Allow transport to generate messages

Signed-off-by: Michael Carroll <[email protected]>

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-transport13-msgs
+  PROTO_PACKAGE "gz.msgs"
+  MSGS_PATH ${PROJECT_SOURCE_DIR}/proto
+  MSGS_PROTOS ${proto_files}
+  DEPENDENCIES gz-msgs10::gz-msgs10-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;
+};