Merge branch 'develop' into master

eProsima · Mar 29, 2021 · 0aea832 · 0aea832
2 parents b596f1d + f6d7f20
commit 0aea832
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diff --git a/.github/ISSUE_TEMPLATE/general-issue.md b/.github/ISSUE_TEMPLATE/general-issue.md
@@ -0,0 +1,24 @@
+---
+name: General issue
+about: General issue template for micro XRCE-DDS Agent
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+## Issue template
+
+- Hardware description: <!-- hardware where you are running the micro XRCE-DDS Agent -->
+- OS: <!-- OS where you are using the micro XRCE-DDS Agent -->
+- Installation type: <!-- CMake flags, FastDDS version, etc  -->
+- Version or commit hash: <!-- version or branch used to compile the micro XRCE-DDS Agent -->
+
+#### Steps to reproduce the issue
+<!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->
+
+#### Expected behavior
+
+#### Actual behavior
+
+#### Additional information
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -27,14 +27,18 @@ option(UAGENT_ISOLATED_INSTALL "Install the project and dependencies into separa
 option(UAGENT_USE_INTERNAL_GTEST "Enable internal GTest libraries." OFF)
 option(BUILD_SHARED_LIBS "Control shared/static building." ON)
 
+option(UAGENT_USE_SYSTEM_FASTDDS "Force find and use system installed Fast-DDS." OFF)
 option(UAGENT_FAST_PROFILE "Build FastMiddleware profile." ON)
 option(UAGENT_CED_PROFILE "Build CedMiddleware profile." ON)
 option(UAGENT_DISCOVERY_PROFILE "Build Discovery profile." ON)
 option(UAGENT_P2P_PROFILE "Build P2P discovery profile." ON)
 option(UAGENT_LOGGER_PROFILE "Build logger profile." ON)
 option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
-option(UAGENT_CLI_PROFILE "Build CLI profile." ON)
-option(UAGENT_BUILD_EXECUTABLE "Build MicroXRCE-DDS Agent provided executable." ON)
+option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
+option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
+
+set(UAGENT_P2P_CLIENT_VERSION 2.0.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG develop CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -67,23 +71,21 @@ set(_fastcdr_version 1.0.13)
 set(_fastcdr_tag v1.0.13)
 list(APPEND _deps "fastcdr\;${_fastcdr_version}")
 
-if(UAGENT_CLI_PROFILE)
-    set(_cli11_version 1.7.1)
-    set(_cli11_tag v1.7.1)
-    list(APPEND _deps "CLI11\;${_cli11_version}")
-endif()
-
 if(UAGENT_P2P_PROFILE)
-    set(_microxrcedds_client_version 1.2.3)
-    set(_microxrcedds_client_tag v1.2.3)
+    set(_microxrcedds_client_version ${UAGENT_P2P_CLIENT_VERSION})
+    set(_microxrcedds_client_tag ${UAGENT_P2P_CLIENT_TAG})
     list(APPEND _deps "microxrcedds_client\;${_microxrcedds_client_version}")
 endif()
 
 if(UAGENT_FAST_PROFILE)
-    set(_fastdds_version 2.0)
-    set(_fastdds_tag 2.0.x)
+    if(UAGENT_USE_SYSTEM_FASTDDS)
+        set(_fastdds_version 2)
+    else()
+        set(_fastdds_version 2.0.2)
+        set(_fastdds_tag v2.0.2)
+        set(_foonathan_memory_tag c619113) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
+    endif()    
     list(APPEND _deps "fastrtps\;${_fastdds_version}")
-    set(_foonathan_memory_tag c619113) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
 endif()
 
 if(UAGENT_LOGGER_PROFILE)
@@ -97,7 +99,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "1.4.2" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.0.0" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -129,6 +131,7 @@ set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PROJECT_BINARY_DIR}/temp_install)
 foreach(d ${_deps})
     list(GET d 0 _name)
     list(GET d 1 _version)
+    set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PROJECT_BINARY_DIR}/temp_install/${_name}-${_version})
     find_package(${_name} ${_version} REQUIRED)
 endforeach()
 
@@ -188,9 +191,10 @@ set(SRCS
     src/cpp/types/SubMessageHeader.cpp
     src/cpp/message/InputMessage.cpp
     src/cpp/message/OutputMessage.cpp
-    $<$<NOT:$<BOOL:${UAGENT_CLI_PROFILE}>>:src/cpp/utils/ArgumentParser.cpp>
+    src/cpp/utils/ArgumentParser.cpp
     src/cpp/transport/Server.cpp
-    src/cpp/transport/serial/SerialProtocol.cpp
+    src/cpp/transport/stream_framing/StreamFramingProtocol.cpp
+    src/cpp/transport/custom/CustomAgent.cpp
     ${TRANSPORT_SRCS}
     $<$<BOOL:${UAGENT_DISCOVERY_PROFILE}>:src/cpp/transport/discovery/DiscoveryServer.cpp>
     $<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/types/TopicPubSubType.cpp>
@@ -284,7 +288,6 @@ target_link_libraries(${PROJECT_NAME}
         $<$<PLATFORM_ID:Windows>:ws2_32>
         $<$<PLATFORM_ID:Windows>:iphlpapi>
         $<$<BOOL:${UAGENT_LOGGER_PROFILE}>:spdlog::spdlog>
-        $<$<BOOL:${UAGENT_CLI_PROFILE}>:CLI11::CLI11>
     PRIVATE
         $<$<BOOL:${UAGENT_FAST_PROFILE}>:fastrtps>
         $<$<BOOL:${UAGENT_P2P_PROFILE}>:microxrcedds_client>
@@ -324,6 +327,11 @@ if(UAGENT_BUILD_EXECUTABLE)
         )
 endif()
 
+# Examples
+if(UAGENT_BUILD_USAGE_EXAMPLES)
+    add_subdirectory(examples/custom_agent)
+endif()
+
 # XML default profile used to launch exec in the building folder
 file(COPY ${PROJECT_SOURCE_DIR}/agent.refs
     DESTINATION ${PROJECT_BINARY_DIR}

diff --git a/CTestConfig.cmake b/CTestConfig.cmake
@@ -15,8 +15,7 @@
 if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     # MemoryCheck configuration.
     find_program(MEMORYCHECK_COMMAND NAMES valgrind)
-    set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --quiet --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=50 --xml=yes --xml-file=test_%p_memcheck.xml \"--suppressions=${CMAKE_CURRENT_SOURCE_DIR}/ci/valgrind.supp\"")
-
+    set(MEMORYCHECK_COMMAND_OPTIONS "${MEMORYCHECK_COMMAND_OPTIONS} --log-fd=2 --quiet --tool=memcheck --leak-check=yes --show-reachable=yes --error-exitcode=1 --num-callers=50 \"--suppressions=${CMAKE_CURRENT_SOURCE_DIR}/ci/valgrind.supp\"")
     # Coverage configuration.
     if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
         find_program(COVERAGE_COMMAND NAMES gcov)

diff --git a/Dockerfile b/Dockerfile
@@ -31,9 +31,8 @@ ADD . /agent/
 # Build Micro XRCE-DDS Agent and install
 RUN cd /agent/build && \
     cmake -DCMAKE_INSTALL_PREFIX=../install \
-    -DUAGENT_ISOLATED_INSTALL=OFF \
     .. &&\
-    make && make install
+    make -j $(nproc) && make install
 
 # Prepare Micro XRCE-DDS Agent artifacts
 RUN cd /agent && \

diff --git a/README.md b/README.md
@@ -20,13 +20,13 @@ This is made possible by the creation of *DDS Entities* on the *Agent* as a resu
 
 The communication between a *Micro XRCE-DDS Client* and a *Micro XRCE-DDS Agent* is achieved by means of several kinds of built-in transports: **UDPv4**, **UDPv6**, **TCPv4**, **TCPv6** and **Serial** communication. In addition, there is the possibility for the user to generate its own **Custom** transport.
 You can use an *Agent* with these transports by means of the standalone executable generated when building the project, which comes with a built-in CLI tool to select one of the transports listed above.
+
 This built-in *Agent* can also be installed and launched using the provided [Snap package](https://snapcraft.io/micro-xrce-dds-agent) or the provided [Docker image](https://hub.docker.com/r/eprosima/micro-xrce-dds-agent/).
 
-![Architecture](docs/agent_architecture.png)
 
 ## Documentation
 
-You can access *Micro XRCE-DDS* documentation online, which is hosted on Read the Docs.
+You can access the *eProsima Micro XRCE-DDS* user documentation online, which is hosted on Read the Docs.
 
 * [Start Page](http://micro-xrce-dds.readthedocs.io)
 * [Installation manual](http://micro-xrce-dds.readthedocs.io/en/latest/installation.html)

diff --git a/ci/linux/CMakeLists.txt b/ci/linux/CMakeLists.txt
@@ -24,10 +24,10 @@ include(ExternalProject)
 include(CheckCXXCompilerFlag)
 include(CheckCCompilerFlag)
 
-set(_c_flags "-fwrapv -fprofile-arcs -ftest-coverage")
-set(_cxx_flags "-fwrapv -fprofile-arcs -ftest-coverage")
-set(_exe_linker_flags "-fprofile-arcs -ftest-coverage")
-set(_shared_linker_flags "-fprofile-arcs -ftest-coverage")
+set(_c_flags "-fwrapv -fprofile-arcs -ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
+set(_cxx_flags "-fwrapv -fprofile-arcs -ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
+set(_exe_linker_flags "-fprofile-arcs -ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
+set(_shared_linker_flags "-fprofile-arcs -ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
 
 check_cxx_compiler_flag("-fprofile-abs-path" _have_cxx_fprofile_abs_path)
 if(_have_cxx_fprofile_abs_path)

diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
@@ -32,7 +32,7 @@ if(UAGENT_P2P_PROFILE)
             PREFIX
                 ${PROJECT_BINARY_DIR}/microxrcedds_client
             INSTALL_DIR
-                ${PROJECT_BINARY_DIR}/temp_install
+                ${PROJECT_BINARY_DIR}/temp_install/microxrcedds_client-${_microxrcedds_client_version}
             CMAKE_CACHE_ARGS
                 -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
                 -DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH}
@@ -77,7 +77,7 @@ if(NOT fastcdr_FOUND)
     list(APPEND _deps fastcdr)
 endif()
 
-if(UAGENT_FAST_PROFILE)
+if(UAGENT_FAST_PROFILE AND NOT UAGENT_USE_SYSTEM_FASTDDS)
     # Foonathan memory.
     unset(foonathan_memory_DIR CACHE)
     find_package(foonathan_memory QUIET)
@@ -104,7 +104,7 @@ if(UAGENT_FAST_PROFILE)
     # Fast DDS.
     unset(fastdds_DIR CACHE)
     find_package(fastrtps ${_fastdds_version} EXACT QUIET)
-    if(NOT fastdds_FOUND)
+    if(NOT fastrtps_FOUND)
         ExternalProject_Add(fastdds
             GIT_REPOSITORY
                 https://github.com/eProsima/Fast-DDS.git
@@ -126,6 +126,7 @@ if(UAGENT_FAST_PROFILE)
                 -DTHIRDPARTY:BOOL=ON
                 -DCOMPILE_TOOLS:BOOL=OFF
                 -DSECURITY:BOOL=${UAGENT_SECURITY_PROFILE}
+                -DSHM_TRANSPORT_DEFAULT:BOOL=OFF
             DEPENDS
                 fastcdr
                 foonathan_memory
@@ -139,35 +140,6 @@ if(UAGENT_FAST_PROFILE)
     endif()
 endif()
 
-# CLI11.
-if(UAGENT_CLI_PROFILE)
-    unset(CLI11_DIR CACHE)
-    find_package(CLI11 ${_cli11_version} EXACT QUIET)
-    if(NOT CLI11_FOUND)
-        ExternalProject_Add(cli11
-            GIT_REPOSITORY
-                https://github.com/CLIUtils/CLI11.git
-            GIT_TAG
-                ${_cli11_tag}
-            PREFIX
-                ${PROJECT_BINARY_DIR}/CLI11
-            INSTALL_DIR
-                ${PROJECT_BINARY_DIR}/temp_install/cli11-${_cli11_version}
-            CMAKE_CACHE_ARGS
-                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
-                -DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH};${CMAKE_INSTALL_PREFIX}
-                -DBUILD_SHARED_LIBS:BOOL=${BUILD_SHARED_LIBS}
-                -DCMAKE_TOOLCHAIN_FILE:PATH=${CMAKE_TOOLCHAIN_FILE}
-                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-                -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
-                -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
-                -DCLI11_TESTING:BOOL=OFF
-                -DCLI11_EXAMPLES:BOOL=OFF
-            )
-        list(APPEND _deps cli11)
-    endif()
-endif()
-
 if(UAGENT_LOGGER_PROFILE)
     # spdlog.
     unset(spdlog_DIR CACHE)
@@ -248,6 +220,8 @@ if(NOT Sanitizers_FOUND)
             ""
         INSTALL_COMMAND
             ""
+        CMAKE_ARGS
+            $<$<VERSION_GREATER_EQUAL:${CMAKE_VERSION},3.16.3>:-DCMAKE_POLICY_DEFAULT_CMP0077=OLD> # Disable CMP0077 unset warning
         CMAKE_CACHE_ARGS
             -DCMAKE_TOOLCHAIN_FILE:PATH=${CMAKE_TOOLCHAIN_FILE}
         )

diff --git a/colcon.pkg b/colcon.pkg
@@ -7,6 +7,6 @@
     ],
     "cmake-args":[
         "-DUAGENT_ISOLATED_INSTALL=OFF",
-        "-DUAGENT_CLI_PROFILE=OFF"
+        "-DUAGENT_USE_SYSTEM_FASTDDS=ON"
     ]
 }
diff --git a/docs/Agent.png b/docs/Agent.png
diff --git a/docs/General.png b/docs/General.png
diff --git a/docs/agent_architecture.png b/docs/agent_architecture.png
diff --git a/examples/custom_agent/CMakeLists.txt b/examples/custom_agent/CMakeLists.txt
@@ -0,0 +1,30 @@
+# Copyright 2021-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# 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.
+if (UAGENT_BUILD_USAGE_EXAMPLES)
+    add_executable(CustomXRCEAgent custom_agent.cpp)
+    target_link_libraries(CustomXRCEAgent
+        PRIVATE
+            ${PROJECT_NAME}
+            $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
+            $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
+        )
+
+    set_target_properties(CustomXRCEAgent
+        PROPERTIES
+            CXX_STANDARD
+                11
+            CXX_STANDARD_REQUIRED
+                YES
+        )
+endif()