ros2param WIP

.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: |
@@ -30,7 +30,7 @@ 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
@@ -45,7 +45,7 @@ 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 +54,33 @@ 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_HOSTNAME: localhost
+            ROS_CI_DESKTOP: jammy
+
+        steps:
+            - 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
+                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
@@ -78,7 +95,7 @@ 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
@@ -96,7 +113,7 @@ 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
@@ -109,7 +126,7 @@ 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
@@ -127,7 +144,7 @@ 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
@@ -141,7 +158,7 @@ jobs:
         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

.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

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")

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

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

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 "")

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 "")

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 "")

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 "")

cmake/options_default.cmake

@@ -1 +1 @@
-set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")
+#set(ARILES_CPP_SANITIZERS       "ON"    CACHE STRING "")

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 "")

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 "")

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 "")

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 "")

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 "")

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 "")

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 "")

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.");
         }
 
 

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.");
         }
 
 

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 += "{";

extra_visitors/octave/src/writer.cpp

@@ -124,7 +124,7 @@ namespace ariles2
                 std::string node;
                 if (impl_->node_stack_.back().isArray())
                 {
-                    node.reserve(impl_->node_stack_.back().node_.size() + map_name.size() + 15);
+                    node.reserve(impl_->node_stack_.back().node_.size() + map_name.size() + num_chars_for_index_reserve + 3);
 
                     node = impl_->node_stack_.back().node_;
                     node += "{";
@@ -153,7 +153,7 @@ namespace ariles2
             if (impl_->node_stack_.back().isArray())
             {
                 std::string node;
-                node.reserve(impl_->node_stack_.back().node_.size() + 15);
+                node.reserve(impl_->node_stack_.back().node_.size() + num_chars_for_index_reserve + 2);
                 node = impl_->node_stack_.back().node_;
                 node += "{";
                 node += boost::lexical_cast<std::string>(impl_->node_stack_.back().index_ + 1);

extra_visitors/pugixml/src/reader.cpp

@@ -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.");
         }
 
 

extra_visitors/pugixml/src/writer.cpp

@@ -107,7 +107,7 @@ 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.");
             impl_->node_stack_.emplace_back(impl_->getRawNode().append_child("item"));
         }
 

extra_visitors/rapidjson/src/reader.cpp

@@ -149,7 +149,7 @@ 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.");
         }
 
 

extra_visitors/rapidjson/src/writer.cpp

@@ -122,7 +122,7 @@ namespace ariles2
             ARILES2_TRACE_FUNCTION;
             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.");
         }
 
         void Writer::endArrayElement()

extra_visitors/ros2param/CMakeLists.txt

@@ -0,0 +1,21 @@
+set (TGT_ARILES_VISITOR_LIB      "${PROJECT_NAME}_visitor_${ARILES_VISITOR}")
+
+if(NOT ARILES_DEB_TARGETS)
+    cmake_policy(SET CMP0057 NEW) # Support new ``if()`` IN_LIST operator.
+    find_package(rclcpp  REQUIRED)
+endif()
+
+add_library(${TGT_ARILES_VISITOR_LIB}
+    ${ARILES_VISITOR_${ARILES_VISITOR}_DIR}/src/reader.cpp
+    ${ARILES_VISITOR_${ARILES_VISITOR}_DIR}/src/writer.cpp
+)
+
+if(NOT ARILES_DEB_TARGETS)
+    target_link_libraries(${TGT_ARILES_VISITOR_LIB} PUBLIC
+        rclcpp::rclcpp
+    )
+endif()
+
+include(ariles_install_component)
+set(ARILES_ROS_DISTRO "${ARILES_VISITOR_ros2param}")
+set(DEB_${ARILES_COMPONENT}_DEPENDS "ros-${ARILES_ROS_DISTRO}-rclcpp")