Lyrical compatibility

rmf_fleet_adapter/CMakeLists.txt

@@ -107,7 +107,7 @@ target_link_libraries(rmf_fleet_adapter
     rmf_websocket::rmf_websocket
     nlohmann_json::nlohmann_json
     rmf_api_msgs::rmf_api_msgs
-    nlohmann_json_schema_validator
+    nlohmann_json_schema_validator::validator
 )
 
 target_include_directories(rmf_fleet_adapter
@@ -118,7 +118,6 @@ target_include_directories(rmf_fleet_adapter
   PRIVATE
     ${rmf_api_msgs_INCLUDE_DIRS}
     ${rmf_websocket_INCLUDE_DIR}
-    ${nlohmann_json_schema_validator_INCLUDE_DIRS}
 )
 
 if (BUILD_TESTING)
@@ -147,7 +146,6 @@ if (BUILD_TESTING)
       # private includes of rmf_fleet_adapter
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rmf_fleet_adapter>
       ${rmf_api_msgs_INCLUDE_DIRS}
-      ${nlohmann_json_schema_validator_INCLUDE_DIRS}
   )
   target_link_libraries(test_rmf_fleet_adapter
     PUBLIC
@@ -166,7 +164,7 @@ if (BUILD_TESTING)
       rmf_fleet_adapter
       rmf_utils::rmf_utils
       rmf_api_msgs::rmf_api_msgs
-      nlohmann_json_schema_validator
+      nlohmann_json_schema_validator::validator
   )
 
   target_compile_definitions(test_rmf_fleet_adapter

rmf_task_ros2/CMakeLists.txt

@@ -40,7 +40,7 @@ target_link_libraries(rmf_task_ros2
     ${rmf_task_msgs_LIBRARIES}
     ${rclcpp_LIBRARIES}
     nlohmann_json::nlohmann_json
-    nlohmann_json_schema_validator
+    nlohmann_json_schema_validator::validator
 )
 
 target_include_directories(rmf_task_ros2

rmf_websocket/CMakeLists.txt

@@ -1,15 +1,17 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 
 project(rmf_websocket)
 
-# Websocketpp is not compatible with CXX above 17
-set(CMAKE_CXX_STANDARD 17)
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # we dont use add_compile_options with pedantic in message packages
   # because the Python C extensions dont comply with it
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
 endif()
 
+if(POLICY CMP0167)
+  cmake_policy(SET CMP0167 NEW)
+endif()
+
 include(GNUInstallDirs)
 
 find_package(ament_cmake REQUIRED)
@@ -19,10 +21,10 @@ find_package(rclcpp REQUIRED)
 find_package(nlohmann_json REQUIRED)
 find_package(nlohmann_json_schema_validator_vendor REQUIRED)
 find_package(nlohmann_json_schema_validator REQUIRED)
-find_package(websocketpp REQUIRED)
-find_package(Boost COMPONENTS system REQUIRED)
+find_package(Boost REQUIRED)
 find_package(Threads)
 
+add_subdirectory(websocketpp)
 
 add_library(rmf_websocket SHARED
   src/rmf_websocket/client/ClientWebSocketEndpoint.cpp
@@ -33,30 +35,29 @@ add_library(rmf_websocket SHARED
 target_link_libraries(rmf_websocket
   PUBLIC
     ${rclcpp_LIBRARIES}
-    ${websocketpp_LIBRARIES}
     rmf_utils::rmf_utils
     nlohmann_json::nlohmann_json
-    nlohmann_json_schema_validator
+    nlohmann_json_schema_validator::validator
   PRIVATE
-    Boost::system
+    ${Boost_LIBRARIES}
     Threads::Threads
+    websocketpp
 )
 
 target_include_directories(rmf_websocket
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
     ${rclcpp_INCLUDE_DIRS}
-    ${WEBSOCKETPP_INCLUDE_DIR}
 )
 
 add_executable(example_client
-  examples/client.cpp)
+  examples/client.cpp
+)
 
 target_link_libraries(example_client
   PUBLIC
   rmf_websocket
-    ${websocketpp_LIBRARIES}
   PRIVATE
     Threads::Threads
 )
@@ -66,12 +67,11 @@ target_include_directories(example_client
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
     ${rclcpp_INCLUDE_DIRS}
-    ${WEBSOCKETPP_INCLUDE_DIR}
 )
 
 
 ament_export_targets(export_rmf_websocket HAS_LIBRARY_TARGET)
-ament_export_dependencies(rmf_traffic rclcpp nlohmann_json websocketpp)
+ament_export_dependencies(rmf_traffic rclcpp nlohmann_json)
 
 #===============================================================================
 install(
@@ -112,8 +112,8 @@ if(BUILD_TESTING)
   target_link_libraries(test_ring_buffer
     PRIVATE
       rmf_utils::rmf_utils
-      Boost::system
-    )
+      ${Boost_LIBRARIES}
+  )
 
 #integration test
   find_package(OpenSSL REQUIRED)
@@ -122,21 +122,19 @@ if(BUILD_TESTING)
     TIMEOUT 300)
   target_link_libraries(test_client
     PUBLIC
-    ${websocketpp_LIBRARIES}
       ${rclcpp_LIBRARIES}
       rmf_utils::rmf_utils
-      Boost::system
+      ${Boost_LIBRARIES}
       rmf_websocket
       PRIVATE
       Threads::Threads
       OpenSSL::Crypto
-    )
+  )
   target_include_directories(test_client
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
       ${rclcpp_INCLUDE_DIRS}
-      ${WEBSOCKETPP_INCLUDE_DIR}
   )
 
 
@@ -145,10 +143,9 @@ if(BUILD_TESTING)
     TIMEOUT 300)
   target_link_libraries(test_client_no_server
     PUBLIC
-      ${websocketpp_LIBRARIES}
       ${rclcpp_LIBRARIES}
       rmf_utils::rmf_utils
-      Boost::system
+      ${Boost_LIBRARIES}
       rmf_websocket
       PRIVATE
       Threads::Threads
@@ -159,18 +156,16 @@ if(BUILD_TESTING)
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
       ${rclcpp_INCLUDE_DIRS}
-      ${WEBSOCKETPP_INCLUDE_DIR}
   )
 
   ament_add_catch2(test_client_with_update_cb
     test/test_client_with_update_cb.cpp
     TIMEOUT 300)
   target_link_libraries(test_client_with_update_cb
     PUBLIC
-      ${websocketpp_LIBRARIES}
       ${rclcpp_LIBRARIES}
       rmf_utils::rmf_utils
-      Boost::system
+      ${Boost_LIBRARIES}
       rmf_websocket
       PRIVATE
       Threads::Threads
@@ -181,7 +176,6 @@ if(BUILD_TESTING)
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
       ${rclcpp_INCLUDE_DIRS}
-      ${WEBSOCKETPP_INCLUDE_DIR}
   )
 endif()
 

rmf_websocket/src/rmf_websocket/BroadcastClient.cpp

@@ -39,21 +39,23 @@ class BroadcastClient::Implementation
     const std::shared_ptr<rclcpp::Node>& node,
     ProvideJsonUpdates get_json_updates_cb)
   : _uri{std::move(uri)},
-    _io_service{},
+    _io_context{},
     _node{std::move(node)},
     _queue(1000),
     _get_json_updates_cb{std::move(get_json_updates_cb)},
     _endpoint(_uri,
       _node,
-      &_io_service,
+      &_io_context,
       std::bind(&BroadcastClient::Implementation::on_connect, this))
   {
     _consumer_thread = std::thread([this]()
         {
-          _io_service.run();
+          _io_context.run();
         });
 
-    _io_service.dispatch([this]()
+    boost::asio::dispatch(
+      _io_context,
+      [this]()
       {
         _endpoint.connect();
       });
@@ -113,7 +115,9 @@ class BroadcastClient::Implementation
     RCLCPP_INFO(
       this->_node->get_logger(),
       "Attempting queue flush if connected");
-    _io_service.dispatch([this]()
+    boost::asio::dispatch(
+      _io_context,
+      [this]()
       {
         _flush_queue_if_connected();
       });
@@ -134,7 +138,9 @@ class BroadcastClient::Implementation
   {
     /// _queue is thread safe. No need to lock.
     _queue.push(msg);
-    _io_service.dispatch([this]()
+    boost::asio::dispatch(
+      _io_context,
+      [this]()
       {
         _flush_queue_if_connected();
       });
@@ -151,7 +157,10 @@ class BroadcastClient::Implementation
         log("Buffer full dropping oldest message");
       }
     }
-    _io_service.dispatch([this]()
+
+    boost::asio::dispatch(
+      _io_context,
+      [this]()
       {
         _flush_queue_if_connected();
       });
@@ -168,7 +177,7 @@ class BroadcastClient::Implementation
   //============================================================================
   ~Implementation()
   {
-    _io_service.stop();
+    _io_context.stop();
     _consumer_thread.join();
   }
 
@@ -217,7 +226,7 @@ class BroadcastClient::Implementation
   }
   // create pimpl
   std::string _uri;
-  boost::asio::io_service _io_service;
+  boost::asio::io_context _io_context;
   std::shared_ptr<rclcpp::Node> _node;
   RingBuffer<nlohmann::json> _queue;
   ProvideJsonUpdates _get_json_updates_cb;

rmf_websocket/src/rmf_websocket/BroadcastServer.cpp

@@ -112,7 +112,7 @@ class BroadcastServer::Implementation
         "Starting BroadcastServer on port " << endpoint.port());
     }
 
-    // Start the ASIO io_service run loop
+    // Start the ASIO io_context run loop
     _server_thread = std::thread(
       [data = _data]() { data->echo_server.run(); });
   }
@@ -128,8 +128,9 @@ class BroadcastServer::Implementation
           _logger_interface->get_logger(), "Stopping BroadcastServer");
       }
 
-      _data->echo_server.get_io_service().post(
-          [data = _data]()
+      boost::asio::post(
+        _data->echo_server.get_io_context(),
+        [data = _data]()
           {
             data->echo_server.stop_listening();
             data->echo_server.stop();

rmf_websocket/src/rmf_websocket/client/ClientWebSocketEndpoint.cpp

@@ -41,7 +41,7 @@ void ConnectionMetadata::on_fail(WsClient* c, websocketpp::connection_hdl hdl)
   WsClient::connection_ptr con = c->get_con_from_hdl(hdl);
   _server = con->get_response_header("Server");
   _error_reason = con->get_ec().message();
-  c->get_io_service().post(_reconnection_cb);
+  boost::asio::post(c->get_io_context(), _reconnection_cb);
 }
 
 //=============================================================================
@@ -54,7 +54,7 @@ void ConnectionMetadata::on_close(WsClient* c, websocketpp::connection_hdl hdl)
     << websocketpp::close::status::get_string(con->get_remote_close_code())
     << "), close reason: " << con->get_remote_close_reason();
   _error_reason = s.str();
-  c->get_io_service().post(_reconnection_cb);
+  boost::asio::post(c->get_io_context(), _reconnection_cb);
 }
 
 //=============================================================================
@@ -108,15 +108,15 @@ websocketpp::connection_hdl ConnectionMetadata::get_hdl() const
 //=============================================================================
 ClientWebSocketEndpoint::ClientWebSocketEndpoint(
   std::string const& uri, std::shared_ptr<rclcpp::Node> node,
-  asio::io_service* io_service,
+  asio::io_context* io_context,
   ConnectionCallback cb)
 : _uri(uri), _node(node), _init{false}, _reconnect_enqueued(false),
   _connection_cb(std::move(cb))
 {
   _endpoint = std::make_unique<WsClient>();
   _endpoint->clear_access_channels(websocketpp::log::alevel::all);
   _endpoint->clear_error_channels(websocketpp::log::elevel::all);
-  _endpoint->init_asio(io_service);
+  _endpoint->init_asio(io_context);
   _endpoint->start_perpetual();
 }
 
@@ -144,11 +144,11 @@ websocketpp::lib::error_code ClientWebSocketEndpoint::connect()
         "> Reconnecting in 1s\n"
         "> Host: %s", _uri.c_str());
       _endpoint->stop_perpetual();
-      auto io_service = &_endpoint->get_io_service();
+      auto io_context = &_endpoint->get_io_context();
       _endpoint = std::make_unique<WsClient>();
       _endpoint->clear_access_channels(websocketpp::log::alevel::all);
       _endpoint->clear_error_channels(websocketpp::log::elevel::all);
-      _endpoint->init_asio(io_service);
+      _endpoint->init_asio(io_context);
       _endpoint->start_perpetual();
       websocketpp::lib::error_code ec;
 

rmf_websocket/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp

@@ -101,7 +101,7 @@ class ClientWebSocketEndpoint
   ClientWebSocketEndpoint(
     std::string const& uri,
     std::shared_ptr<rclcpp::Node> node,
-    boost::asio::io_service* io_service,
+    boost::asio::io_context* io_context,
     ConnectionCallback cb);
 
   /// Delete move constructor