Support building with boost asio (#247)

### Public-Facing Changes

Support building with boost asio

### Description
Avoids a hard dependency on standalone asio and provides users with more
flexibility when using foxglove_bridge in a bigger project. Related:
foxglove/ws-protocol#483

Successfully built and tested melodic & noetic with boost asio. I think
it would make sense to add a test for this as well.

.github/workflows/ci.yml

@@ -21,17 +21,22 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        include:
-          - ros_distribution: melodic
-          - ros_distribution: noetic
-          - ros_distribution: galactic
-          - ros_distribution: humble
-          - ros_distribution: iron
-          - ros_distribution: rolling
+        ros_distribution: [melodic, noetic, galactic, humble, iron, rolling]
 
     name: Test (ROS ${{ matrix.ros_distribution }})
     runs-on: ubuntu-latest
-
     steps:
       - uses: actions/checkout@v3
       - run: make ${{ matrix.ros_distribution }}-test
+
+  test-boost-asio:
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution: [noetic, humble, rolling]
+
+    name: Test (ROS ${{ matrix.ros_distribution }}, Boost Asio)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - run: make ${{ matrix.ros_distribution }}-test-boost-asio

CMakeLists.txt

@@ -13,7 +13,6 @@ project(foxglove_bridge LANGUAGES CXX VERSION 0.6.4)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-add_definitions(-DASIO_STANDALONE)
 
 macro(enable_strict_compiler_warnings target)
   if (MSVC)
@@ -35,6 +34,16 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE RelWithDebInfo)
 endif()
 
+# Determine wheter to use standalone or boost asio
+option(USE_ASIO_STANDALONE "Build with standalone ASIO" ON)
+if(USE_ASIO_STANDALONE)
+  message(STATUS "Using standalone ASIO")
+  add_definitions(-DASIO_STANDALONE)
+else()
+  message(STATUS "Using Boost ASIO")
+  find_package(Boost REQUIRED)
+endif(USE_ASIO_STANDALONE)
+
 # Detect big-endian architectures
 include(TestBigEndian)
 TEST_BIG_ENDIAN(ENDIAN)
@@ -179,17 +188,18 @@ if(ROS_BUILD_TYPE STREQUAL "catkin")
       find_package(GTest REQUIRED)
     endif()
     find_package(rostest REQUIRED)
+    find_package(Boost REQUIRED COMPONENTS system)
 
     catkin_add_gtest(version_test foxglove_bridge_base/tests/version_test.cpp)
-    target_link_libraries(version_test foxglove_bridge_base)
+    target_link_libraries(version_test foxglove_bridge_base ${Boost_LIBRARIES})
     enable_strict_compiler_warnings(version_test)
 
     catkin_add_gtest(serialization_test foxglove_bridge_base/tests/serialization_test.cpp)
-    target_link_libraries(serialization_test foxglove_bridge_base)
+    target_link_libraries(serialization_test foxglove_bridge_base ${Boost_LIBRARIES})
     enable_strict_compiler_warnings(foxglove_bridge)
 
     catkin_add_gtest(base64_test foxglove_bridge_base/tests/base64_test.cpp)
-    target_link_libraries(base64_test foxglove_bridge_base)
+    target_link_libraries(base64_test foxglove_bridge_base ${Boost_LIBRARIES})
     enable_strict_compiler_warnings(foxglove_bridge)
 
     add_rostest_gtest(smoke_test ros1_foxglove_bridge/tests/smoke.test ros1_foxglove_bridge/tests/smoke_test.cpp)

Dockerfile.ros1

@@ -30,9 +30,11 @@ COPY foxglove_bridge_base src/ros-foxglove-bridge/foxglove_bridge_base
 COPY nodelets.xml src/ros-foxglove-bridge/nodelets.xml
 COPY ros1_foxglove_bridge src/ros-foxglove-bridge/ros1_foxglove_bridge
 
+ARG USE_ASIO_STANDALONE=ON
+
 # Build the Catkin workspace
 RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-  && catkin_make
+  && catkin_make -DUSE_ASIO_STANDALONE=$USE_ASIO_STANDALONE
 
 # source workspace from entrypoint
 RUN sed --in-place \

Dockerfile.ros2

@@ -17,6 +17,7 @@ WORKDIR $ROS_WS
 RUN apt-get update && apt-get install -y --no-install-recommends \
   nlohmann-json3-dev \
   libasio-dev \
+  libboost-all-dev \
   libssl-dev \
   libwebsocketpp-dev \
   && rm -rf /var/lib/apt/lists/*
@@ -37,9 +38,11 @@ COPY CMakeLists.txt src/ros-foxglove-bridge/CMakeLists.txt
 COPY foxglove_bridge_base src/ros-foxglove-bridge/foxglove_bridge_base
 COPY ros2_foxglove_bridge src/ros-foxglove-bridge/ros2_foxglove_bridge
 
+ARG USE_ASIO_STANDALONE=ON
+
 # Build the ROS 2 workspace
 RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-  && colcon build --event-handlers console_direct+
+  && colcon build --event-handlers console_direct+ --cmake-args -DUSE_ASIO_STANDALONE=$USE_ASIO_STANDALONE
 
 # source workspace from entrypoint
 RUN sed --in-place \

Makefile

@@ -1,3 +1,46 @@
+ROS1_DISTRIBUTIONS := melodic noetic
+ROS2_DISTRIBUTIONS := galactic humble iron rolling
+
+define generate_ros1_targets
+.PHONY: $(1)
+$(1):
+	docker build -t foxglove_bridge_$(1) --pull -f Dockerfile.ros1 --build-arg ROS_DISTRIBUTION=$(1) .
+
+.PHONY: $(1)-test
+$(1)-test: $(1)
+	docker run -t --rm foxglove_bridge_$(1) bash -c "catkin_make run_tests && catkin_test_results"
+
+.PHONY: $(1)-boost-asio
+$(1)-boost-asio:
+	docker build -t foxglove_bridge_$(1)_boost_asio --pull -f Dockerfile.ros1 --build-arg ROS_DISTRIBUTION=$(1) --build-arg USE_ASIO_STANDALONE=OFF .
+
+.PHONY: $(1)-test-boost-asio
+$(1)-test-boost-asio: $(1)-boost-asio
+	docker run -t --rm foxglove_bridge_$(1)_boost_asio bash -c "catkin_make run_tests && catkin_test_results"
+endef
+
+define generate_ros2_targets
+.PHONY: $(1)
+$(1):
+	docker build -t foxglove_bridge_$(1) --pull -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=$(1) .
+
+.PHONY: $(1)-test
+$(1)-test: $(1)
+	docker run -t --rm foxglove_bridge_$(1) colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
+
+.PHONY: $(1)-boost-asio
+$(1)-boost-asio:
+	docker build -t foxglove_bridge_$(1)-boost-asio --pull -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=$(1) --build-arg USE_ASIO_STANDALONE=OFF .
+
+.PHONY: $(1)-test-boost-asio
+$(1)-test-boost-asio: $(1)-boost-asio
+	docker run -t --rm foxglove_bridge_$(1)-boost-asio colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
+endef
+
+$(foreach distribution,$(ROS1_DISTRIBUTIONS),$(eval $(call generate_ros1_targets,$(strip $(distribution)))))
+$(foreach distribution,$(ROS2_DISTRIBUTIONS),$(eval $(call generate_ros2_targets,$(strip $(distribution)))))
+
+
 default: ros2
 
 .PHONY: ros1
@@ -8,68 +51,12 @@ ros1:
 ros2:
 	docker build -t foxglove_bridge_ros2 --pull -f Dockerfile.ros2 .
 
-.PHONY: melodic
-melodic:
-	docker build -t foxglove_bridge_melodic --pull -f Dockerfile.ros1 --build-arg ROS_DISTRIBUTION=melodic .
-
-.PHONY: noetic
-noetic:
-	docker build -t foxglove_bridge_noetic --pull -f Dockerfile.ros1 --build-arg ROS_DISTRIBUTION=noetic .
-
-.PHONY: galactic
-galactic:
-	docker build -t foxglove_bridge_galactic --pull -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=galactic .
-
-.PHONY: humble
-humble:
-	docker build -t foxglove_bridge_humble --pull -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=humble .
-
-.PHONY: iron
-iron:
-	docker build -t foxglove_bridge_iron --pull -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=iron .
-
-.PHONY: rolling
-rolling:
-	docker build -t foxglove_bridge_rolling --pull -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=rolling .
-
 .PHONY: rosdev
 rosdev:
 	docker build -t foxglove_bridge_rosdev --pull -f .devcontainer/Dockerfile .
 
 clean:
-	docker rmi -f foxglove_bridge_ros1
-	docker rmi -f foxglove_bridge_ros2
-	docker rmi -f foxglove_bridge_melodic
-	docker rmi -f foxglove_bridge_noetic
-	docker rmi -f foxglove_bridge_galactic
-	docker rmi -f foxglove_bridge_humble
-	docker rmi -f foxglove_bridge_iron
-	docker rmi -f foxglove_bridge_rolling
-	docker rmi -f foxglove_bridge_rosdev
-
-.PHONY: melodic-test
-melodic-test: melodic
-	docker run -t --rm foxglove_bridge_melodic bash -c "catkin_make run_tests && catkin_test_results"
-
-.PHONY: noetic-test
-noetic-test: noetic
-	docker run -t --rm foxglove_bridge_noetic bash -c "catkin_make run_tests && catkin_test_results"
-
-.PHONY: galactic-test
-galactic-test: galactic
-	docker run -t --rm foxglove_bridge_galactic colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
-
-.PHONY: humble-test
-humble-test: humble
-	docker run -t --rm foxglove_bridge_humble colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
-
-.PHONY: iron-test
-iron-test: iron
-	docker run -t --rm foxglove_bridge_iron colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
-
-.PHONY: rolling-test
-rolling-test: rolling
-	docker run -t --rm foxglove_bridge_rolling colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
+	docker rmi $(docker images --filter=reference="foxglove_bridge_*" -q)
 
 .PHONY: lint
 lint: rosdev

foxglove_bridge_base/include/foxglove_bridge/websocket_logging.hpp

@@ -2,7 +2,7 @@
 
 #include <functional>
 
-#include <asio/ip/address.hpp>
+#include <websocketpp/common/asio.hpp>
 #include <websocketpp/logger/levels.hpp>
 
 #include "common.hpp"
@@ -11,7 +11,7 @@ namespace foxglove {
 
 using LogCallback = std::function<void(WebSocketLogLevel, char const*)>;
 
-inline std::string IPAddressToString(const asio::ip::address& addr) {
+inline std::string IPAddressToString(const websocketpp::lib::asio::ip::address& addr) {
   if (addr.is_v6()) {
     return "[" + addr.to_string() + "]";
   }

foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp

@@ -217,7 +217,7 @@ inline Server<ServerConfiguration>::Server(std::string name, LogCallback logger,
   _server.get_alog().set_callback(_logger);
   _server.get_elog().set_callback(_logger);
 
-  std::error_code ec;
+  websocketpp::lib::error_code ec;
   _server.init_asio(ec);
   if (ec) {
     throw std::runtime_error("Failed to initialize websocket server: " + ec.message());
@@ -245,7 +245,7 @@ inline Server<ServerConfiguration>::~Server() {}
 
 template <typename ServerConfiguration>
 inline void Server<ServerConfiguration>::socketInit(ConnHandle hdl) {
-  std::error_code ec;
+  websocketpp::lib::asio::error_code ec;
   _server.get_con_from_hdl(hdl)->get_raw_socket().set_option(Tcp::no_delay(true), ec);
   if (ec) {
     _server.get_elog().write(RECOVERABLE, "Failed to set TCP_NODELAY: " + ec.message());
@@ -394,7 +394,7 @@ inline void Server<ServerConfiguration>::stop() {
   }
 
   _server.get_alog().write(APP, "Stopping WebSocket server");
-  std::error_code ec;
+  websocketpp::lib::error_code ec;
 
   _server.stop_perpetual();
 
@@ -471,7 +471,7 @@ inline void Server<ServerConfiguration>::start(const std::string& host, uint16_t
     throw std::runtime_error("Server already started");
   }
 
-  std::error_code ec;
+  websocketpp::lib::error_code ec;
 
   _server.listen(host, std::to_string(port), ec);
   if (ec) {
@@ -494,8 +494,9 @@ inline void Server<ServerConfiguration>::start(const std::string& host, uint16_t
     throw std::runtime_error("WebSocket server failed to listen on port " + std::to_string(port));
   }
 
-  auto endpoint = _server.get_local_endpoint(ec);
-  if (ec) {
+  websocketpp::lib::asio::error_code asioEc;
+  auto endpoint = _server.get_local_endpoint(asioEc);
+  if (asioEc) {
     throw std::runtime_error("Failed to resolve the local endpoint: " + ec.message());
   }
 
@@ -1182,7 +1183,7 @@ template <typename ServerConfiguration>
 inline void Server<ServerConfiguration>::sendMessage(ConnHandle clientHandle, ChannelId chanId,
                                                      uint64_t timestamp, const uint8_t* payload,
                                                      size_t payloadSize) {
-  std::error_code ec;
+  websocketpp::lib::error_code ec;
   const auto con = _server.get_con_from_hdl(clientHandle, ec);
   if (ec || !con) {
     return;
@@ -1252,7 +1253,7 @@ inline void Server<ServerConfiguration>::sendServiceResponse(ConnHandle clientHa
 
 template <typename ServerConfiguration>
 inline uint16_t Server<ServerConfiguration>::getPort() {
-  std::error_code ec;
+  websocketpp::lib::asio::error_code ec;
   auto endpoint = _server.get_local_endpoint(ec);
   if (ec) {
     throw std::runtime_error("Server not listening on any port. Has it been started before?");
@@ -1341,7 +1342,7 @@ inline void Server<ServerConfiguration>::updateConnectionGraph(
 
 template <typename ServerConfiguration>
 inline std::string Server<ServerConfiguration>::remoteEndpointString(ConnHandle clientHandle) {
-  std::error_code ec;
+  websocketpp::lib::error_code ec;
   const auto con = _server.get_con_from_hdl(clientHandle, ec);
   return con ? con->get_remote_endpoint() : "(unknown)";
 }
@@ -1393,7 +1394,7 @@ inline bool Server<ServerConfiguration>::hasCapability(const std::string& capabi
 template <typename ServerConfiguration>
 inline void Server<ServerConfiguration>::sendFetchAssetResponse(
   ConnHandle clientHandle, const FetchAssetResponse& response) {
-  std::error_code ec;
+  websocketpp::lib::error_code ec;
   const auto con = _server.get_con_from_hdl(clientHandle, ec);
   if (ec || !con) {
     return;