ros2param WIP

asherikov · Jun 11, 2024 · c6c69ee · c6c69ee
1 parent 21df44f
commit c6c69ee
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Showing 49 changed files with 1,306 additions and 169 deletions.
diff --git a/.github/workflows/head_2.yml b/.github/workflows/head_2.yml
@@ -12,7 +12,7 @@ jobs:
         runs-on: ubuntu-22.04
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-deps
             - run: $APT fakeroot devscripts build-essential
             - run: |
@@ -30,9 +30,8 @@ jobs:
             ROS_CI_DESKTOP: focal
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
-            - run: rosdep update
             - run: sudo make install-deps
             - run: $APT fakeroot devscripts build-essential
             - run: |
@@ -45,7 +44,7 @@ jobs:
     clang_noros:
         runs-on: ubuntu-22.04
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo apt update
             - run: sudo make install-deps
             - run: make build-tests TYPE=Debug OPTIONS=noros TARGETS="all" TC=clang ARGS=-V
@@ -54,16 +53,31 @@ jobs:
     jammy_gcc_noros:
         runs-on: ubuntu-22.04
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo apt update
             - run: sudo make install-deps
             - run: make build-tests TYPE=Debug OPTIONS=noros TARGETS="all" TC=gcc ARGS=-V
 
+    jammy_gcc_ros:
+        runs-on: ubuntu-22.04
+
+        env:
+            ROS_DISTRO: humble
+            ROS_CI_DESKTOP: jammy
+
+        steps:
+            - uses: actions/checkout@v4
+            - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
+            - run: sudo make install-deps
+            - run: |
+                source /opt/ros/$ROS_DISTRO/setup.bash
+                make build-tests TYPE=Debug OPTIONS=ros2 TARGETS="all" TC=gcc ARGS=-V
+
 
     focal_gcc_noros:
         runs-on: ubuntu-20.04
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo apt update
             - run: sudo make install-deps
             - run: make build-tests TYPE=Debug OPTIONS=noros TARGETS="all" TC=gcc ARGS=-V
@@ -78,9 +92,8 @@ jobs:
             ROS_CI_DESKTOP: focal
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
-            - run: rosdep update
             - run: sudo make install-deps
             - run: |
                 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -96,9 +109,8 @@ jobs:
             ROS_CI_DESKTOP: focal
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
-            - run: rosdep update
             - run: sudo make install-deps
             - run: |
                 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -109,7 +121,7 @@ jobs:
         runs-on: ubuntu-22.04
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo apt update
             - run: $APT cppcheck
             - run: $APT python3-pip python3-setuptools
@@ -127,21 +139,37 @@ jobs:
             ROS_CI_DESKTOP: focal
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
-            - run: rosdep update
             - run: sudo make install-deps
             - run: $APT clang-tools-12 clang-tidy-12
             - run: |
                 source /opt/ros/$ROS_DISTRO/setup.bash
                 make clangcheck SCANBUILD=scan-build-12 OPTIONS=ros_tidy TC=gcc
 
 
+    jammy_gcc_ros_scanbuild:
+        runs-on: ubuntu-22.04
+
+        env:
+            ROS_DISTRO: humble
+            ROS_CI_DESKTOP: jammy
+
+        steps:
+            - uses: actions/checkout@v4
+            - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
+            - run: sudo make install-deps
+            - run: $APT clang-tools-15 clang-tidy-15
+            - run: |
+                source /opt/ros/$ROS_DISTRO/setup.bash
+                make clangcheck SCANBUILD=scan-build-15 OPTIONS=ros_tidy TC=gcc
+
+
     jammy_gcc_noros_scanbuild:
         runs-on: ubuntu-22.04
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo apt update
             - run: sudo make install-deps
             - run: $APT clang-tools-14 clang-tidy-14

diff --git a/.github/workflows/tag.yml b/.github/workflows/tag.yml
@@ -18,7 +18,7 @@ jobs:
             DEB_TARGET: jammy
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-deps
             - run: $APT fakeroot devscripts build-essential
             - run: make deb-build DEB_TARGET=$DEB_TARGET
@@ -36,7 +36,7 @@ jobs:
             DEB_TARGET: focal
 
         steps:
-            - uses: actions/checkout@v3
+            - uses: actions/checkout@v4
             - run: sudo make install-ros ROS_DISTRO=$ROS_DISTRO UBUNTU_DISTRO=$ROS_CI_DESKTOP
             - run: rosdep update
             - run: sudo make install-deps

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -30,7 +30,7 @@ option (ARILES_VERBOSE                  "Verbose build"                     ON)
 option (ARILES_BUILD_REGRESSION_TESTS   "Build regression tests."           ON)
 option (ARILES_CCACHE                   "Enable ccache if available"        ON)
 set    (ARILES_DEB_TARGETS              "" CACHE STRING "Enable debian package generation.")
-set    (ARILES_CPP_STANDARD             "11" CACHE STRING "14 is required for boost >= 1.82, 11 is still ok for ariles")
+set    (ARILES_CPP_STANDARD             "17" CACHE STRING "must not be older than 17")
 
 # install parameters
 set    (ARILES_PKGCONFIG_INSTALL_PATH   "" CACHE STRING "pkg-config pc-file install path, not installed if empty")

diff --git a/Makefile b/Makefile
@@ -140,6 +140,11 @@ test-ros: clean
 	${MAKE} build-tests TC=${TC} TYPE=Debug OPTIONS=ros TARGETS="${TARGETS}" EXTRA_CMAKE_PARAM="${EXTRA_CMAKE_PARAM}"
 
 
+test-ros2: clean
+	#${MAKE} build-tests TC=${TC} TYPE=Debug OPTIONS=default TARGETS="${TARGETS}" EXTRA_CMAKE_PARAM="${EXTRA_CMAKE_PARAM}"
+	${MAKE} build-tests TC=${TC} TYPE=Debug OPTIONS=ros2 TARGETS="${TARGETS}" EXTRA_CMAKE_PARAM="${EXTRA_CMAKE_PARAM}"
+
+
 test-noros: clean
 	${MAKE} build-tests TC=${TC} TYPE=Debug OPTIONS=noros TARGETS="${TARGETS}" EXTRA_CMAKE_PARAM="${EXTRA_CMAKE_PARAM}"
 	${MAKE} clangcheck SCANBUILD=scan-build15 OPTIONS=noros_tidy
@@ -179,27 +184,25 @@ dox: doxclean clean
 
 
 install-ros:
-	sh -c "echo \"deb http://packages.ros.org/ros/ubuntu ${UBUNTU_DISTRO} main\" > /etc/apt/sources.list.d/ros-latest.list"
-	sh -c "apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
-	    || apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
-	    || apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654"
-	sh -c "apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 6B05F25D762E3157 \
-	    || apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 6B05F25D762E3157 \
-	    || apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 6B05F25D762E3157"
-	apt update -qq
-	${APT_INSTALL} dpkg
-	${APT_INSTALL} ros-${ROS_DISTRO}-ros-base
+	wget -qO- https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo tee /etc/apt/trusted.gpg.d/ros.asc
 	${MAKE} install-ros-${ROS_DISTRO}
+	${APT_INSTALL} dpkg
+	${APT_INSTALL} python3-rosdep python3-rosinstall python3-rosinstall-generator build-essential
 	bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash; rosdep init'
+	rosdep update
 
-install-ros-%:
-	${APT_INSTALL} python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
+install-ros-noetic:
+	sh -c 'test -f /etc/apt/sources.list.d/ros-latest.list \
+        || (echo "deb http://packages.ros.org/ros/ubuntu ${UBUNTU_DISTRO} main" > /etc/apt/sources.list.d/ros-latest.list)'
+	apt update -qq
+	${APT_INSTALL} ros-${ROS_DISTRO}-ros-base
 
-install-ros-melodic: install-ros-kinetic
-	#
+install-ros-humble:
+	sh -c 'test -f /etc/apt/sources.list.d/ros2-latest.list \
+        || (echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main ${UBUNTU_DISTRO} main" > /etc/apt/sources.list.d/ros2-latest.list)'
+	apt update -qq
+	${APT_INSTALL} ros-${ROS_DISTRO}-rclcpp
 
-install-ros-kinetic:
-	${APT_INSTALL} python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
 
 install-deps:
 	${APT_INSTALL} cmake libboost-all-dev libeigen3-dev

diff --git a/cmake/cmakeut_compiler_flags.cmake b/cmake/cmakeut_compiler_flags.cmake
@@ -91,6 +91,8 @@ function(cmakeut_compiler_flags STANDARD)
         set(CMAKE_CXX_CLANG_TIDY "${CMAKE_CXX_CLANG_TIDY},-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-hicpp-no-array-decay")
         # long functions are ok
         set(CMAKE_CXX_CLANG_TIDY "${CMAKE_CXX_CLANG_TIDY},-google-readability-function-size,-readability-function-size,-hicpp-function-size")
+        # do not enforce nested namespace concatenation
+        set(CMAKE_CXX_CLANG_TIDY "${CMAKE_CXX_CLANG_TIDY},-modernize-concat-nested-namespaces")
 
 
         # overly restrictive fuchsia stuff

diff --git a/cmake/options_deb_packages_bionic.cmake b/cmake/options_deb_packages_bionic.cmake
@@ -5,3 +5,4 @@ set(ARILES_BUILD_REGRESSION_TESTS   "OFF"               CACHE STRING "")
 
 set(ARILES_VISITORS_DEFAULT_MODE    "ON"                CACHE STRING "")
 set(ARILES_VISITOR_rosparam         "$ENV{ROS_DISTRO}"  CACHE STRING "")
+set(ARILES_VISITOR_ros2param        "OFF"               CACHE STRING "")
diff --git a/cmake/options_deb_packages_focal.cmake b/cmake/options_deb_packages_focal.cmake
@@ -6,3 +6,4 @@ set(ARILES_BUILD_REGRESSION_TESTS   "OFF"               CACHE STRING "")
 set(ARILES_VISITORS_DEFAULT_MODE    "ON"                CACHE STRING "")
 set(ARILES_VISITOR_rosparam         "$ENV{ROS_DISTRO}"  CACHE STRING "")
 set(ARILES_VISITOR_msgpack          "OFF"               CACHE STRING "")
+set(ARILES_VISITOR_ros2param        "OFF"               CACHE STRING "")
diff --git a/cmake/options_deb_packages_jammy.cmake b/cmake/options_deb_packages_jammy.cmake
@@ -5,3 +5,4 @@ set(ARILES_BUILD_REGRESSION_TESTS   "OFF"               CACHE STRING "")
 
 set(ARILES_VISITORS_DEFAULT_MODE    "ON"                CACHE STRING "")
 set(ARILES_VISITOR_rosparam         "OFF"               CACHE STRING "")
+set(ARILES_VISITOR_ros2param        "$ENV{ROS_DISTRO}"  CACHE STRING "")
diff --git a/cmake/options_deb_packages_xenial.cmake b/cmake/options_deb_packages_xenial.cmake
@@ -6,3 +6,4 @@ set(ARILES_VISITORS_DEFAULT_MODE    "ON"                CACHE STRING "")
 set(ARILES_VISITOR_rosparam         "$ENV{ROS_DISTRO}"  CACHE STRING "")
 set(ARILES_VISITOR_jsonnet          "OFF"               CACHE STRING "")
 set(ARILES_VISITOR_msgpack          "OFF"               CACHE STRING "")
+set(ARILES_VISITOR_ros2param        "OFF"               CACHE STRING "")
diff --git a/cmake/options_default.cmake b/cmake/options_default.cmake
@@ -1 +1 @@
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
diff --git a/cmake/options_noros.cmake b/cmake/options_noros.cmake
@@ -1,4 +1,4 @@
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
 
 set(ARILES_VISITOR_graphviz     "ON"    CACHE STRING "")
 set(ARILES_VISITOR_pugixml      "ON"    CACHE STRING "")
@@ -7,3 +7,4 @@ set(ARILES_VISITOR_jsonnet      "ON"    CACHE STRING "")
 set(ARILES_VISITOR_msgpack      "ON"    CACHE STRING "")
 set(ARILES_VISITOR_yaml_cpp     "ON"    CACHE STRING "")
 set(ARILES_VISITOR_rosparam     "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_ros2param    "OFF"   CACHE STRING "")
diff --git a/cmake/options_noros_tidy.cmake b/cmake/options_noros_tidy.cmake
@@ -1,4 +1,4 @@
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
 set(ARILES_CPP_CLANG_TIDY       "ON"    CACHE STRING "")
 
 set(ARILES_VISITOR_graphviz     "ON"    CACHE STRING "")
@@ -8,3 +8,4 @@ set(ARILES_VISITOR_jsonnet      "ON"    CACHE STRING "")
 set(ARILES_VISITOR_msgpack      "ON"    CACHE STRING "")
 set(ARILES_VISITOR_yaml_cpp     "ON"    CACHE STRING "")
 set(ARILES_VISITOR_rosparam     "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_ros2param    "OFF"   CACHE STRING "")
diff --git a/cmake/options_noros_xenial.cmake b/cmake/options_noros_xenial.cmake
@@ -1,7 +1,7 @@
 #- rapidjson-dev       # not found
 #- libmsgpack-dev      # version is too old
 
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
 
 set(ARILES_VISITOR_graphviz     "ON"    CACHE STRING "")
 set(ARILES_VISITOR_pugixml      "ON"    CACHE STRING "")
@@ -10,3 +10,4 @@ set(ARILES_VISITOR_jsonnet      "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_msgpack      "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_yaml_cpp     "ON"    CACHE STRING "")
 set(ARILES_VISITOR_rosparam     "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_ros2param    "OFF"   CACHE STRING "")
diff --git a/cmake/options_ros.cmake b/cmake/options_ros.cmake
@@ -1,6 +1,7 @@
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
 
 set(ARILES_VISITOR_msgpack      "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_pugixml      "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_rapidjson    "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_jsonnet      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_ros2param    "OFF"   CACHE STRING "")
diff --git a/cmake/options_ros2.cmake b/cmake/options_ros2.cmake
@@ -0,0 +1,7 @@
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+
+set(ARILES_VISITOR_msgpack      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_pugixml      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_rapidjson    "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_jsonnet      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_rosparam     "OFF"   CACHE STRING "")
diff --git a/cmake/options_ros2_tidy.cmake b/cmake/options_ros2_tidy.cmake
@@ -0,0 +1,8 @@
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+set(ARILES_CPP_CLANG_TIDY       "ON"    CACHE STRING "")
+
+set(ARILES_VISITOR_msgpack      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_pugixml      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_rapidjson    "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_jsonnet      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_rosparam     "OFF"   CACHE STRING "")
diff --git a/cmake/options_ros_tidy.cmake b/cmake/options_ros_tidy.cmake
@@ -1,7 +1,8 @@
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
 set(ARILES_CPP_CLANG_TIDY       "ON"    CACHE STRING "")
 
 set(ARILES_VISITOR_msgpack      "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_pugixml      "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_rapidjson    "OFF"   CACHE STRING "")
 set(ARILES_VISITOR_jsonnet      "OFF"   CACHE STRING "")
+set(ARILES_VISITOR_ros2param    "OFF"   CACHE STRING "")
diff --git a/extra_visitors/graphviz/src/writer.cpp b/extra_visitors/graphviz/src/writer.cpp
@@ -33,7 +33,8 @@ namespace ariles2
 
 
         public:
-            explicit NodeWrapper(const std::string &node, const Base::Type type = Base::GENERIC) : Base(node, type)
+            explicit NodeWrapper(const std::string &node, const Base::Type type = Base::Type::GENERIC)
+              : Base(node, type)
             {
                 label_ = node;
                 actual_id_ = node;
@@ -42,7 +43,7 @@ namespace ariles2
             explicit NodeWrapper(
                     const std::string &node,
                     const std::string &label,
-                    const Base::Type type = Base::GENERIC)
+                    const Base::Type type = Base::Type::GENERIC)
               : Base(node, type)
             {
                 label_ = label;

diff --git a/extra_visitors/msgpack/src/reader.cpp b/extra_visitors/msgpack/src/reader.cpp
@@ -202,7 +202,7 @@ namespace ariles2
         {
             ARILES2_ASSERT(
                     impl_->node_stack_.back().index_ < impl_->node_stack_.back().size_,
-                    "Internal error: namevalue.has more elements than expected.");
+                    "Internal error: array has more elements than expected.");
         }
 
 

diff --git a/extra_visitors/msgpack/src/reader_compact.cpp b/extra_visitors/msgpack/src/reader_compact.cpp
@@ -141,7 +141,7 @@ namespace ariles2
         void Reader::endMap()
         {
             ARILES2_ASSERT(
-                    impl_->node_stack_.back().isAllParsed(),
+                    impl_->node_stack_.back().isCompleted(),
                     "Some entries were not parsed, which is not allowed by this visitor.");
             impl_->node_stack_.pop_back();
         }
@@ -166,7 +166,7 @@ namespace ariles2
         {
             ARILES2_ASSERT(
                     impl_->node_stack_.back().index_ < impl_->node_stack_.back().size_,
-                    "Internal error: namevalue.has more elements than expected.");
+                    "Internal error: array has more elements than expected.");
         }
 
 

diff --git a/extra_visitors/namevalue/ariles2/visitors/namevalue/writer.h b/extra_visitors/namevalue/ariles2/visitors/namevalue/writer.h
@@ -153,7 +153,7 @@ namespace ariles2
                         std::string node;
                         if (node_stack_.back().isArray())
                         {
-                            node.reserve(node_stack_.back().node_.size() + map_name.size() + 15);
+                            node.reserve(node_stack_.back().node_.size() + map_name.size() + num_chars_for_index_reserve + 3);
 
                             node = node_stack_.back().node_;
                             node += "{";
Original file line number	Diff line number	Diff line change
Expand Up		@@ -5,3 +5,4 @@ set(ARILES_BUILD_REGRESSION_TESTS "OFF" CACHE STRING "")

		set(ARILES_VISITORS_DEFAULT_MODE "ON" CACHE STRING "")
		set(ARILES_VISITOR_rosparam "$ENV{ROS_DISTRO}" CACHE STRING "")
		set(ARILES_VISITOR_ros2param "OFF" CACHE STRING "")
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		set(ARILES_CPP_SANITIZERS "ON" CACHE STRING "")
		#set(ARILES_CPP_SANITIZERS "ON" CACHE STRING "")