ign -> gz Provisional Finale: Source Migration : gz-transport (#329)

Signed-off-by: methylDragon <[email protected]>

Migration.md

@@ -35,6 +35,8 @@ release will remove the deprecated code.
      1. `IGN_ZMQ_POST_4_3_1`
      1. `IGN_CPPZMQ_POST_4_7_0`
      1. `ign_strcat`, `ign_strcpy`, `ign_sprintf`, `ign_strdup`
+1. The `IgnTransportNode` class is deprecated and will be removed in future versions. Use `GzTransportNode` instead.
+     Similarly, the `Ign` prefixed members of that class will be removed in future versions. Use the `Gz` prefixed members instead.
 
 ### Breaking Changes
 

example/publisher_c.cc

@@ -39,8 +39,8 @@ int main(int argc, char **argv)
   signal(SIGTERM, signalHandler);
 
   // Create a transport node.
-  IgnTransportNode *node = ignTransportNodeCreate(nullptr);
-  IgnTransportNode *nodeRed = ignTransportNodeCreate("red");
+  GzTransportNode *node = gzTransportNodeCreate(nullptr);
+  GzTransportNode *nodeRed = gzTransportNodeCreate("red");
 
   const char *topic = "/foo";
 
@@ -81,8 +81,8 @@ int main(int argc, char **argv)
   // Publish messages at 1Hz.
   while (!g_terminatePub)
   {
-    ignTransportPublish(node, topic, buffer, msg.GetTypeName().c_str());
-    ignTransportPublish(nodeRed, topic, bufferRed,
+    gzTransportPublish(node, topic, buffer, msg.GetTypeName().c_str());
+    gzTransportPublish(nodeRed, topic, bufferRed,
         msgRed.GetTypeName().c_str());
 
     printf("Publishing hello on topic %s.\n", topic);
@@ -91,8 +91,8 @@ int main(int argc, char **argv)
 
   free(buffer);
   free(bufferRed);
-  ignTransportNodeDestroy(&node);
-  ignTransportNodeDestroy(&nodeRed);
+  gzTransportNodeDestroy(&node);
+  gzTransportNodeDestroy(&nodeRed);
 
   return 0;
 }

example/publisher_c_fast.cc

@@ -39,8 +39,8 @@ int main(int argc, char **argv)
   signal(SIGTERM, signalHandler);
 
   // Create a transport node.
-  IgnTransportNode *node = ignTransportNodeCreate(nullptr);
-  IgnTransportNode *nodeRed = ignTransportNodeCreate("red");
+  GzTransportNode *node = gzTransportNodeCreate(nullptr);
+  GzTransportNode *nodeRed = gzTransportNodeCreate("red");
 
   const char *topic = "/foo";
 
@@ -73,17 +73,17 @@ int main(int argc, char **argv)
   // Publish messages as fast as possible.
   while (!g_terminatePub)
   {
-    ignTransportPublish(node, topic, buffer, msg.GetTypeName().c_str());
-    ignTransportPublish(nodeRed, topic, bufferRed,
+    gzTransportPublish(node, topic, buffer, msg.GetTypeName().c_str());
+    gzTransportPublish(nodeRed, topic, bufferRed,
         msgRed.GetTypeName().c_str());
 
     printf("Publishing hello on topic %s.\n", topic);
   }
 
   free(buffer);
   free(bufferRed);
-  ignTransportNodeDestroy(&node);
-  ignTransportNodeDestroy(&nodeRed);
+  gzTransportNodeDestroy(&node);
+  gzTransportNodeDestroy(&nodeRed);
 
   return 0;
 }

example/subscriber_c.cc

@@ -42,30 +42,30 @@ int main(int argc, char **argv)
 {
   const char *partName = "red";
   // Create a transport node.
-  IgnTransportNode *node = ignTransportNodeCreate(nullptr);
-  IgnTransportNode *nodeRed = ignTransportNodeCreate(partName);
+  GzTransportNode *node = gzTransportNodeCreate(nullptr);
+  GzTransportNode *nodeRed = gzTransportNodeCreate(partName);
 
   const char *topic = "/foo";
 
   // Subscribe to a topic by registering a callback.
-  if (ignTransportSubscribe(node, topic, cb, nullptr) != 0)
+  if (gzTransportSubscribe(node, topic, cb, nullptr) != 0)
   {
     printf("Error subscribing to topic %s.\n", topic);
     return -1;
   }
 
   // Subscribe to a topic by registering a callback.
-  if (ignTransportSubscribe(nodeRed, topic, cb,
+  if (gzTransportSubscribe(nodeRed, topic, cb,
       const_cast<char*>(partName)) != 0)
   {
     printf("Error subscribing to topic %s.\n", topic);
     return -1;
   }
 
   // Zzzzzz.
-  ignTransportWaitForShutdown();
-  ignTransportNodeDestroy(&node);
-  ignTransportNodeDestroy(&nodeRed);
+  gzTransportWaitForShutdown();
+  gzTransportNodeDestroy(&node);
+  gzTransportNodeDestroy(&nodeRed);
 
   return 0;
 }

example/subscriber_c_slow.cc

@@ -41,23 +41,23 @@ void cb(const char *_data, const size_t _size, const char *_msgType,
 int main(int argc, char **argv)
 {
   // Create a transport node.
-  IgnTransportNode *node = ignTransportNodeCreate(nullptr);
+  GzTransportNode *node = gzTransportNodeCreate(nullptr);
 
   const char *topic = "/foo";
 
   SubscribeOpts opts;
   opts.msgsPerSec = 1;
 
   // Subscribe to a topic by registering a callback.
-  if (ignTransportSubscribeOptions(node, topic, opts, cb, nullptr) != 0)
+  if (gzTransportSubscribeOptions(node, topic, opts, cb, nullptr) != 0)
   {
     printf("Error subscribing to topic %s.\n", topic);
     return -1;
   }
 
   // Zzzzzz.
-  ignTransportWaitForShutdown();
-  ignTransportNodeDestroy(&node);
+  gzTransportWaitForShutdown();
+  gzTransportNodeDestroy(&node);
 
   return 0;
 }

include/gz/transport/CIface.h

@@ -30,29 +30,36 @@ extern "C" {
   } SubscribeOpts;
 
   /// \brief A transport node.
-  typedef struct IgnTransportNode IgnTransportNode;
+  typedef struct GzTransportNode GzTransportNode;
+
+  // TODO(CH3): Deprecated. Remove!
+  #ifdef _WIN32
+    using IgnTransportNode = GzTransportNode;
+  #else
+    using IgnTransportNode GZ_DEPRECATED(12) = GzTransportNode;
+  #endif
 
   /// \brief Create a transport node.
   /// \param[in] _partition Optional name of the partition to use.
   /// Use nullptr to use the default value, which is specified via the
   /// GZ_PARTITION environment variable.
   /// \return A pointer to a new transport node. Do not manually delete this
-  /// pointer, instead use ignTransportNodeDestroy.
-  IgnTransportNode GZ_TRANSPORT_VISIBLE *ignTransportNodeCreate(
+  /// pointer, instead use gzTransportNodeDestroy.
+  GzTransportNode GZ_TRANSPORT_VISIBLE *gzTransportNodeCreate(
       const char *_partition);
 
   /// \brief Destroy a transport node.
   /// \param[in, out] _node The transport node to destroy.
   void GZ_TRANSPORT_VISIBLE
-  ignTransportNodeDestroy(IgnTransportNode **_node);
+  gzTransportNodeDestroy(GzTransportNode **_node);
 
   /// \brief Advertise a topic.
   /// \param[in] _node Pointer to a node.
   /// \param[in] _topic Topic on which to publish the message.
   /// \param[in] _msgType Name of the message type.
   /// \return 0 on success.
   int GZ_TRANSPORT_VISIBLE
-  ignTransportAdvertise(IgnTransportNode *_node,
+  gzTransportAdvertise(GzTransportNode *_node,
                       const char *_topic,
                       const char *_msgType);
 
@@ -64,7 +71,7 @@ extern "C" {
   /// \param[in] _msgType Name of the message type.
   /// \return 0 on success.
   int GZ_TRANSPORT_VISIBLE
-  ignTransportPublish(IgnTransportNode *_node,
+  gzTransportPublish(GzTransportNode *_node,
                       const char *_topic,
                       const void *_data,
                       const char *_msgType);
@@ -76,7 +83,7 @@ extern "C" {
   /// \param[in] _userData Arbitrary user data pointer.
   /// \return 0 on success.
   int GZ_TRANSPORT_VISIBLE
-  ignTransportSubscribe(IgnTransportNode *_node,
+  gzTransportSubscribe(GzTransportNode *_node,
                 const char *_topic,
                 void (*_callback)(const char *, size_t, const char *, void *),
                 void *_userData);
@@ -89,7 +96,7 @@ extern "C" {
   /// \param[in] _userData Arbitrary user data pointer.
   /// \return 0 on success.
   int GZ_TRANSPORT_VISIBLE
-  ignTransportSubscribeOptions(IgnTransportNode *_node,
+  gzTransportSubscribeOptions(GzTransportNode *_node,
                 const char *_topic, SubscribeOpts _opts,
                 void (*_callback)(const char *, size_t, const char *, void *),
                 void *_userData);
@@ -101,7 +108,7 @@ extern "C" {
   /// \param[in] _userData Arbitrary user data pointer.
   /// \return 0 on success.
   int GZ_TRANSPORT_VISIBLE
-  ignTransportSubscribeNonConst(IgnTransportNode *_node, char *_topic,
+  gzTransportSubscribeNonConst(GzTransportNode *_node, char *_topic,
                             void (*_callback)(char *, size_t, char *, void *),
                             void *_userData);
 
@@ -110,12 +117,22 @@ extern "C" {
   /// \param[in] _topic Name of the topic.
   /// \return 0 on success.
   int GZ_TRANSPORT_VISIBLE
-  ignTransportUnsubscribe(IgnTransportNode *_node, const char *_topic);
+  gzTransportUnsubscribe(GzTransportNode *_node, const char *_topic);
 
   /// \brief Block the current thread until a SIGINT or SIGTERM is received.
   /// Note that this function registers a signal handler. Do not use this
   /// function if you want to manage yourself SIGINT/SIGTERM.
-  void GZ_TRANSPORT_VISIBLE ignTransportWaitForShutdown();
+  void GZ_TRANSPORT_VISIBLE gzTransportWaitForShutdown();
+
+  const auto GZ_DEPRECATED(12) ignTransportNodeCreate = gzTransportNodeCreate;
+  const auto GZ_DEPRECATED(12) ignTransportNodeDestroy = gzTransportNodeDestroy;
+  const auto GZ_DEPRECATED(12) ignTransportAdvertise = gzTransportAdvertise;
+  const auto GZ_DEPRECATED(12) ignTransportPublish = gzTransportPublish;
+  const auto GZ_DEPRECATED(12) ignTransportSubscribe = gzTransportSubscribe;
+  const auto GZ_DEPRECATED(12) ignTransportSubscribeOptions = gzTransportSubscribeOptions;
+  const auto GZ_DEPRECATED(12) ignTransportSubscribeNonConst = gzTransportSubscribeNonConst;
+  const auto GZ_DEPRECATED(12) ignTransportUnsubscribe = gzTransportUnsubscribe;
+  const auto GZ_DEPRECATED(12) ignTransportWaitForShutdown = gzTransportWaitForShutdown;
 
 #ifdef __cplusplus
 }

include/gz/transport/TopicStatistics.hh

@@ -129,7 +129,7 @@ namespace gz
       public: void Update(const std::string &_sender,
                           uint64_t _stamp, uint64_t _seq);
 
-      /// \brief Populate an gz::msgs::Metric message with topic
+      /// \brief Populate a gz::msgs::Metric message with topic
       /// statistics.
       /// \param[in] _msg Message to populate.
       public: void FillMessage(msgs::Metric &_msg) const;

include/gz/transport/gz_auto_headers.hh.in

@@ -1,3 +1,3 @@
 // Automatically generated
 #include <gz/${GZ_DESIGNATION}/config.hh>
-${ign_headers}
+${gz_headers}

src/CIface.cc

@@ -23,7 +23,7 @@
 #include "gz/transport/CIface.h"
 
 /// \brief A wrapper to store a Gazebo Transport node and its publishers.
-struct IgnTransportNode
+struct GzTransportNode
 {
   /// \brief Pointer to the node.
   std::unique_ptr<gz::transport::Node> nodePtr;
@@ -33,18 +33,18 @@ struct IgnTransportNode
 };
 
 /////////////////////////////////////////////////
-IgnTransportNode *ignTransportNodeCreate(const char *_partition)
+GzTransportNode *gzTransportNodeCreate(const char *_partition)
 {
-  IgnTransportNode *ignTransportNode = new IgnTransportNode();
+  GzTransportNode *gzTransportNode = new GzTransportNode();
   gz::transport::NodeOptions opts;
   if (_partition)
     opts.SetPartition(_partition);
-  ignTransportNode->nodePtr = std::make_unique<gz::transport::Node>(opts);
-  return ignTransportNode;
+  gzTransportNode->nodePtr = std::make_unique<gz::transport::Node>(opts);
+  return gzTransportNode;
 }
 
 /////////////////////////////////////////////////
-void ignTransportNodeDestroy(IgnTransportNode **_node)
+void gzTransportNodeDestroy(GzTransportNode **_node)
 {
   if (*_node)
   {
@@ -54,7 +54,7 @@ void ignTransportNodeDestroy(IgnTransportNode **_node)
 }
 
 /////////////////////////////////////////////////
-int ignTransportAdvertise(IgnTransportNode *_node, const char *_topic,
+int gzTransportAdvertise(GzTransportNode *_node, const char *_topic,
     const char *_msgType)
 {
   if (!_node)
@@ -68,14 +68,14 @@ int ignTransportAdvertise(IgnTransportNode *_node, const char *_topic,
 }
 
 /////////////////////////////////////////////////
-int ignTransportPublish(IgnTransportNode *_node, const char *_topic,
+int gzTransportPublish(GzTransportNode *_node, const char *_topic,
     const void *_data, const char *_msgType)
 {
   if (!_node)
     return 1;
 
   // Create a publisher if one does not exist.
-  if (ignTransportAdvertise(_node, _topic, _msgType) == 0)
+  if (gzTransportAdvertise(_node, _topic, _msgType) == 0)
   {
     // Publish the message.
     return _node->publishers[_topic].PublishRaw(
@@ -86,7 +86,7 @@ int ignTransportPublish(IgnTransportNode *_node, const char *_topic,
 }
 
 /////////////////////////////////////////////////
-int ignTransportSubscribe(IgnTransportNode *_node, const char *_topic,
+int gzTransportSubscribe(GzTransportNode *_node, const char *_topic,
     void (*_callback)(const char *, size_t, const char *, void *),
     void *_userData)
 {
@@ -103,7 +103,7 @@ int ignTransportSubscribe(IgnTransportNode *_node, const char *_topic,
 }
 
 /////////////////////////////////////////////////
-int ignTransportSubscribeOptions(IgnTransportNode *_node, const char *_topic,
+int gzTransportSubscribeOptions(GzTransportNode *_node, const char *_topic,
     SubscribeOpts _opts,
     void (*_callback)(const char *, size_t, const char *, void *),
     void *_userData)
@@ -128,7 +128,7 @@ int ignTransportSubscribeOptions(IgnTransportNode *_node, const char *_topic,
 
 
 /////////////////////////////////////////////////
-int ignTransportSubscribeNonConst(IgnTransportNode *_node, char *_topic,
+int gzTransportSubscribeNonConst(GzTransportNode *_node, char *_topic,
     void (*_callback)(char *, size_t, char *, void *), void *_userData)
 {
   if (!_node)
@@ -146,7 +146,7 @@ int ignTransportSubscribeNonConst(IgnTransportNode *_node, char *_topic,
 }
 
 /////////////////////////////////////////////////
-int ignTransportUnsubscribe(IgnTransportNode *_node, const char *_topic)
+int gzTransportUnsubscribe(GzTransportNode *_node, const char *_topic)
 {
   if (!_node)
     return 1;
@@ -156,7 +156,7 @@ int ignTransportUnsubscribe(IgnTransportNode *_node, const char *_topic)
 
 
 /////////////////////////////////////////////////
-void ignTransportWaitForShutdown()
+void gzTransportWaitForShutdown()
 {
   gz::transport::waitForShutdown();
 }