Tweak deprecations. (gazebosim#136)

Co-authored-by: Carlos Aguero <[email protected]>

Changelog.md

@@ -42,7 +42,36 @@
 
 ## Ignition Transport 7
 
-### Ignition Transport 7.X.X
+### Ignition Transport 7.x.x (202x-xx-xx)
+
+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)
+
+### Ignition Transport 7.4.0 (2020-03-09)
+
+1. Removed a `sleep` from NodeShared. The sleep was meant to guarantee
+   message delivery during `connect`. This approach would fail if the delay
+   between nodes was too large.
+    * [BitBucket pull request 436](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/436)
+
+1. Set default message buffer sizes to 1000, for both send and receive
+   buffers.
+    * [BitBucket pull request 433](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/433)
+
+1. Added support for configuring message buffers via environment variables.
+    * [BitBucket pull request 430](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/430)
+
+### Ignition Transport 7.3.0
+
+1. Write to disk from a background thread in log recorder
+    * [BitBucket pull request 428](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/428)
+
+1. Restore original Playback::Start and add overload with new parameter to fix ABI.
+    * [BitBucket pull request 427](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/427)
+
+1. Improve compiler support for c++ filesystem.
+    * [BitBucket pull request 422](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/422)
 
 ### Ignition Transport 7.2.1
 

example/publisher_c.cc

@@ -49,12 +49,10 @@ int main(int argc, char **argv)
   msg.set_data("HELLO");
 
   // Get the size of the serialized message
-#if GOOGLE_PROTOBUF_VERSION < 3001000
-  int size = msg.ByteSize();
-#else
-  // ByteSizeLong appeared in version 3.1 of Protobuf, and ByteSize
-  // became deprecated.
+#if GOOGLE_PROTOBUF_VERSION >= 3004000
   int size = msg.ByteSizeLong();
+#else
+  int size = msg.ByteSize();
 #endif
 
   // Allocate space for the serialized message
@@ -68,12 +66,10 @@ int main(int argc, char **argv)
   msgRed.set_data("RED HELLO");
 
   // Get the size of the serialized message
-#if GOOGLE_PROTOBUF_VERSION < 3001000
-  int sizeRed = msgRed.ByteSize();
-#else
-  // ByteSizeLong appeared in version 3.1 of Protobuf, and ByteSize
-  // became deprecated.
+#if GOOGLE_PROTOBUF_VERSION >= 3004000
   int sizeRed = msgRed.ByteSizeLong();
+#else
+  int sizeRed = msgRed.ByteSize();
 #endif
 
   // Allocate space for the serialized message

include/ignition/transport/Discovery.hh

@@ -379,6 +379,22 @@ namespace ignition
         return true;
       }
 
+      /// \brief Register a node from this process as a remote subscriber.
+      /// \param[in] _pub Contains information about the subscriber.
+      public: void Register(const MessagePublisher &_pub) const
+      {
+        this->SendMsg(
+          DestinationType::ALL, msgs::Discovery::NEW_CONNECTION, _pub);
+      }
+
+      /// \brief Unregister a node from this process as a remote subscriber.
+      /// \param[in] _pub Contains information about the subscriber.
+      public: void Unregister(const MessagePublisher &_pub) const
+      {
+        this->SendMsg(
+          DestinationType::ALL, msgs::Discovery::END_CONNECTION, _pub);
+      }
+
       /// \brief Get the discovery information.
       /// \return Reference to the discovery information object.
       public: const TopicStorage<Pub> &Info() const
@@ -520,6 +536,24 @@ namespace ignition
         this->disconnectionCb = _cb;
       }
 
+      /// \brief Register a callback to receive an event when a new remote
+      /// node subscribes to a topic within this process.
+      /// \param[in] _cb Function callback.
+      public: void RegistrationsCb(const DiscoveryCallback<Pub> &_cb)
+      {
+        std::lock_guard<std::mutex> lock(this->mutex);
+        this->registrationCb = _cb;
+      }
+
+      /// \brief Register a callback to receive an event when a remote
+      /// node unsubscribes to a topic within this process.
+      /// \param[in] _cb Function callback.
+      public: void UnregistrationsCb(const DiscoveryCallback<Pub> &_cb)
+      {
+        std::lock_guard<std::mutex> lock(this->mutex);
+        this->unregistrationCb = _cb;
+      }
+
       /// \brief Print the current discovery state.
       public: void PrintCurrentState() const
       {
@@ -867,11 +901,15 @@ namespace ignition
         // Update timestamp and cache the callbacks.
         DiscoveryCallback<Pub> connectCb;
         DiscoveryCallback<Pub> disconnectCb;
+        DiscoveryCallback<Pub> registerCb;
+        DiscoveryCallback<Pub> unregisterCb;
         {
           std::lock_guard<std::mutex> lock(this->mutex);
           this->activity[recvPUuid] = std::chrono::steady_clock::now();
           connectCb = this->connectionCb;
           disconnectCb = this->disconnectionCb;
+          registerCb = this->registrationCb;
+          unregisterCb = this->unregistrationCb;
         }
 
         switch (msg.type())
@@ -950,6 +988,28 @@ namespace ignition
 
             break;
           }
+          case msgs::Discovery::NEW_CONNECTION:
+          {
+            // Read the rest of the fields.
+            Pub publisher;
+            publisher.SetFromDiscovery(msg);
+
+            if (registerCb)
+              registerCb(publisher);
+
+            break;
+          }
+          case msgs::Discovery::END_CONNECTION:
+          {
+            // Read the rest of the fields.
+            Pub publisher;
+            publisher.SetFromDiscovery(msg);
+
+            if (unregisterCb)
+              unregisterCb(publisher);
+
+            break;
+          }
           case msgs::Discovery::HEARTBEAT:
           {
             // The timestamp has already been updated.
@@ -1036,6 +1096,8 @@ namespace ignition
         {
           case msgs::Discovery::ADVERTISE:
           case msgs::Discovery::UNADVERTISE:
+          case msgs::Discovery::NEW_CONNECTION:
+          case msgs::Discovery::END_CONNECTION:
           {
             _pub.FillDiscovery(discoveryMsg);
             break;
@@ -1082,12 +1144,10 @@ namespace ignition
       {
         uint16_t msgSize;
 
-        // ByteSizeLong appeared in version 3.1 of Protobuf, and ByteSize
-        // became deprecated.
-#if GOOGLE_PROTOBUF_VERSION < 3001000
-        int msgSizeFull = _msg.ByteSize();
-#else
+#if GOOGLE_PROTOBUF_VERSION >= 3004000
         size_t msgSizeFull = _msg.ByteSizeLong();
+#else
+        int msgSizeFull = _msg.ByteSize();
 #endif
         if (msgSizeFull + sizeof(msgSize) > this->kMaxRcvStr)
         {
@@ -1135,12 +1195,10 @@ namespace ignition
       {
         uint16_t msgSize;
 
-        // ByteSizeLong appeared in version 3.1 of Protobuf, and ByteSize
-        // became deprecated.
-#if GOOGLE_PROTOBUF_VERSION < 3001000
-        int msgSizeFull = _msg.ByteSize();
-#else
+#if GOOGLE_PROTOBUF_VERSION >= 3004000
         size_t msgSizeFull = _msg.ByteSizeLong();
+#else
+        int msgSizeFull = _msg.ByteSize();
 #endif
         if (msgSizeFull + sizeof(msgSize) > this->kMaxRcvStr)
         {
@@ -1160,6 +1218,7 @@ namespace ignition
           // sockets.
           for (const auto &sock : this->Sockets())
           {
+            errno = 0;
             if (sendto(sock, reinterpret_cast<const raw_type *>(
               reinterpret_cast<const unsigned char*>(buffer)),
               totalSize, 0,
@@ -1342,6 +1401,14 @@ namespace ignition
       /// \brief Callback executed when new topics are invalid.
       private: DiscoveryCallback<Pub> disconnectionCb;
 
+      /// \brief Callback executed when a new remote subscriber is registered.
+      /// ToDo: Remove static when possible.
+      private: inline static DiscoveryCallback<Pub> registrationCb;
+
+      /// \brief Callback executed when a new remote subscriber is unregistered.
+      /// ToDo: Remove static when possible.
+      private: inline static DiscoveryCallback<Pub> unregistrationCb;
+
       /// \brief Addressing information.
       private: TopicStorage<Pub> info;
 

include/ignition/transport/Helpers.hh

@@ -18,6 +18,8 @@
 #ifndef IGN_TRANSPORT_HELPERS_HH_
 #define IGN_TRANSPORT_HELPERS_HH_
 
+#include <zmq.h>
+
 #include <cstdint>
 #include <cstdio>
 #include <cstring>
@@ -28,6 +30,14 @@
 #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, 4, 0)
+  #define IGN_ZMQ_POST_4_4_0
+#endif
+
 namespace ignition
 {
   namespace transport

include/ignition/transport/NetUtils.hh

@@ -62,6 +62,9 @@ namespace ignition
 
     /// \brief Determine your login name.
     /// \return Name used to gain access to the computer.
+    /// On linux and Mac only, if determination
+    /// of your login name failes then a string of the form "error-UUID"
+    /// is returned where UUID is a universally unique identifier.
     std::string IGNITION_TRANSPORT_VISIBLE username();
     }
   }

include/ignition/transport/Node.hh

@@ -57,6 +57,30 @@ namespace ignition
     // Forward declarations.
     class NodePrivate;
 
+    /// \brief Get the capacity of the buffer (High Water Mark)
+    /// that stores incoming Ignition Transport messages. Note that this is a
+    /// global queue shared by all subscribers within the same process.
+    /// \return The capacity of the buffer storing incoming messages (units are
+    /// messages). A value of 0 indicates an unlimited buffer and -1
+    /// that the socket cannot be queried. The default buffer size is
+    /// contained in the #kDefaultRcvHwm variable.
+    /// If the buffer is set to unlimited, then your buffer will grow until
+    /// you run out of memory (and probably crash).
+    /// If your buffer reaches the maximum capacity data will be dropped.
+    int IGNITION_TRANSPORT_VISIBLE rcvHwm();
+
+    /// \brief Get the capacity of the buffer (High Water Mark)
+    /// that stores outgoing Ignition Transport messages. Note that this is a
+    /// global queue shared by all publishers within the same process.
+    /// \return The capacity of the buffer storing outgoing messages (units are
+    /// messages). A value of 0 indicates an unlimited buffer and -1
+    /// that the socket cannot be queried. The default buffer size is
+    /// contained in the #kDefaultSndHwm variable.
+    /// If the buffer is set to unlimited, then your buffer will grow until
+    /// you run out of memory (and probably crash).
+    /// If your buffer reaches the maximum capacity data will be dropped.
+    int IGNITION_TRANSPORT_VISIBLE sndHwm();
+
     /// \brief Block the current thread until a SIGINT or SIGTERM is received.
     /// Note that this function registers a signal handler. Do not use this
     /// function if you want to manage yourself SIGINT/SIGTERM.

include/ignition/transport/NodeShared.hh

@@ -186,6 +186,7 @@ namespace ignition
 
       /// \brief Method in charge of receiving the control updates (when a new
       /// remote subscriber notifies its presence for example).
+      /// ToDo: Remove this function when possible.
       public: void RecvControlUpdate();
 
       /// \brief Method in charge of receiving the service call requests.
@@ -219,6 +220,14 @@ namespace ignition
       /// \param[in] _pub Information of the publisher in charge of the service.
       public: void OnNewSrvDisconnection(const ServicePublisher &_pub);
 
+      /// \brief Callback executed when a remote subscriber connects.
+      /// \param[in] _pub Information of the remote subscriber.
+      public: void OnNewRegistration(const MessagePublisher &_pub);
+
+      /// \brief Callback executed when a remote subscriber unregisters.
+      /// \param[in] _pub Information of the remote subscriber.
+      public: void OnEndRegistration(const MessagePublisher &_pub);
+
       /// \brief Pass through to bool Publishers(const std::string &_topic,
       /// Addresses_M<Pub> &_publishers) const
       /// \param[in] _topic Service name.
@@ -245,6 +254,30 @@ namespace ignition
       /// \sa Pass through to bool Advertise(const Pub &_publisher)
       public: bool AdvertisePublisher(const ServicePublisher &_publisher);
 
+      /// \brief Get the capacity of the buffer (High Water Mark)
+      /// that stores incoming Ignition Transport messages. Note that this is a
+      /// global queue shared by all subscribers within the same process.
+      /// \return The capacity of the buffer storing incoming messages (units
+      /// are messages). A value of 0 indicates an unlimited buffer and -1
+      /// that the socket cannot be queried. The default buffer size is
+      /// contained in the #kDefaultRcvHwm variable.
+      /// If the buffer is set to unlimited, then your buffer will grow until
+      /// you run out of memory (and probably crash).
+      /// If your buffer reaches the maximum capacity data will be dropped.
+      public: int RcvHwm();
+
+      /// \brief Get the capacity of the buffer (High Water Mark)
+      /// that stores outgoing Ignition Transport messages. Note that this is a
+      /// global queue shared by all publishers within the same process.
+      /// \return The capacity of the buffer storing outgoing messages (units
+      /// are messages). A value of 0 indicates an unlimited buffer and -1
+      /// that the socket cannot be queried. The default buffer size is
+      /// contained in the #kDefaultSndHwm variable.
+      /// If the buffer is set to unlimited, then your buffer will grow until
+      /// you run out of memory (and probably crash).
+      /// If your buffer reaches the maximum capacity data will be dropped.
+      public: int SndHwm();
+
       /// \brief Constructor.
       protected: NodeShared();
 

include/ignition/transport/Packet.hh

@@ -244,8 +244,7 @@ namespace ignition
       private: transport::Header header;
 
 #ifdef _WIN32
-// Disable warning C4251 which is triggered by
-// std::string
+// Disable warning C4251 which is triggered by std::string
 #pragma warning(push)
 #pragma warning(disable: 4251)
 #endif

include/ignition/transport/TransportTypes.hh

@@ -172,6 +172,14 @@ namespace ignition
 
     /// \brief The string type used for generic messages.
     const std::string kGenericMessageType = "google.protobuf.Message";
+
+    /// \brief The high water mark of the recieve message buffer.
+    /// \sa NodeShared::RcvHwm
+    const int kDefaultRcvHwm = 1000;
+
+    /// \brief The high water mark of the send message buffer.
+    /// \sa NodeShared::SndHwm
+    const int kDefaultSndHwm = 1000;
     }
   }
 }