Add standalone executables #216

mjcarroll · 2021-01-25T17:03:59Z

Example of using CLI11 to build standalone executables for use with the ign tools.

This keeps the ign.cc and ign.hh the same, and just provides a C++ entrypoint.

Signed-off-by: Michael Carroll [email protected]

mjcarroll · 2021-01-25T17:04:25Z

./bin/transport --help
transport
Usage: ./bin/transport [OPTIONS] SUBCOMMAND

Options:
  -h,--help                   Print this help message and exit
  --help-all                  Show all help
  -v,--version                

Subcommands:
  topic                       Introspect ignition topics
  service                     Introspect ignition services

mjcarroll · 2021-01-25T17:04:39Z

./bin/transport topic --help
Introspect ignition topics
Usage: ./bin/transport topic [OPTIONS]

Options:
  -h,--help                   Print this help message and exit
  --help-all                  Show all help
  -t,--topic TEXT             Name of a topic
  -m,--msgtype TEXT           Type of message to publish
  -d,--duration FLOAT Excludes: --num
                              Duration (seconds) to run
  -n,--num INT Excludes: --duration
                              Numer of messages to echo and then exit
[Option Group: command]
  Command to be executed 
  [Exactly 1 of the following options is required]
  Options:
    -l,--list                   
    -i,--info Needs: --topic    
    -e,--echo                   
    -p,--pub TEXT Needs: --topic --msgtype

CMakeLists.txt

scpeters · 2021-01-25T20:17:41Z

requires gazebosim/gz-utils#2

scpeters · 2021-01-25T21:00:22Z

src/ign/CMakeLists.txt

@@ -0,0 +1,12 @@
+add_executable(
+  transport 


we currently embed the path of the ignition library in the cmdtransport.rb file:

https://github.com/ignitionrobotics/ign-transport/blob/add_standalone/src/cmd/cmdtransport.rb.in#L31

https://github.com/ignitionrobotics/ign-transport/blob/add_standalone/src/cmd/CMakeLists.txt#L10-L32

I'd like to do the same, but I think this cmake target needs to be in the same scope as the code that generates the .rb file. Why not combine the cmd and ign folders? we could name it ign

I'm fine with that. I'll go ahead and do that as well as update the utils target

scpeters · 2021-02-01T09:59:10Z

the tests were not being compiled, so I re-enabled them in 30a14ef and fixed the configuration of the cmdtransport.rb file used for testing.

I noticed that calling ign topic with any parameters other than -h or -l get treated like --list

for example:

$ ign topic -l
topic -l
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/record_video/stats
/stats
/world/default/clock
/world/default/dynamic_pose/info
/world/default/pose/info
/world/default/scene/deletion
/world/default/scene/info
/world/default/state
/world/default/stats

$ ign topic  -e -t /stats
topic -e -t /stats
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/record_video/stats
/stats
/world/default/clock
/world/default/dynamic_pose/info
/world/default/pose/info
/world/default/scene/deletion
/world/default/scene/info
/world/default/state
/world/default/stats

scpeters · 2021-02-02T01:50:21Z

I like splitting each verb into its own executable; I've updated the ruby script to call each one in ddd1da3

there are now just two test failures, but one of them is a seg-fault in the callback function passed to CLI: https://gist.github.com/scpeters/b18b1cbb38c43e0e02d406254aaeadef

scpeters · 2021-02-03T17:40:01Z

@osrf-jenkins run tests please

scpeters · 2021-02-03T19:30:36Z

opened osrf/homebrew-simulation#1320 to fix brew CI

scpeters · 2021-02-03T22:00:45Z

@osrf-jenkins run tests please

scpeters · 2021-02-03T22:39:27Z

brew build is failing because gazebosim/gz-cmake#143 has not yet been released

scpeters · 2021-02-06T09:42:31Z

@osrf-jenkins run tests please

scpeters · 2021-02-06T09:57:58Z

2 test failures:

https://build.osrfoundation.org/job/ignition_transport-ci-pr_any-homebrew-amd64/1005/testReport/

scpeters · 2021-02-08T18:51:14Z

CMakeLists.txt

@@ -74,6 +74,11 @@ else()
  ign_find_package(UUID REQUIRED)
 endif()

+#--------------------------------------
+# Find ignition-utils
+ign_find_package(ignition-utils1 REQUIRED COMPONENTS cli)


I want to say we could use PRIVATE here because we aren't exporting the cli component, but if this package starts using ImplPtr or the suppression macros, then I'm not sure we'd be able to separate the core and cli components

Signed-off-by: Steve Peters <[email protected]>

scpeters · 2021-05-03T19:08:46Z

I really can't figure out why the abichecker is complaining:

https://build.osrfoundation.org/job/ignition_transport-abichecker-any_to_any-ubuntu_auto-amd64/344/API_5fABI_20report/

it's complaining about a bunch of removed symbols from ReqHandler and SubscriptionHandler

I believe the abichecker failure is a false positive and have noted it in gazebo-tooling/release-tools#336 (comment)

I think this is ready for review again, as I have addressed the problem noted by @caguero

scpeters · 2021-05-08T00:31:19Z

I just tried echoing a topic from ign-gazebo using branch and it didn't work for me.

Listing works fine:

$ ign topic -l
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/record_video/stats
/stats
/world/default/clock
/world/default/dynamic_pose/info
/world/default/pose/info
/world/default/scene/deletion
/world/default/scene/info
/world/default/state
/world/default/stats

But echoing doesn't output anything:

$ ign topic -e -t /clock

And when I terminate the echoing with Ctrl+C I get:

^C#<Thread:0x0000559219b56e80@/usr/lib/ruby/2.5.0/open3.rb:354 run> terminated with exception (report_on_exception is true):
Traceback (most recent call last):
        1: from /usr/lib/ruby/2.5.0/open3.rb:354:in `block (2 levels) in capture2e'
/usr/lib/ruby/2.5.0/open3.rb:354:in `read': stream closed in another thread (IOError)
Traceback (most recent call last):
        6: from /home/chapulina/ws_edifice/install/bin/ign:272:in `<main>'
        5: from /home/chapulina/ws_edifice/install/lib/ruby/ignition/cmdtransport10.rb:54:in `execute'
        4: from /usr/lib/ruby/2.5.0/open3.rb:349:in `capture2e'
        3: from /usr/lib/ruby/2.5.0/open3.rb:190:in `popen2e'
        2: from /usr/lib/ruby/2.5.0/open3.rb:205:in `popen_run'
        1: from /usr/lib/ruby/2.5.0/open3.rb:366:in `block in capture2e'
/usr/lib/ruby/2.5.0/open3.rb:366:in `value': Interrupt

Can someone else reproduce it?

I believe this has been fixed

Keep calling `ign topic --pub` if messages aren't received. Signed-off-by: Steve Peters <[email protected]>

scpeters · 2021-05-11T23:52:47Z

I noticed some flaky failures of the TopicPublish portion of UNIT_ign_TEST in the github actions runners, so I've improved the reliability of that test case in f39b7d7

scpeters · 2021-05-12T00:52:34Z

flaky failure in GitHub action is unrelated to this PR and noted in #235 (comment)

it has already been fixed

mjcarroll · 2021-05-17T16:06:48Z

@caguero any other thoughts on this one?

caguero

Looks good!

mjcarroll requested review from scpeters and chapulina January 25, 2021 17:03

mjcarroll self-assigned this Jan 25, 2021

mjcarroll requested a review from caguero as a code owner January 25, 2021 17:04

github-actions bot added the 🔮 dome Ignition Dome label Jan 25, 2021

chapulina reviewed Jan 25, 2021

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CMakeLists.txt Outdated Show resolved Hide resolved

scpeters reviewed Jan 25, 2021

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chapulina added the needs upstream release Blocked by a release of an upstream library label Jan 26, 2021

mjcarroll force-pushed the add_standalone branch from a60d1fd to 647ee5a Compare January 26, 2021 02:57

mjcarroll changed the base branch from ign-transport9 to main January 26, 2021 02:58

scpeters mentioned this pull request Feb 2, 2021

ignition-transport10: use ignition-utils1 osrf/homebrew-simulation#1317

Merged

scpeters mentioned this pull request Feb 3, 2021

ignition-utils1: update to include cli component osrf/homebrew-simulation#1320

Merged

scpeters mentioned this pull request Feb 3, 2021

Add ign plugin --info to print plugin info gazebosim/gz-plugin#32

Merged

scpeters mentioned this pull request Feb 4, 2021

Bump to 2.7.0~pre1 gazebosim/gz-cmake#147

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scpeters reviewed Feb 8, 2021

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chapulina requested a review from j-rivero February 8, 2021 19:52

scpeters mentioned this pull request Mar 3, 2021

ign-transport10.yaml: add ign-utils gazebo-tooling/gazebodistro#27

Merged

Wait longer in TopicPublish test

040faa7

Signed-off-by: Steve Peters <[email protected]>

scpeters mentioned this pull request May 3, 2021

False positive in ABI checker gazebo-tooling/release-tools#336

Open

Merge branch 'ign-transport10' into add_standalone

9584a1e

ign_TEST: improve reliability of TopicPublish test

f39b7d7

Keep calling `ign topic --pub` if messages aren't received. Signed-off-by: Steve Peters <[email protected]>

mjcarroll requested a review from caguero May 17, 2021 12:50

caguero approved these changes May 17, 2021

View reviewed changes

scpeters enabled auto-merge (squash) May 18, 2021 04:34

scpeters disabled auto-merge May 18, 2021 04:34

scpeters enabled auto-merge (squash) May 18, 2021 04:38

scpeters disabled auto-merge May 18, 2021 04:39

scpeters merged commit 7040522 into ign-transport10 May 18, 2021

scpeters deleted the add_standalone branch May 18, 2021 04:39

This was referenced May 18, 2021

Add standalone executable for ign-transport-log command #247

Open

Standalone Ignition Gazebo executables gazebosim/gz-sim#694

Closed

Add standalone executable for ign-plugin-info command gazebosim/gz-plugin#54

Closed

scpeters mentioned this pull request Jul 24, 2021

Port ign-launch to Windows gazebosim/gz-launch#120

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8 tasks

scpeters mentioned this pull request Oct 16, 2021

Improve backtrace generation using Backward gazebosim/gz-tools#63

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scpeters mentioned this pull request Dec 2, 2022

Install the common test executables to libexec gazebosim/gz-physics#458

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scpeters mentioned this pull request Jul 29, 2024

WIP: Implement gz sdf as standalone executable gazebosim/sdformat#1465

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Add standalone executables #216

Add standalone executables #216

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Add standalone executables #216

Add standalone executables #216

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