Allow transport to generate messages

CMakeLists.txt

@@ -101,7 +101,7 @@ set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-msgs
-gz_find_package(gz-msgs10 REQUIRED)
+gz_find_package(gz-msgs10 REQUIRED COMPONENTS msgs)
 set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
 
 #--------------------------------------
@@ -165,6 +165,8 @@ gz_configure_build(QUIT_IF_BUILD_ERRORS
 #============================================================================
 add_subdirectory(conf)
 
+add_subdirectory(proto)
+
 #============================================================================
 # gz transport python bindings
 #============================================================================

include/gz/transport/Discovery.hh

@@ -68,7 +68,7 @@
 #include <thread>
 #include <vector>
 
-#include <gz/msgs/Utility.hh>
+#include <gz/msgs/convert/DiscoveryType.hh>
 
 #include "gz/transport/config.hh"
 #include "gz/transport/Export.hh"

proto/CMakeLists.txt

@@ -0,0 +1,23 @@
+set(proto_files
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/discovery.proto
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/parameter.proto
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/parameter_declaration.proto
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/parameter_declarations.proto
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/parameter_error.proto
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/parameter_name.proto
+ ${PROJECT_SOURCE_DIR}/proto/gz/msgs/parameter_value.proto
+)
+
+gz_msgs_generate_messages(
+ TARGET gz-transport${PROJECT_VERSION_MAJOR}-msgs
+ PROTO_PACKAGE "gz.msgs"
+ MSGS_PATH ${PROJECT_SOURCE_DIR}/proto
+ MSGS_PROTOS ${proto_files}
+ DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}-msgs
+)
+
+install(
+ DIRECTORY gz
+ DESTINATION share/protos
+ COMPONENT proto
+ FILES_MATCHING PATTERN "*.proto")

proto/gz/msgs/discovery.proto

@@ -0,0 +1,181 @@
+/*
+ * Copyright (C) 2019 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DiscoveryProtos";
+
+/// \ingroup gz.msgs
+/// \interface Discovery
+/// \brief Message that contains Discovery information.
+
+import "gz/msgs/header.proto";
+
+message Discovery
+{
+ /// \brief Type of discovery message.
+ enum Type
+ {
+ /// \brief Type not initialized.
+ UNINITIALIZED = 0;
+
+ /// \brief Advertise message.
+ ADVERTISE = 1;
+
+ /// \brief Subscribe message.
+ SUBSCRIBE = 2;
+
+ /// \brief Unadvertise message.
+ UNADVERTISE = 3;
+
+ /// \brief Hearbeat message.
+ HEARTBEAT = 4;
+
+ /// \brief Bye message.
+ BYE = 5;
+
+ /// \brief New connection message.
+ NEW_CONNECTION = 6;
+
+ /// \brief End connection message.
+ END_CONNECTION = 7;
+
+ /// \brief Request the list of subscribers.
+ SUBSCRIBERS_REQ = 8;
+
+ /// \brief Reply to a SUBSCRIBERS_REQ.
+ SUBSCRIBERS_REP = 9;
+ }
+
+ /// \brief Discovery flags.
+ message Flags
+ {
+ /// \brief Flag set when a discovery message is relayed.
+ bool relay = 1;
+
+ /// \brief Flag set when we want to avoid to relay a discovery message.
+ /// This is used to avoid loops.
+ bool no_relay = 2;
+ }
+
+ /// \brief Information about a subscriber.
+ message Subscriber
+ {
+ string topic = 1;
+ }
+
+ /// \brief Information about a publisher.
+ message Publisher
+ {
+ /// \brief Defines the different options for the scope of a topic/service.
+ enum Scope
+ {
+ /// \brief Topic/service only available to subscribers in the same
+ /// process as the publisher.
+ PROCESS = 0;
+
+ /// \brief Topic/service only available to subscribers in the same
+ /// machine as the publisher.
+ HOST = 1;
+
+ /// \brief Topic/service available to any subscriber.
+ ALL = 2;
+ }
+
+ /// \brief Information about a message publisher.
+ message MessagePublisher
+ {
+ /// \brief ZeroMQ control address of the publisher.
+ /// \todo(caguero) Is this the same as 'socket_id' in the
+ /// ServicePublisher message?
+ string ctrl = 1;
+
+ /// \brief Message type advertised by this publisher.
+ string msg_type = 2;
+
+ /// \brief Whether the publication has been throttled.
+ bool throttled = 3;
+
+ /// \brief The maximum number of messages per second to be published.
+ uint64 msgs_per_sec = 4;
+ }
+
+ /// \brief Information about service provider.
+ message ServicePublisher
+ {
+ /// \brief ZeroMQ socket ID used by this publisher.
+ string socket_id = 1;
+
+ /// \brief The name of the request's protobuf message advertised.
+ string request_type = 2;
+
+ /// \brief The name of the response's protobuf message advertised.
+ string response_type = 3;
+ }
+
+ /// \brief Topic name.
+ string topic = 1;
+
+ /// \brief ZeroMQ address of the publisher.
+ string address = 2;
+
+ /// \brief Process UUID of the publisher.
+ string process_uuid = 3;
+
+ /// \brief Node UUID of the publisher.
+ string node_uuid = 4;
+
+ /// \brief The scope of this publisher.
+ Scope scope = 5;
+
+ /// \brief Information about a message or service publisher.
+ oneof pub_type
+ {
+ /// \brief Message publisher.
+ MessagePublisher msg_pub = 6;
+
+ /// \brief Service provider.
+ ServicePublisher srv_pub = 7;
+ }
+ }
+
+ /// \brief Optional header data.
+ Header header = 1;
+
+ /// \brief Version of the discovery protocol.
+ uint32 version = 2;
+
+ /// \brief Process UUID.
+ string process_uuid = 3;
+
+ /// \brief The type of this message.
+ Type type = 4;
+
+ /// \brief Optional flags.
+ Flags flags = 5;
+
+ /// \brief Optional subscriber or publisher information.
+ oneof disc_contents
+ {
+ /// \brief Subscriber information.
+ Subscriber sub = 6;
+
+ /// \brief Publisher information.
+ Publisher pub = 7;
+ }
+}

proto/gz/msgs/parameter.proto

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterProtos";
+
+/// \ingroup gz.msgs
+/// \interface Parameter
+/// \brief Representation of a parameter, used to request to set a parameter.
+
+import "google/protobuf/any.proto";
+
+message Parameter
+{
+ /// \brief Parameter name.
+ string name = 1;
+
+ /// \brief Serialized parameter value.
+ google.protobuf.Any value = 2;
+};

proto/gz/msgs/parameter_declaration.proto

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterDeclarationProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterDeclaration
+/// \brief Representation of a parameter declaration.
+
+message ParameterDeclaration
+{
+ /// \brief Parameter name.
+ string name = 1;
+
+ /// \brief Parameter type, i.e. the associated protobuf type.
+ string type = 2;
+};

proto/gz/msgs/parameter_declarations.proto

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterDeclarationsProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterDeclarations
+/// \brief Collection of parameter declarations.
+
+import "gz/msgs/parameter_declaration.proto";
+
+message ParameterDeclarations
+{
+ /// \brief Parameter declarations.
+ repeated ParameterDeclaration parameter_declarations = 1;
+};

proto/gz/msgs/parameter_error.proto

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterErrorProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterError
+/// \brief Parameter server errors for declare or set parameter.
+
+message ParameterError
+{
+ enum Type {
+ SUCCESS = 0;
+ ALREADY_DECLARED = 1;
+ INVALID_TYPE = 2;
+ NOT_DECLARED = 3;
+ }
+ Type data = 1;
+};