Add standalone executables

[mjcarroll]

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]

./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]

./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

[scpeters]

requires gazebosim/gz-utils#2

[scpeters]

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

[mjcarroll]

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

[scpeters]

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]

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]

@osrf-jenkins run tests please

[scpeters]

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

[scpeters]

@osrf-jenkins run tests please

[scpeters]

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

[scpeters]

@osrf-jenkins run tests please

[scpeters]

2 test failures:

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

[scpeters]

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

[scpeters]

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]

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

[scpeters]

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]

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

it has already been fixed

[mjcarroll]

@caguero any other thoughts on this one?

[caguero]

Looks good!