Merge gz-transport13 ➡️ main

.github/workflows/ci.yml

@@ -1,14 +1,20 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+ pull_request:
+ push:
+ branches:
+ - 'ign-transport[0-9]?'
+ - 'gz-transport[0-9]?'
+ - 'main'
 
 jobs:
  jammy-ci:
  runs-on: ubuntu-latest
  name: Ubuntu Jammy CI
  steps:
  - name: Checkout
- uses: actions/checkout@v3
+ uses: actions/checkout@v4
  - name: Compile and test
  id: ci
  uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
  with:
  project-url: https://github.com/orgs/gazebosim/projects/7
  github-token: ${{ secrets.TRIAGE_TOKEN }}
-

BUILD.bazel

@@ -0,0 +1,131 @@
+load(
+ "@gz//bazel/skylark:build_defs.bzl",
+ "GZ_FEATURES",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+ "gz_configure_header",
+ "gz_export_header",
+ "gz_include_header",
+)
+load(
+ "@gz//bazel/lint:lint.bzl",
+ "add_lint_tests",
+)
+
+package(
+ default_visibility = GZ_VISIBILITY,
+ features = GZ_FEATURES,
+)
+
+licenses(["notice"]) # Apache-2.0
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+ name = "transport_config_hh",
+ src = "include/gz/transport/config.hh.in",
+ cmakelists = ["CMakeLists.txt"],
+ package = "transport",
+)
+
+gz_export_header(
+ name = "include/gz/transport/Export.hh",
+ export_base = "GZ_TRANSPORT",
+ lib_name = "gz-transport",
+ visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = glob([
+ "include/gz/transport/*.h",
+ "include/gz/transport/*.hh",
+ "include/gz/transport/detail/*.hh",
+])
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+ ["src/*.cc"],
+ exclude = [
+ "src/*_TEST.cc",
+ ],
+)
+
+gz_include_header(
+ name = "transport_hh_genrule",
+ out = "include/gz/transport.hh",
+ hdrs = public_headers_no_gen + [
+ "include/gz/transport/config.hh",
+ "include/gz/transport/Export.hh",
+ ],
+)
+
+public_headers = public_headers_no_gen + [
+ "include/gz/transport/config.hh",
+ "include/gz/transport/Export.hh",
+ "include/gz/transport.hh",
+]
+
+cc_library(
+ name = "transport",
+ srcs = sources + private_headers,
+ hdrs = public_headers,
+ copts = [
+ "-Wno-deprecated-declarations",
+ ],
+ includes = ["include"],
+ deps = [
+ GZ_ROOT + "msgs",
+ "@uuid",
+ "@zmq",
+ ],
+)
+
+cc_binary(
+ name = "topic",
+ srcs = [
+ "src/cmd/gz.cc",
+ "src/cmd/gz.hh",
+ "src/cmd/topic_main.cc",
+ ],
+ includes = ["src/cmd"],
+ deps = [
+ ":transport",
+ GZ_ROOT + "utils/cli",
+ ],
+)
+
+cc_binary(
+ name = "service",
+ srcs = [
+ "src/cmd/gz.cc",
+ "src/cmd/gz.hh",
+ "src/cmd/service_main.cc",
+ ],
+ includes = ["src/cmd"],
+ deps = [
+ ":transport",
+ GZ_ROOT + "utils/cli",
+ ],
+)
+
+test_sources = glob(
+ include = ["src/*_TEST.cc"],
+)
+
+[cc_test(
+ name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+ srcs = [src],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "transport",
+ },
+ deps = [
+ ":transport",
+ GZ_ROOT + "common/testing",
+ GZ_ROOT + "transport/test:utils",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+) for src in test_sources]
+
+add_lint_tests()

Changelog.md

@@ -209,6 +209,33 @@
 
 ## Gazebo Transport 11.X
 
+### Gazebo Transport 11.4.1 (2023-09-01)
+
+1. Fix topic/service list inconsistency
+ * [Pull request #415](https://github.com/gazebosim/gz-transport/pull/415)
+
+1. Backport Windows fix to ign-transport8
+ * [Pull request #406](https://github.com/gazebosim/gz-transport/pull/406)
+
+1. Fix unused-result warning
+ * [Pull request #408](https://github.com/gazebosim/gz-transport/pull/408)
+
+1. Fix compatibility with protobuf 22
+ * [Pull request #405](https://github.com/gazebosim/gz-transport/pull/405)
+
+1. Fix compiler warning and signedness issue
+ * [Pull request #401](https://github.com/gazebosim/gz-transport/pull/401)
+
+1. Rename COPYING to LICENSE
+ * [Pull request #392](https://github.com/gazebosim/gz-transport/pull/392)
+
+1. Infrastructure
+ * [Pull request #391](https://github.com/gazebosim/gz-transport/pull/391)
+ * [Pull request #394](https://github.com/gazebosim/gz-transport/pull/394)
+
+1. Support clang and std::filesystem
+ * [Pull request #390](https://github.com/gazebosim/gz-transport/pull/390)
+
 ### Gazebo Transport 11.4.0 (2023-03-08)
 
 1. Added Node::RequestRaw
@@ -465,6 +492,34 @@
  and publication, age, and reception statistics.
  * [Pull request 205](https://github.com/gazebosim/gz-transport/pull/205)
 
+### Gazebo Transport 8.5.0 (2024-01-05)
+
+1. Update github action workflows
+ * [Pull request #460](https://github.com/gazebosim/gz-transport/pull/460)
+ * [Pull request #391](https://github.com/gazebosim/gz-transport/pull/391)
+ * [Pull request #392](https://github.com/gazebosim/gz-transport/pull/392)
+
+1. Adds the subcommands for the log command
+ * [Pull request #451](https://github.com/gazebosim/gz-transport/pull/451)
+
+1. Fix topic/service list inconsistency
+ * [Pull request #415](https://github.com/gazebosim/gz-transport/pull/415)
+
+1. Backport Windows fix to ign-transport8
+ * [Pull request #406](https://github.com/gazebosim/gz-transport/pull/406)
+
+1. Fix compatibility with protobuf 22
+ * [Pull request #405](https://github.com/gazebosim/gz-transport/pull/405)
+
+1. Fix compiler warning and signedness issue
+ * [Pull request #401](https://github.com/gazebosim/gz-transport/pull/401)
+
+1. Support clang and std::filesystem
+ * [Pull request #390](https://github.com/gazebosim/gz-transport/pull/390)
+
+1. Pass std::function by value to Node::Subscribe
+ * [Pull request #382](https://github.com/gazebosim/gz-transport/pull/382)
+
 ### Gazebo Transport 8.4.0 (2022-11-17)
 
 1. ign -> gz : Remove redundant namespace references.

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-transport/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-transport/branch/main)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_transport-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_transport-ci-main-focal-amd64)
-Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_transport-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_transport-ci-main-homebrew-amd64)
-Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_transport-ci-win)](https://build.osrfoundation.org/job/ign_transport-ci-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-transport/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-transport/tree/main)
+Ubuntu Jammy | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_transport-ci-main-jammy-amd64)](https://build.osrfoundation.org/job/gz_transport-ci-main-jammy-amd64)
+Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_transport-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_transport-ci-main-homebrew-amd64)
+Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_transport-main-win)](https://build.osrfoundation.org/job/gz_transport-main-win/)
 
 Gazebo Transport, a component of [Gazebo](https://gazebosim.org), provides fast and efficient asynchronous message passing, services, and data logging.
 

include/gz/transport/Discovery.hh

@@ -306,6 +306,8 @@ namespace gz
  /// (e.g. if the discovery has not been started).
  public: bool Advertise(const Pub &_publisher)
  {
+ DiscoveryCallback<Pub> cb;
+
  {
  std::lock_guard<std::mutex> lock(this->mutex);
 
@@ -315,8 +317,13 @@ namespace gz
  // Add the addressing information (local publisher).
  if (!this->info.AddPublisher(_publisher))
  return false;
+
+ cb = this->connectionCb;
  }
 
+ if (cb)
+ cb(_publisher);
+
  // Only advertise a message outside this process if the scope
  // is not 'Process'
  if (_publisher.Options().Scope() != Scope_t::PROCESS)

log/BUILD.bazel

@@ -0,0 +1,91 @@
+load(
+ "@gz//bazel/skylark:build_defs.bzl",
+ "GZ_FEATURES",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+ "cmake_configure_file",
+ "gz_configure_header",
+ "gz_export_header",
+ "gz_include_header",
+)
+load(
+ "@gz//bazel/lint:lint.bzl",
+ "add_lint_tests",
+)
+
+cmake_configure_file(
+ name = "build_config",
+ src = "src/build_config.hh.in",
+ out = "include/build_config.hh",
+ cmakelists = ["src/CMakeLists.txt"],
+ defines = [
+ "SCHEMA_INSTALL_PATH=transport/log/sql",
+ ],
+)
+
+gz_export_header(
+ name = "include/gz/transport/log/Export.hh",
+ export_base = "GZ_TRANSPORT_LOG",
+ lib_name = "gz-transport-log",
+ visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = glob([
+ "include/gz/transport/log/*.hh",
+ "include/gz/transport/log/detail/*.hh",
+])
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+ ["src/*.cc"],
+ exclude = [
+ "src/*_TEST.cc",
+ ],
+)
+
+public_headers = public_headers_no_gen + [
+ "include/gz/transport/log/Export.hh",
+]
+
+cc_library(
+ name = "log",
+ srcs = sources + private_headers + ["include/build_config.hh"],
+ hdrs = public_headers,
+ data = ["sql/0.1.0.sql"],
+ includes = ["include"],
+ deps = [
+ GZ_ROOT + "transport",
+ "@sqlite3",
+ ],
+)
+
+test_sources = glob(
+ include = ["src/*_TEST.cc"],
+ exclude = ["src/LogCommandAPI_TEST.cc"],
+)
+
+[cc_test(
+ name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+ srcs = [src],
+ data = [
+ "test/data/state.tlog",
+ ],
+ defines = [
+ 'GZ_TRANSPORT_LOG_TEST_PATH=\\"transport/log/test\\"',
+ 'CORRUPT_DB_TEST_PATH=\\"transport/log/test/data/state.tlog\\"',
+ ],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "transport",
+ },
+ deps = [
+ ":log",
+ GZ_ROOT + "common/testing",
+ GZ_ROOT + "transport/test:utils",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+) for src in test_sources]
+
+add_lint_tests()

log/src/CMakeLists.txt

@@ -19,14 +19,16 @@ endif()
 gz_build_tests(
  TYPE "UNIT"
  SOURCES ${gtest_sources}
- LIB_DEPS ${log_lib_target} ${EXTRA_TEST_LIB_DEPS}
+ LIB_DEPS ${log_lib_target} ${EXTRA_TEST_LIB_DEPS} test_config
  TEST_LIST logging_tests
 )
 
 foreach(test_target ${logging_tests})
-
- set_tests_properties(${logging_tests} PROPERTIES
+ set_tests_properties(${test_target} PROPERTIES
  ENVIRONMENT GZ_TRANSPORT_LOG_SQL_PATH=${PROJECT_SOURCE_DIR}/log/sql)
+ target_compile_definitions(${test_target} PRIVATE
+ "CORRUPT_DB_TEST_PATH=\"${CMAKE_SOURCE_DIR}/log/test/data/state.tlog\""
+ )
 
 endforeach()
 
@@ -46,9 +48,6 @@ install(DIRECTORY ../sql DESTINATION ${SCHEMA_INSTALL_BASE})
 set(SCHEMA_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/${SCHEMA_INSTALL_BASE}/sql)
 configure_file(build_config.hh.in build_config.hh @ONLY)
 
-
-message(STATUS "CMAKE_CURRENT_SOURCE_DIR:${CMAKE_CURRENT_SOURCE_DIR}")
-
 target_include_directories(${log_lib_target}
  PUBLIC
  # Add this component's include directory to the build interface include