7 ➡️ 8 (#155)

* Remove warnings using ZMQ 4.3.1 or greater. * Do not use ZMQ_CPP11 * Win debugging. * backport improved compiler support for std::filesystem * Close branch backport_compiler_filesystem * Restore original Playback::Start and add overload with new parameter to fix ABI * bump to 7.2.2 and update changelog * Close branch fix_abi_7 * Write to disk from a background thread in log recorder * Update Changelog * Move `dataWriterState = true` to Recorder::Implementation::DataWriterThread() thread. * Revert moving dataWriterState * Failing test with incorrect time stamps * Correctly record message reception time stamp * Reorder functions * Specify buffer size in MB rather than number of elements in the data queue * Flush any remaining data to log file when stopping the Recorder * Codecheck. The rvalue ref is used to ensure that std::vector is always moved * Version update * Added tag ignition-transport7_7.3.0~pre1 for changeset 173fae6c362d * recorder.cc: include <optional> * Add console message to indicate buffer being flushed * Add <numeric> * Close branch async_recorder * Prepare for 7.3.0 * Added tag ignition-transport7_7.3.0 for changeset 367d4f1bfcf7 * Configurable buffer sizes. * Fix typo. * Changelog. * Clarify high water mark policy. * Tweak documentation and error messages. * Close branch issue_116_transport7 * fix line lengths * Close branch codecheck7 * Update default values for the high water marks * Update buffer default values * Changelog.md edited online with Bitbucket * Close branch default_hwm * Adding connection message. * ConnectionMsg implementation. * Test * No control socket. * Preserve ABI. * Discard registrations when needed. * Tweaks. * Changelog * Fix issue #114. * Close branch discovery_extended_p2 * 7.4.0 * Move changelog entry * Close branch ign-transport7-4 * Added tag ignition-transport7_7.4.0 for changeset 083e7bf41080 * Protobuf warnings * Close branch proto_deprecations * Close branch issue_111 * Windows warnings * revert commit to release branch * Fix version for send_falgs command * Close branch ign-transport7_fix_send_flags * Backport pull request #441 * updates * Added another check * Close branch issue_118 * mv hgignore Signed-off-by: claireyywang <[email protected]> * add gitignore Signed-off-by: claireyywang <[email protected]> * [ign-transport7] Update BitBucket links (#123) * [ign-transport7] Update BitBucket links Signed-off-by: Louise Poubel <[email protected]> * changelog pull-requests * Apply suggestions from code review * Update tutorials/07_relay.md Co-authored-by: Marya Belanger <[email protected]> * [ign-transport7] Workflow updates (#132) * [ign-transport7] Workflow updates Signed-off-by: Louise Poubel <[email protected]> * Helper function to get a valid topic name (#153) Signed-off-by: Louise Poubel <[email protected]> * Remove Windows warnings (#151) Signed-off-by: Carlos Aguero <[email protected]> * Remove warnings on Homebrew (#150) Signed-off-by: Carlos Aguero <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Bump to 7.5.0 (#156) Signed-off-by: Louise Poubel <[email protected]> * Modernize actions CI (#158) Signed-off-by: Louise Poubel <[email protected]> * remove ci-bionic Signed-off-by: Louise Poubel <[email protected]> * add focal Signed-off-by: Louise Poubel <[email protected]> * msgs5 Signed-off-by: Louise Poubel <[email protected]> * Suppress focal-specific warnings (#159) * Suppress focal-specific warnings Signed-off-by: Michael Carroll <[email protected]> * Warn when lsb_release isn't present Signed-off-by: Michael Carroll <[email protected]> * Adding header guard. Signed-off-by: Carlos Agüero <[email protected]> * Include correct header file for version check Signed-off-by: Michael Carroll <[email protected]> * Added more debug output Signed-off-by: Nate Koenig <[email protected]> * Fix focal test and codecheck Signed-off-by: Nate Koenig <[email protected]> * Change endtime expectation Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Aguero <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Aguero <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: claireyywang <[email protected]> Co-authored-by: Marya Belanger <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Aug 28, 2020 · d826963 · d826963
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diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -0,0 +1,11 @@
+libignition-cmake2-dev
+libignition-math6-dev
+libignition-msgs5-dev
+libignition-tools-dev
+libprotobuf-dev
+libprotoc-dev
+libsqlite3-dev
+libzmq3-dev
+pkg-config
+protobuf-compiler
+uuid-dev
diff --git a/.github/workflows/ci-bionic.yml b/.github/workflows/ci-bionic.yml
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,27 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -46,6 +46,20 @@ ign_find_package(IgnProtobuf
 # Find ZeroMQ
 ign_find_package(ZeroMQ VERSION 4 REQUIRED PRIVATE)
 
+if (UNIX AND NOT APPLE)
+  execute_process(COMMAND lsb_release -cs
+    OUTPUT_VARIABLE RELEASE_CODENAME
+    RESULT_VARIABLE LSB_RESULT
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+
+  if( NOT (${LSB_RESULT} STREQUAL "0"))
+    message(WARNING "lsb_release executable not found. Disabling focal-specific workarounds")
+  elseif (${RELEASE_CODENAME} STREQUAL "focal")
+    set(UBUNTU_FOCAL 1)
+  endif()
+endif()
+
 #--------------------------------------
 # Find cppzmq
 ign_find_package(CPPZMQ REQUIRED PRIVATE

diff --git a/Changelog.md b/Changelog.md
@@ -44,6 +44,23 @@
 
 ### Ignition Transport 7.x.x (202x-xx-xx)
 
+### Ignition Transport 7.5.0 (2020-07-29)
+
+1. Helper function to get a valid topic name
+    * [Pull request 153](https://github.com/ignitionrobotics/ign-transport/pull/153)
+
+1. GitHub migration
+    * [Pull request 132](https://github.com/ignitionrobotics/ign-transport/pull/132)
+    * [Pull request 123](https://github.com/ignitionrobotics/ign-transport/pull/123)
+    * [Pull request 126](https://github.com/ignitionrobotics/ign-transport/pull/126)
+
+1. Fix ZMQ and Protobuf warnings
+    * [BitBucket pull request 442](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/442)
+    * [BitBucket pull request 438](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/438)
+    * [BitBucket pull request 439](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/439)
+    * [Pull request 150](https://github.com/ignitionrobotics/ign-transport/pull/150)
+    * [Pull request 151](https://github.com/ignitionrobotics/ign-transport/pull/151)
+
 1. Handle `getpwduid_r` error cases. This addresses issue #118. Solution was
    created in pull request #441 by Poh Zhi-Ee.
     * [BitBucket pull request 444](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/444)

diff --git a/include/ignition/transport/Helpers.hh b/include/ignition/transport/Helpers.hh
@@ -18,7 +18,7 @@
 #ifndef IGN_TRANSPORT_HELPERS_HH_
 #define IGN_TRANSPORT_HELPERS_HH_
 
-#include <zmq.h>
+#include <zmq.hpp>
 
 #include <cstdint>
 #include <cstdio>
@@ -30,14 +30,19 @@
 #include "ignition/transport/config.hh"
 #include "ignition/transport/Export.hh"
 
-#define STR_HELPER(x) #x
-#define STR(x) STR_HELPER(x)
-
 // Avoid using deprecated message send/receive function when possible.
 #if ZMQ_VERSION >= ZMQ_MAKE_VERSION(4, 3, 1)
   #define IGN_ZMQ_POST_4_3_1
 #endif
 
+// Avoid using deprecated set function when possible
+#if CPPZMQ_VERSION >= ZMQ_MAKE_VERSION(4, 7, 0)
+  // Ubuntu Focal (20.04) packages a different "4.7.0"
+  #ifndef UBUNTU_FOCAL
+    #define IGN_CPPZMQ_POST_4_7_0
+  #endif
+#endif
+
 namespace ignition
 {
   namespace transport

diff --git a/include/ignition/transport/TopicUtils.hh b/include/ignition/transport/TopicUtils.hh
@@ -128,6 +128,14 @@ namespace ignition
         std::string &_partition,
         std::string &_namespaceAndTopic);
 
+      /// \brief Convert a topic name to a valid topic. The input topic is
+      /// modified by:
+      /// * turning white space into `_`.
+      /// * removing special characters and combinations.
+      /// \param[in] _topic Input topic, which may be invalid.
+      /// \return A valid topic, or empty string if not possible to convert.
+      public: static std::string AsValidTopic(const std::string &_topic);
+
       /// \brief The kMaxNameLength specifies the maximum number of characters
       /// allowed in a namespace, a partition name, a topic name, and a fully
       /// qualified topic name.

diff --git a/include/ignition/transport/config.hh.in b/include/ignition/transport/config.hh.in
@@ -1,5 +1,8 @@
 /* Config.hh. Generated by CMake for @PROJECT_NAME@. */
 
+#ifndef IGNITION_${IGN_DESIGNATION_UPPER}_CONFIG_HH_
+#define IGNITION_${IGN_DESIGNATION_UPPER}_CONFIG_HH_
+
 /* Version number */
 #define IGNITION_TRANSPORT_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
 #define IGNITION_TRANSPORT_MINOR_VERSION ${PROJECT_VERSION_MINOR}
@@ -17,3 +20,6 @@
 #cmakedefine BUILD_TYPE_RELEASE 1
 
 #cmakedefine HAVE_IFADDRS 1
+#cmakedefine UBUNTU_FOCAL 1
+
+#endif
diff --git a/log/src/Log_TEST.cc b/log/src/Log_TEST.cc
@@ -255,7 +255,8 @@ TEST(Log, OpenCorruptDatabase)
     testing::portablePathUnion(IGN_TRANSPORT_LOG_TEST_PATH, "data");
   path = testing::portablePathUnion(path, "state.tlog");
   logFile.Open(path);
-  EXPECT_EQ(4806000000ns, logFile.EndTime());
+  EXPECT_GT(logFile.EndTime(), 0ns) << "logFile.EndTime() == "
+    << logFile.EndTime().count() << "ns";;
 }
 
 

diff --git a/src/CIface_TEST.cc b/src/CIface_TEST.cc
@@ -77,6 +77,7 @@ TEST(CIfaceTest, PubSub)
   ignition::msgs::StringMsg msg;
   msg.set_data("HELLO");
 
+  // Get the size of the serialized message
 #if GOOGLE_PROTOBUF_VERSION >= 3004000
   int size = msg.ByteSizeLong();
 #else
@@ -132,6 +133,7 @@ TEST(CIfaceTest, PubSubPartitions)
   ignition::msgs::StringMsg msg;
   msg.set_data("HELLO");
 
+  // Get the size of the serialized message
 #if GOOGLE_PROTOBUF_VERSION >= 3004000
   int size = msg.ByteSizeLong();
 #else

diff --git a/src/Node.cc b/src/Node.cc
@@ -619,7 +619,7 @@ bool Node::Unsubscribe(const std::string &_topic)
   if (!this->dataPtr->shared->localSubscribers
       .HasSubscriber(fullyQualifiedTopic))
   {
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->dataPtr->shared->dataPtr->subscriber->set(
       zmq::sockopt::unsubscribe, fullyQualifiedTopic);
 #else

diff --git a/src/NodeShared.cc b/src/NodeShared.cc
@@ -1068,7 +1068,7 @@ void NodeShared::OnNewConnection(const MessagePublisher &_pub)
       this->dataPtr->subscriber->connect(addr.c_str());
 
     // Add a new filter for the topic.
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->dataPtr->subscriber->set(zmq::sockopt::subscribe, topic);
 #else
     this->dataPtr->subscriber->setsockopt(ZMQ_SUBSCRIBE,
@@ -1263,7 +1263,7 @@ bool NodeShared::InitializeSockets()
 
 
     int lingerVal = 0;
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->dataPtr->publisher->set(zmq::sockopt::linger, lingerVal);
 #else
     this->dataPtr->publisher->setsockopt(ZMQ_LINGER,
@@ -1301,7 +1301,7 @@ bool NodeShared::InitializeSockets()
                   << std::endl;
       }
     }
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->dataPtr->subscriber->set(zmq::sockopt::rcvhwm, rcvQueueVal);
 #else
     this->dataPtr->subscriber->setsockopt(ZMQ_RCVHWM,
@@ -1339,7 +1339,7 @@ bool NodeShared::InitializeSockets()
                   << std::endl;
       }
     }
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->dataPtr->publisher->set(zmq::sockopt::sndhwm, sndQueueVal);
 
     this->dataPtr->publisher->bind(anyTcpEp.c_str());
@@ -1439,7 +1439,7 @@ int NodeShared::RcvHwm()
   int rcvHwm;
   try
   {
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     rcvHwm = this->dataPtr->subscriber->get(zmq::sockopt::rcvhwm);
 #else
     size_t rcvHwmSize = sizeof(rcvHwm);
@@ -1460,7 +1460,7 @@ int NodeShared::SndHwm()
   int sndHwm;
   try
   {
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     sndHwm = this->dataPtr->publisher->get(zmq::sockopt::sndhwm);
 #else
     size_t sndHwmSize = sizeof(sndHwm);
@@ -1561,7 +1561,7 @@ void NodeSharedPrivate::SecurityOnNewConnection()
   // See issue #74
   if (userPass(user, pass))
   {
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->subscriber->set(zmq::sockopt::plain_username, user);
     this->subscriber->set(zmq::sockopt::plain_password, pass);
 #else
@@ -1586,7 +1586,7 @@ void NodeSharedPrivate::SecurityInit()
     int asPlainSecurityServer = static_cast<int>(
         ZmqPlainSecurityServerOptions::ZMQ_PLAIN_SECURITY_SERVER_ENABLED);
 
-#if (CPPZMQ_VERSION >= 40700)
+#ifdef IGN_CPPZMQ_POST_4_7_0
     this->publisher->set(zmq::sockopt::plain_server, asPlainSecurityServer);
     this->publisher->set(zmq::sockopt::zap_domain, kIgnAuthDomain);
 #else

diff --git a/src/TopicUtils.cc b/src/TopicUtils.cc
@@ -15,6 +15,7 @@
  *
 */
 
+#include <regex>
 #include <string>
 
 #include "ignition/transport/TopicUtils.hh"
@@ -154,3 +155,22 @@ bool TopicUtils::DecomposeFullyQualifiedTopic(
   _namespaceAndTopic = possibleTopic;
   return true;
 }
+
+//////////////////////////////////////////////////
+std::string TopicUtils::AsValidTopic(const std::string &_topic)
+{
+  std::string validTopic{_topic};
+
+  // Substitute spaces with _
+  validTopic = std::regex_replace(validTopic, std::regex(" "), "_");
+
+  // Remove special characters and combinations
+  validTopic = std::regex_replace(validTopic, std::regex("@|~|//|:="), "");
+
+  if (!IsValidTopic(validTopic))
+  {
+    return std::string();
+  }
+
+  return validTopic;
+}
diff --git a/src/TopicUtils_TEST.cc b/src/TopicUtils_TEST.cc
@@ -242,6 +242,55 @@ TEST(TopicUtilsTest, testFullyQualifiedName)
       }
 }
 
+//////////////////////////////////////////////////
+TEST(TopicUtilsTest, asValidTopic)
+{
+  for (auto unmodified :
+    {
+      "/abc",
+      "abc/de",
+      "a",
+      "ABC/",
+      "/abc",
+      "/abc/d",
+      "/abc/d/e",
+      "a(bc)d-e_f=h+i.j"
+    })
+  {
+    auto valid = transport::TopicUtils::AsValidTopic(unmodified);
+    EXPECT_EQ(unmodified, valid);
+    EXPECT_TRUE(transport::TopicUtils::IsValidTopic(valid)) << valid;
+  }
+
+  std::vector<std::pair<std::string, std::string>> modifiedStrings =
+    {
+      {"a b  c", "a_b__c"},
+      {"a@b@c", "abc"},
+      {"a:=b:=c", "abc"},
+      {"a//b/c", "ab/c"},
+      {"a~b~c", "abc"}
+    };
+
+  for (auto modified : modifiedStrings)
+  {
+    auto valid = transport::TopicUtils::AsValidTopic(modified.first);
+    EXPECT_EQ(modified.second, valid);
+    EXPECT_TRUE(transport::TopicUtils::IsValidTopic(valid)) << valid;
+  }
+
+  for (auto fail :
+    {
+      "",
+      "@@@",
+      "~@~",
+    })
+  {
+    auto empty = transport::TopicUtils::AsValidTopic(fail);
+    EXPECT_TRUE(empty.empty());
+    EXPECT_FALSE(transport::TopicUtils::IsValidTopic(empty));
+  }
+}
+
 //////////////////////////////////////////////////
 int main(int argc, char **argv)
 {