
Expand Down Expand Up @@ -488,12 +402,12 @@ often the integration of the message generation into the build system of your
project. Next, you can find an example of a publisher and subscriber using a
custom Protobuf message integrated with CMake.

Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/publisher_custom_msg.cc)
and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/subscriber_custom_msg.cc)
Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/publisher_custom_msg.cc)
and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/subscriber_custom_msg.cc)
files within the `gz_transport_tutorial`. Then, create a `msgs` folder and
download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/msgs/stringmsg.proto)
and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/msgs/CMakeLists.txt)
files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/CMakeLists.txt)
download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/msgs/stringmsg.proto)
and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/msgs/CMakeLists.txt)
files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/CMakeLists.txt)
file. You should have this file from the previous examples. Otherwise,
download and place it within the `gz_transport_tutorial` folder.

Expand Down
20 changes: 10 additions & 10 deletions tutorials/05_services.md
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Expand Up @@ -25,7 +25,7 @@ cd ~/gz_transport_tutorial

## Responser

Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/responser.cc) file within the ``gz_transport_tutorial``
Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/responser.cc) file within the ``gz_transport_tutorial``
folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -133,7 +133,7 @@ until you hit *CTRL-C*. Note that this function captures the *SIGINT* and

## Synchronous requester

Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/requester.cc) file within the ``gz_transport_tutorial``
Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/requester.cc) file within the ``gz_transport_tutorial``
folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -228,7 +228,7 @@ message.

## Asynchronous requester

Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/requester_async.cc) file within the
Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/requester_async.cc) file within the
``gz_transport_tutorial`` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -314,7 +314,7 @@ oneway service to process service requests without sending back responses.
Oneway services don't accept any output parameters nor the requests have to wait
for the response.

Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/responser_oneway.cc) file within the
Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/responser_oneway.cc) file within the
``gz_transport_tutorial`` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -389,7 +389,7 @@ This case is similar to the oneway service provider. This code can be used for
requesting a service that does not need a response back. We don't need any
output parameters in this case nor we have to wait for the response.

Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/requester_oneway.cc) file within the
Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/requester_oneway.cc) file within the
``gz_transport_tutorial`` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -454,7 +454,7 @@ request was already published.
Sometimes we want to receive some result but don't have any input parameter to
send.

Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/responser_no_input.cc)
Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/responser_no_input.cc)
file within the ``gz_transport_tutorial`` folder and open it with your
favorite editor:

Expand Down Expand Up @@ -534,7 +534,7 @@ service requests.
This case is similar to the service without input parameter. We don't send any
request.

Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/requester_no_input.cc)
Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/requester_no_input.cc)
file within the ``gz_transport_tutorial`` folder and open it with your
favorite editor:

Expand Down Expand Up @@ -577,14 +577,14 @@ request timed out or reached the service provider and ``result`` shows if the
service was successfully executed.

We also have the async version for service request without input. You should
download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/requester_async_no_input.cc)
download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/requester_async_no_input.cc)
file within the ``gz_transport_tutorial`` folder.

## Building the code

Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/CMakeLists.txt) file
Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/CMakeLists.txt) file
within the ``gz_transport_tutorial`` folder. Then, create a `msgs` directory
and download [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/msgs/CMakeLists.txt) and [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/msgs/stringmsg.proto) inside the
and download [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/msgs/CMakeLists.txt) and [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/msgs/stringmsg.proto) inside the
``msgs`` directory.

Once you have all your files, go ahead and create a ``build/`` folder within
Expand Down
10 changes: 5 additions & 5 deletions tutorials/07_relay.md
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Expand Up @@ -25,13 +25,13 @@ install Docker following any of the existing guides available
([here](https://docs.docker.com/get-docker/)'s one).

We're going to build a Docker image and run it inside your host computer.
Download the [build.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport12/docker/build.bash), [run.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport12/docker/run.bash) and
[Dockerfile](https://github.com/gazebosim/gz-transport/raw/gz-transport12/docker/gz-transport/Dockerfile) files.
Download the [build.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport13/docker/build.bash), [run.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport13/docker/run.bash) and
[Dockerfile](https://github.com/gazebosim/gz-transport/raw/gz-transport13/docker/gz-transport/Dockerfile) files.

```{.sh}
wget https://github.com/gazebosim/gz-transport/raw/gz-transport12/docker/build.bash
wget https://github.com/gazebosim/gz-transport/raw/gz-transport12/docker/run.bash
mkdir gz-transport && wget https://github.com/gazebosim/gz-transport/raw/gz-transport12/docker/gz-transport/Dockerfile -O gz-transport/Dockerfile
wget https://github.com/gazebosim/gz-transport/raw/gz-transport13/docker/build.bash
wget https://github.com/gazebosim/gz-transport/raw/gz-transport13/docker/run.bash
mkdir gz-transport && wget https://github.com/gazebosim/gz-transport/raw/gz-transport13/docker/gz-transport/Dockerfile -O gz-transport/Dockerfile
chmod +x build.bash run.bash
```

Expand Down
6 changes: 3 additions & 3 deletions tutorials/10_logging.md
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Expand Up @@ -25,7 +25,7 @@ cd ~/gz_transport_tutorial

## Record

Download the [record.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/record.cc)
Download the [record.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/record.cc)
file within the `gz_transport_tutorial` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -126,7 +126,7 @@ stops the log recording as expected.

## Play back

Download the [playback.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/playback.cc)
Download the [playback.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/playback.cc)
file within the `gz_transport_tutorial` folder and open it with your favorite
editor:

Expand Down Expand Up @@ -215,7 +215,7 @@ thread until all messages have been published.

## Building the code

Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport12/example/CMakeLists.txt)
Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport13/example/CMakeLists.txt)
file within the `gz_transport_tutorial` folder.

Once you have all your files, go ahead and create a `build/` directory within
Expand Down
2 changes: 1 addition & 1 deletion tutorials/23_topic_statistics.md
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Expand Up @@ -44,7 +44,7 @@ if (!node.EnableStats(topic, true))
}
```

A complete example can be found in the [subscriber_stats example program](https://github.com/gazebosim/gz-transport/blob/gz-transport12/example/subscriber_stats.cc).
A complete example can be found in the [subscriber_stats example program](https://github.com/gazebosim/gz-transport/blob/gz-transport13/example/subscriber_stats.cc).

With both `GZ_TRANSPORT_TOPIC_STATISTICS` set to `1` and a node
enabling topic statistics, then you will be able to echo statistic
Expand Down