Merge pull request #149 from eProsima/v1.2.1

Release v1.2.1
eProsima · May 8, 2020 · 46ee5bc · 46ee5bc
2 parents c0a00cd + 5cd655b
commit 46ee5bc
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Showing 101 changed files with 3,494 additions and 1,160 deletions.
diff --git a/.gitignore b/.gitignore
@@ -9,3 +9,11 @@ tags
 # eclipse
 .cproject
 .project
+
+src/c/profile/transport/ip/tcp/tcp_transport_external.c
+src/c/profile/transport/ip/udp/udp_transport_external.c
+src/c/profile/transport/serial/serial_transport_external.c
+
+include/uxr/client/profile/transport/ip/tcp/tcp_transport_external.h
+include/uxr/client/profile/transport/ip/udp/udp_transport_external.h
+include/uxr/client/profile/transport/serial/serial_transport_external.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -26,6 +26,7 @@ option(UCLIENT_BUILD_EXAMPLES "Build examples." OFF)
 option(UCLIENT_VERBOSE_SERIALIZATION "Build with serialization verbosity." OFF)
 option(UCLIENT_VERBOSE_MESSAGE "Build with message verbosity." OFF)
 option(UCLIENT_PIC "Control Position Independent Code." ON)
+option(UCLIENT_ISOLATED_INSTALL "Install the project and dependencies into separeted folders with version control." ON)
 option(BUILD_SHARED_LIBS "Control shared/static library building." OFF)
 
 option(UCLIENT_BUILD_CI_TESTS "Build CI test cases." OFF)
@@ -43,22 +44,11 @@ option(UCLIENT_BIG_ENDIANNESS "Set the machine endianness to big endianness (by
 
 set(UCLIENT_CONFIG "${CMAKE_CURRENT_SOURCE_DIR}/client.config" CACHE PATH "Configuration client file.")
 
-include(GNUInstallDirs)
-set(BIN_INSTALL_DIR     ${CMAKE_INSTALL_BINDIR}     CACHE PATH "Installation directory for binaries")
-set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
-set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation directory for libraries")
-set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
-if(WIN32)
-    set(LICENSE_INSTALL_DIR . CACHE PATH "Installation directory for licenses")
-else()
-    set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
-endif()
-
 ###############################################################################
 # Dependencies
 ###############################################################################
-set(_microcdr_version 1.1.2)
-set(_microcdr_tag v1.1.2)
+set(_microcdr_version 1.2.0)
+set(_microcdr_tag v1.2.0)
 
 set(_deps "")
 list(APPEND _deps "microcdr\;${_microcdr_version}")
@@ -68,7 +58,7 @@ list(APPEND _deps "microcdr\;${_microcdr_version}")
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UCLIENT_SUPERBUILD)
-    project(microxrcedds_client VERSION "1.1.6" LANGUAGES C)
+    project(microxrcedds_client VERSION "1.2.1" LANGUAGES C)
 else()
     project(uclient_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -120,55 +110,25 @@ endforeach()
 ###############################################################################
 # Check platform.
 if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-    set(PLATFORM_NAME_LINUX ON)
-    set(TRANSPORT_TYPES "UDP" "TCP" "SERIAL")
+    set(UCLIENT_PLATFORM_LINUX ON)
 elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
-    set(PLATFORM_NAME_WINDOWS ON)
-    set(TRANSPORT_TYPES "UDP" "TCP")
+    set(UCLIENT_PLATFORM_WINDOWS ON)
 elseif(CMAKE_SYSTEM_NAME STREQUAL "Generic")
     if(PLATFORM_NAME STREQUAL "nuttx")
-        set(PLATFORM_NAME_NUTTX ON)
-        set(TRANSPORT_TYPES "UDP" "TCP" "SERIAL")
+        set(UCLIENT_PLATFORM_NUTTX ON)
+    elseif(PLATFORM_NAME STREQUAL "LwIP")
+        set(UCLIENT_PLATFORM_POSIX_NOPOLL ON)
     endif()
 endif()
 
-# Transport sources.
-foreach(TRANS_TYPE ${TRANSPORT_TYPES})
-    if(PROFILE_${TRANS_TYPE}_TRANSPORT)
-        string(TOLOWER ${TRANS_TYPE} TT)
-        if(PLATFORM_NAME_LINUX)
-            set(${TRANS_TYPE}_SRCS
-                src/c/profile/transport/${TT}/${TT}_transport.c
-                src/c/profile/transport/${TT}/${TT}_transport_linux.c
-                )
-        elseif(PLATFORM_NAME_WINDOWS)
-            set(${TRANS_TYPE}_SRCS
-                src/c/profile/transport/${TT}/${TT}_transport.c
-                src/c/profile/transport/${TT}/${TT}_transport_windows.c
-                )
-        elseif(PLATFORM_NAME_NUTTX)
-            set(${TRANS_TYPE}_SRCS
-                src/c/profile/transport/${TT}/${TT}_transport.c
-                src/c/profile/transport/${TT}/${TT}_transport_linux.c
-                )
-        endif()
-    endif()
-endforeach()
-
-if(PROFILE_SERIAL_TRANSPORT)
-    set(SERIAL_SRCS ${SERIAL_SRCS} src/c/profile/transport/serial/serial_protocol.c)
+if(UCLIENT_PLATFORM_LINUX OR UCLIENT_PLATFORM_NUTTX)
+    set(UCLIENT_PLATFORM_POSIX ON)
 endif()
 
-# Transport discovery source.
-if(PROFILE_DISCOVERY)
-    if(PLATFORM_NAME_LINUX)
-        set(UDP_DISCOVERY_SRCS src/c/profile/discovery/transport/udp_transport_datagram_linux.c)
-    elseif(PLATFORM_NAME_WINDOWS)
-        set(UDP_DISCOVERY_SRCS src/c/profile/discovery/transport/udp_transport_datagram_windows.c)
-    elseif(PLATFORM_NAME_NUTTX)
-        set(UDP_DISCOVERY_SRCS src/c/profile/discovery/transport/udp_transport_datagram_linux.c)
-    endif()
-endif()
+# Check external transport.
+option(UCLIENT_EXTERNAL_TCP "Enable external serial transport." OFF)
+option(UCLIENT_EXTERNAL_UDP "Enable external serial transport." OFF)
+option(UCLIENT_EXTERNAL_SERIAL "Enable external serial transport." OFF)
 
 # Other sources
 set(SRCS
@@ -183,7 +143,7 @@ set(SRCS
     src/c/core/session/session_info.c
     src/c/core/session/submessage.c
     src/c/core/session/object_id.c
-    src/c/core/serialization/xrce_protocol.c
+    src/c/core/serialization/xrce_types.c
     src/c/core/serialization/xrce_header.c
     src/c/core/serialization/xrce_subheader.c
     src/c/util/time.c
@@ -194,12 +154,44 @@ set(SRCS
     src/c/core/session/write_access.c
     $<$<OR:$<BOOL:${UCLIENT_VERBOSE_MESSAGE}>,$<BOOL:${UCLIENT_VERBOSE_SERIALIZATION}>>:src/c/core/log/log.c>
     $<$<BOOL:${PROFILE_DISCOVERY}>:src/c/profile/discovery/discovery.c>
-    ${UDP_DISCOVERY_SRCS}
-    ${UDP_SRCS}
-    ${TCP_SRCS}
-    ${SERIAL_SRCS}
+    $<$<BOOL:${PROFILE_DISCOVERY}>:src/c/profile/transport/ip/udp/udp_transport.c>
+    $<$<AND:$<BOOL:${PROFILE_DISCOVERY}>,$<BOOL:${UCLIENT_PLATFORM_POSIX}>>:src/c/profile/discovery/transport/udp_transport_datagram_posix.c>
+    $<$<AND:$<BOOL:${PROFILE_DISCOVERY}>,$<PLATFORM_ID:Windows>>:src/c/profile/discovery/transport/udp_transport_datagram_windows.c>
+    $<$<BOOL:${PROFILE_UDP_TRANSPORT}>:src/c/profile/transport/ip/udp/udp_transport.c>
+    $<$<AND:$<BOOL:${PROFILE_UDP_TRANSPORT}>,$<BOOL:${UCLIENT_PLATFORM_POSIX}>>:src/c/profile/transport/ip/udp/udp_transport_posix.c>
+    $<$<AND:$<BOOL:${PROFILE_UDP_TRANSPORT}>,$<BOOL:${UCLIENT_PLATFORM_POSIX_NOPOLL}>>:src/c/profile/transport/ip/udp/udp_transport_posix_nopoll.c>
+    $<$<AND:$<BOOL:${PROFILE_UDP_TRANSPORT}>,$<PLATFORM_ID:Windows>>:src/c/profile/transport/ip/udp/udp_transport_windows.c>
+    $<$<BOOL:${PROFILE_TCP_TRANSPORT}>:src/c/profile/transport/ip/tcp/tcp_transport.c>
+    $<$<AND:$<BOOL:${PROFILE_TCP_TRANSPORT}>,$<BOOL:${UCLIENT_PLATFORM_POSIX}>>:src/c/profile/transport/ip/tcp/tcp_transport_posix.c>
+    $<$<AND:$<BOOL:${PROFILE_TCP_TRANSPORT}>,$<PLATFORM_ID:Windows>>:src/c/profile/transport/ip/tcp/tcp_transport_windows.c>
+    $<$<AND:$<BOOL:${PROFILE_SERIAL_TRANSPORT}>,$<OR:$<PLATFORM_ID:Linux>,$<PLATFORM_ID:Generic>>>:src/c/profile/transport/serial/serial_transport.c>
+    $<$<AND:$<BOOL:${PROFILE_SERIAL_TRANSPORT}>,$<OR:$<PLATFORM_ID:Linux>,$<PLATFORM_ID:Generic>>>:src/c/profile/transport/serial/serial_protocol.c>
+    $<$<AND:$<BOOL:${PROFILE_SERIAL_TRANSPORT}>,$<BOOL:${UCLIENT_PLATFORM_POSIX}>>:src/c/profile/transport/serial/serial_transport_posix.c>
+    $<$<BOOL:${UCLIENT_EXTERNAL_TCP}>:src/c/profile/transport/ip/tcp/tcp_transport_external.c>
+    $<$<BOOL:${UCLIENT_EXTERNAL_UDP}>:src/c/profile/transport/ip/udp/udp_transport_external.c>
+    $<$<BOOL:${UCLIENT_EXTERNAL_SERIAL}>:src/c/profile/transport/serial/serial_transport_external.c>
+    $<$<OR:$<BOOL:${UCLIENT_PLATFORM_POSIX}>,$<BOOL:${UCLIENT_PLATFORM_POSIX_NOPOLL}>>:src/c/profile/transport/ip/ip_posix.c>
+    $<$<BOOL:$<PLATFORM_ID:Windows>>:src/c/profile/transport/ip/ip_windows.c>
     )
 
+###############################################################################
+# Set install directories
+###############################################################################
+if(UCLIENT_ISOLATED_INSTALL)
+    set(CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}/${PROJECT_NAME}-${PROJECT_VERSION}")
+endif()
+
+include(GNUInstallDirs)
+set(BIN_INSTALL_DIR     ${CMAKE_INSTALL_BINDIR}     CACHE PATH "Installation directory for binaries")
+set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
+set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation directory for libraries")
+set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
+if(WIN32)
+    set(LICENSE_INSTALL_DIR . CACHE PATH "Installation directory for licenses")
+else()
+    set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
+endif()
+
 ###############################################################################
 # Targets
 ###############################################################################
@@ -254,7 +246,7 @@ target_include_directories(${PROJECT_NAME}
     PUBLIC
         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
         $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-        $<INSTALL_INTERFACE:include>
+        $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
     PRIVATE
         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/c>
     )
@@ -293,8 +285,9 @@ if(UCLIENT_BUILD_EXAMPLES)
     add_subdirectory(examples/ShapesDemo)
     add_subdirectory(examples/Deployment)
     add_subdirectory(examples/Discovery)
-    add_subdirectory(examples/TimeSync)
-    add_subdirectory(examples/TimeSyncWithCb)
+    add_subdirectory(examples/RequestAdder)
+    add_subdirectory(examples/ReplyAdder)
+    add_subdirectory(examples/MultiSessionHelloWorld)
 endif()
 
 ###############################################################################
@@ -314,12 +307,12 @@ if(UCLIENT_BUILD_TESTS)
     include(CTest)
 
     add_subdirectory(test/unitary)
-    if(PLATFORM_NAME_LINUX)
+    if(UCLIENT_PLATFORM_LINUX)
         add_subdirectory(test/transport/serial_comm)
     endif()
 endif()
 
-if(PLATFORM_NAME_LINUX AND UCLIENT_MEMORY_TESTS)
+if(UCLIENT_PLATFORM_LINUX AND UCLIENT_MEMORY_TESTS)
     add_subdirectory(test/memory/consumption)
 endif()
 
@@ -403,12 +396,18 @@ install(
         ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
     )
 
-# Install dependencies
+# Install dependencies.
 if(EXISTS ${CMAKE_BINARY_DIR}/temp_install/)
-    install(
-        DIRECTORY
-            ${CMAKE_BINARY_DIR}/temp_install/
-        DESTINATION
-            ${CMAKE_INSTALL_PREFIX}
+    file(GLOB _deps RELATIVE ${CMAKE_BINARY_DIR}/temp_install ${CMAKE_BINARY_DIR}/temp_install/*)
+    foreach(_d ${_deps})
+        install(
+            DIRECTORY
+                ${CMAKE_BINARY_DIR}/temp_install/${_d}$<IF:$<BOOL:${UCLIENT_ISOLATED_INSTALL}>,,/>
+            DESTINATION
+                ${CMAKE_INSTALL_PREFIX}$<IF:$<BOOL:${UCLIENT_ISOLATED_INSTALL}>,/../,>
+            COMPONENT
+                ${_d}
+            USE_SOURCE_PERMISSIONS
         )
+    endforeach()
 endif()
diff --git a/CTestConfig.cmake b/CTestConfig.cmake
@@ -18,5 +18,7 @@ if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     set(MEMORYCHECK_COMMAND_OPTIONS "${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\"")
 
     # Coverage configuration.
-    find_program(COVERAGE_COMMAND NAMES gcov)
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        find_program(COVERAGE_COMMAND NAMES gcov)
+    endif()
 endif()
diff --git a/ci/linux/CMakeLists.txt b/ci/linux/CMakeLists.txt
@@ -16,33 +16,84 @@ cmake_minimum_required(VERSION 3.5.0 FATAL_ERROR)
 
 project(microxrcedds_client_ci LANGUAGES C CXX)
 
+if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    message(FATAL_ERROR "Unsupported compiler")
+endif()
+
 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")
 
-ExternalProject_Add(microxrcedds_client
+check_cxx_compiler_flag("-fprofile-abs-path" _have_cxx_fprofile_abs_path)
+if(_have_cxx_fprofile_abs_path)
+    set(_cxx_flags "${_cxx_flags} -fprofile-abs-path")
+endif()
+check_c_compiler_flag("-fprofile-abs-path" _have_c_fprofile_abs_path)
+if(_have_c_fprofile_abs_path)
+    set(_c_flags "${_c_flags} -fprofile-abs-path")
+endif()
+
+ExternalProject_Add(microxrcedds_client_isolated
     SOURCE_DIR
         ${CMAKE_CURRENT_SOURCE_DIR}/../../
     BINARY_DIR
         ${PROJECT_BINARY_DIR}/microxrcedds_client-build
     INSTALL_DIR
-        ${PROJECT_BINARY_DIR}/temp_install
+        ${PROJECT_BINARY_DIR}/temp_install/isolated
     TEST_AFTER_INSTALL
         TRUE
     TEST_COMMAND
         COMMAND ${CMAKE_CTEST_COMMAND} -VV -T Test
         COMMAND ${CMAKE_CTEST_COMMAND} -VV -T MemCheck -E "test-case*"
         COMMAND ${CMAKE_CTEST_COMMAND} -VV -T Coverage -E "test-case*"
     CMAKE_CACHE_ARGS
+        -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+        -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+        -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+        -DCMAKE_C_FLAGS:STRING=${_c_flags}
+        -DCMAKE_CXX_FLAGS:STRING=${_cxx_flags}
+        -DCMAKE_EXE_LINKER_FLAGS:STRING=${_exe_linker_flags}
+        -DCMAKE_SHARED_LINKER_FLAGS:STRING=${_shared_linker_flags}
+        -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+        -DUCLIENT_BUILD_CI_TESTS:BOOL=ON
+        -DUCLIENT_ISOLATED_INSTALL:BOOL=ON
+        -DUCLIENT_VERBOSE_SERIALIZATION:BOOL=ON
+        -DUCLIENT_VERBOSE_MESSAGE:BOOL=ON
+        -DGTEST_INDIVIDUAL:BOOL=ON
+    )
+
+ExternalProject_Add(microxrcedds_client_non-isolated
+    SOURCE_DIR
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../
+    BINARY_DIR
+        ${PROJECT_BINARY_DIR}/microxrcedds_client-build
+    INSTALL_DIR
+        ${PROJECT_BINARY_DIR}/temp_install/non-isolated
+    TEST_AFTER_INSTALL
+        TRUE
+    BUILD_COMMAND
+        ""
+    TEST_COMMAND
+        COMMAND ${CMAKE_CTEST_COMMAND} -VV -T Test -R "test-case*"
+    CMAKE_CACHE_ARGS
+        -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+        -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
         -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
         -DCMAKE_C_FLAGS:STRING=${_c_flags}
         -DCMAKE_CXX_FLAGS:STRING=${_cxx_flags}
         -DCMAKE_EXE_LINKER_FLAGS:STRING=${_exe_linker_flags}
         -DCMAKE_SHARED_LINKER_FLAGS:STRING=${_shared_linker_flags}
         -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
         -DUCLIENT_BUILD_CI_TESTS:BOOL=ON
+        -DUCLIENT_ISOLATED_INSTALL:BOOL=OFF
+        -DUCLIENT_VERBOSE_SERIALIZATION:BOOL=ON
+        -DUCLIENT_VERBOSE_MESSAGE:BOOL=ON
         -DGTEST_INDIVIDUAL:BOOL=ON
+    DEPENDS
+        microxrcedds_client_isolated
     )
diff --git a/client.config b/client.config
@@ -8,8 +8,8 @@ CONFIG_MAX_OUTPUT_RELIABLE_STREAMS=1
 CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS=1
 CONFIG_MAX_INPUT_RELIABLE_STREAMS=1
 
-CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS=5
-CONFIG_MIN_SESSION_CONNECTION_INTERVAL=500
+CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS=10
+CONFIG_MIN_SESSION_CONNECTION_INTERVAL=25
 CONFIG_MIN_HEARTBEAT_TIME_INTERVAL=1
 
 CONFIG_BIG_ENDIANNESS=FALSE