Merge branch 'ign-launch3' into image_header

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-launch3 VERSION 3.1.1)
+project(ignition-launch3 VERSION 3.2.0)
 
 #============================================================================
 # Find ignition-cmake

Changelog.md

@@ -1,5 +1,23 @@
 ## Ignition Launch 3.x
 
+### Ignition Launch 3.2.0 (2021-04-12)
+
+1. Support unsubscribing from a topic in the websocket server.
+    * [Pull request 107](https://github.com/ignitionrobotics/ign-launch/pull/107)
+
+1. Support particle_emitters in the websocket server.
+    * [Pull request 104](https://github.com/ignitionrobotics/ign-launch/pull/104)
+
+1. Support getting topic names and message types in the websocket server.
+    * [Pull request 102](https://github.com/ignitionrobotics/ign-launch/pull/102)
+
+1. Image streaming over websocket.
+    * [Pull request 97](https://github.com/ignitionrobotics/ign-launch/pull/97)
+
+1. Treat IGN_LAUNCH_CONFIG_PATH as a path list.
+    * [Pull request 93](https://github.com/ignitionrobotics/ign-launch/pull/93)
+
+
 ### Ignition Launch 3.1.1 (2021-01-08)
 
 1. All changes up to and including those in version 2.2.1.

plugins/websocket_server/WebsocketServer.cc

@@ -262,6 +262,7 @@ int rootCallback(struct lws *_wsi,
       igndbg << "LWS_CALLBACK_HTTP\n";
       return httpCallback(_wsi, _reason, _user, _in, _len);
       break;
+
     // Publish outboud messages
     case LWS_CALLBACK_SERVER_WRITEABLE:
       {
@@ -779,6 +780,37 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg)
     this->QueueMessage(this->connections[_socketId].get(),
         data.c_str(), data.length());
   }
+  /// \todo(nkoeng) Deprecate this in Ignition Fortress, and instruct users
+  /// to rely on the "scene" message.
+  else if (frameParts[0] == "particle_emitters")
+  {
+    igndbg << "Particle emitter request received for world["
+      << frameParts[1] << "]\n";
+    ignition::msgs::Empty req;
+    req.set_unused(true);
+
+    ignition::msgs::ParticleEmitter_V rep;
+    bool result;
+    unsigned int timeout = 2000;
+
+    std::string serviceName = std::string("/world/") + frameParts[1] +
+      "/particle_emitters";
+
+    bool executed = this->node.Request(serviceName, req, timeout, rep, result);
+    if (!executed || !result)
+    {
+      ignerr << "Failed to get the particle emitter information for "
+        << frameParts[1] << " world.\n";
+    }
+
+    std::string data = BUILD_MSG(this->operations[PUBLISH], frameParts[0],
+        std::string("ignition.msgs.ParticleEmitter_V"),
+        rep.SerializeAsString());
+
+    // Queue the message for delivery.
+    this->QueueMessage(this->connections[_socketId].get(),
+        data.c_str(), data.length());
+  }
   else if (frameParts[0] == "sub")
   {
     // Store the relation of socketId to subscribed topic.
@@ -827,7 +859,32 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg)
     this->node.Subscribe(frameParts[1],
         &WebsocketServer::OnWebsocketSubscribedImageMessage, this);
   }
+  else if (frameParts[0] == "unsub")
+  {
+    igndbg << "Unsubscribe request for topic[" << frameParts[1] << "]\n";
+    std::map<std::string, std::set<int>>::iterator topicConnectionIter =
+      this->topicConnections.find(frameParts[1]);
 
+    if (topicConnectionIter != this->topicConnections.end())
+    {
+      // Remove from the topic connections map
+      topicConnectionIter->second.erase(_socketId);
+
+      // Only unsubscribe from the Ignition Transport topic if there are no
+      // more websocket connections.
+      if (topicConnectionIter->second.empty())
+      {
+        igndbg << "Unsubscribing from Ignition Transport Topic["
+          << frameParts[1] << "]\n";
+        this->node.Unsubscribe(frameParts[1]);
+      }
+    }
+    else
+    {
+      ignwarn << "The websocket server is not subscribed to topic["
+        << frameParts[1] << "]. Unable to unsubscribe from the topic\n";
+    }
+  }
 }
 
 //////////////////////////////////////////////////

plugins/websocket_server/WebsocketServer.hh

@@ -86,14 +86,17 @@ namespace ignition
     ///     2. "pub": Publish a message from the Ignition Transport topic in
     ///               the `topic_name` component,
     ///     3. "topics": Get the list of available topics,
-    ///     3. "topics-types": Get the list of available topics and their
-    ///                        message types, and
-    ///     4. "protos": Get a string containing all the protobuf
+    ///     4. "topics-types": Get the list of available topics and their
+    ///                        message types,
+    ///     5. "protos": Get a string containing all the protobuf
+    ///                  definitions, and
+    ///     6. "particle_emitters": Get the list of particle emitters.
     ///                  definitions.
+    ///     7. "unsub": Unsubscribe from the topic in the `topic_name` component
     ///
-    /// The `topic_name` component is mandatory for the "sub" and "pub"
-    /// operations. If present, it must be the name of an Ignition Transport
-    /// topic.
+    /// The `topic_name` component is mandatory for the "sub", "pub", and
+    /// "unsub" operations. If present, it must be the name of an Ignition
+    /// Transport topic.
     ///
     /// The `message_type` component is mandatory for the "pub" operation. If
     /// present it names the Ignition Message type, such as