Add CAN transport flag to cmake / Upgrade splog version

CMakeLists.txt

@@ -33,6 +33,7 @@ option(UAGENT_FAST_PROFILE "Build FastMiddleware profile." ON)
 option(UAGENT_CED_PROFILE "Build CedMiddleware profile." ON)
 option(UAGENT_DISCOVERY_PROFILE "Build Discovery profile." ON)
 option(UAGENT_P2P_PROFILE "Build P2P discovery profile." ON)
+option(UAGENT_SOCKETCAN_PROFILE "Build Agent CAN FD transport." ON)
 option(UAGENT_LOGGER_PROFILE "Build logger profile." ON)
 option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
@@ -54,6 +55,10 @@ if((CMAKE_SYSTEM_NAME STREQUAL "") AND (NOT CMAKE_HOST_SYSTEM_NAME STREQUAL "Lin
     set(UAGENT_P2P_PROFILE OFF)
 endif()
 
+if((CMAKE_SYSTEM_NAME STREQUAL "Darwin") OR (CMAKE_SYSTEM_NAME STREQUAL "Windows"))
+    set(UAGENT_SOCKETCAN_PROFILE OFF)
+endif()
+
 set(UAGENT_CONFIG_RELIABLE_STREAM_DEPTH        16       CACHE STRING "Reliable streams depth.")
 set(UAGENT_CONFIG_BEST_EFFORT_STREAM_DEPTH     16       CACHE STRING "Best-effort streams depth.")
 set(UAGENT_CONFIG_HEARTBEAT_PERIOD             200      CACHE STRING "Heartbeat period in milliseconds.")
@@ -97,8 +102,8 @@ if(UAGENT_FAST_PROFILE)
 endif()
 
 if(UAGENT_LOGGER_PROFILE)
-    set(_spdlog_version 1.4.2)
-    set(_spdlog_tag v1.4.2)
+    set(_spdlog_version 1.9.2)
+    set(_spdlog_tag v1.9.2)
     list(APPEND _deps "spdlog\;${_spdlog_version}")
 endif()
 
@@ -147,18 +152,18 @@ endforeach()
 # Sources
 ###############################################################################
 # Check platform.
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Android")
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Android" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(TRANSPORT_SRCS
         src/cpp/transport/udp/UDPv4AgentLinux.cpp
         src/cpp/transport/udp/UDPv6AgentLinux.cpp
         src/cpp/transport/tcp/TCPv4AgentLinux.cpp
         src/cpp/transport/tcp/TCPv6AgentLinux.cpp
-        src/cpp/transport/can/CanAgentLinux.cpp
         src/cpp/transport/serial/SerialAgentLinux.cpp
         src/cpp/transport/serial/TermiosAgentLinux.cpp
         src/cpp/transport/serial/MultiSerialAgentLinux.cpp
         src/cpp/transport/serial/MultiTermiosAgentLinux.cpp
         src/cpp/transport/serial/PseudoTerminalAgentLinux.cpp
+        $<$<BOOL:${UAGENT_SOCKETCAN_PROFILE}>:src/cpp/transport/can/CanAgentLinux.cpp>
         $<$<BOOL:${UAGENT_DISCOVERY_PROFILE}>:src/cpp/transport/discovery/DiscoveryServerLinux.cpp>
         $<$<BOOL:${UAGENT_P2P_PROFILE}>:src/cpp/transport/p2p/AgentDiscovererLinux.cpp>
         )

cmake/SuperBuild.cmake

@@ -172,7 +172,7 @@ if(UAGENT_LOGGER_PROFILE)
             CMAKE_CACHE_ARGS
                 -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
                 -DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH};${CMAKE_INSTALL_PREFIX}
-                -DBUILD_SHARED_LIBS:BOOL=${BUILD_SHARED_LIBS}
+                -DBUILD_SHARED_LIBS:BOOL=OFF
                 -DCMAKE_TOOLCHAIN_FILE:PATH=${CMAKE_TOOLCHAIN_FILE}
                 ${CROSS_CMAKE_ARGS}
                 -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}

include/uxr/agent/config.hpp.in

@@ -27,6 +27,7 @@ namespace uxr {
 #ifdef UAGENT_CED_PROFILE
 #cmakedefine UAGENT_P2P_PROFILE
 #endif
+#cmakedefine UAGENT_SOCKETCAN_PROFILE
 #cmakedefine UAGENT_LOGGER_PROFILE
 
 const uint16_t DISCOVERY_PORT = 7400;

include/uxr/agent/transport/serial/baud_rate_table_linux.h

@@ -100,6 +100,7 @@ speed_t getBaudRate(const char* baudrate_str)
     {
         rv = B230400;
     }
+#ifndef __APPLE__
     else if (0 == strcmp(baudrate_str, "460800"))
     {
         rv = B460800;
@@ -148,6 +149,7 @@ speed_t getBaudRate(const char* baudrate_str)
     {
         rv = B4000000;
     }
+#endif // __APPLE__
     else
     {
         speed_t custom_baud_rate = (speed_t)atoi(baudrate_str);

include/uxr/agent/utils/ArgumentParser.hpp

@@ -22,6 +22,7 @@
 #include <type_traits>
 #include <unordered_map>
 #include <uxr/agent/transport/Server.hpp>
+#include <uxr/agent/config.hpp>
 
 #ifdef _WIN32
 #include <uxr/agent/transport/udp/UDPv4AgentWindows.hpp>
@@ -33,12 +34,15 @@
 #include <uxr/agent/transport/udp/UDPv6AgentLinux.hpp>
 #include <uxr/agent/transport/tcp/TCPv4AgentLinux.hpp>
 #include <uxr/agent/transport/tcp/TCPv6AgentLinux.hpp>
-#include <uxr/agent/transport/can/CanAgentLinux.hpp>
 #include <uxr/agent/transport/serial/TermiosAgentLinux.hpp>
 #include <uxr/agent/transport/serial/MultiTermiosAgentLinux.hpp>
 #include <uxr/agent/transport/serial/PseudoTerminalAgentLinux.hpp>
 #include <uxr/agent/transport/serial/baud_rate_table_linux.h>
 
+#ifdef UAGENT_SOCKETCAN_PROFILE
+#include <uxr/agent/transport/can/CanAgentLinux.hpp>
+#endif // UAGENT_SOCKETCAN_PROFILE
+
 #include <termios.h>
 #include <fcntl.h>
 #include <sys/stat.h>
@@ -61,7 +65,9 @@ enum class TransportKind
     TCP4,
     TCP6,
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
     CAN,
+#endif // UAGENT_SOCKETCAN_PROFILE
     SERIAL,
     MULTISERIAL,
     PSEUDOTERMINAL,
@@ -867,7 +873,7 @@ class MultiSerialArgs : public PseudoTerminalArgs<AgentType>
     Argument<std::string> file_;
 };
 
-
+#ifdef UAGENT_SOCKETCAN_PROFILE
 /*************************************************************************************************
  * Specific arguments for CAN transports
  *************************************************************************************************/
@@ -919,6 +925,7 @@ class CanArgs
     Argument<std::string> dev_;
     Argument<std::string> can_id_;
 };
+#endif // UAGENT_SOCKETCAN_PROFILE
 #endif // _WIN32
 
 /*************************************************************************************************
@@ -937,7 +944,9 @@ class ArgumentParser
         , common_args_()
         , ip_args_()
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
         , can_args_()
+#endif // UAGENT_SOCKETCAN_PROFILE
         , serial_args_()
         , multiserial_args_()
         , pseudoterminal_args_()
@@ -971,11 +980,13 @@ class ArgumentParser
                 break;
             }
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
             case TransportKind::CAN:
             {
                 result &= can_args_.parse(argc_, argv_);
                 break;
             }
+#endif // UAGENT_SOCKETCAN_PROFILE
             case TransportKind::SERIAL:
             {
                 result &= serial_args_.parse(argc_, argv_);
@@ -1081,8 +1092,10 @@ class ArgumentParser
         ss << "  * SERIAL (serial, multiserial, pseudoterminal)" << std::endl;
         ss << pseudoterminal_args_.get_help();
         ss << serial_args_.get_help();
+#ifdef UAGENT_SOCKETCAN_PROFILE
         ss << "  * CAN FD (canfd)" << std::endl;
         ss << can_args_.get_help();
+#endif // UAGENT_SOCKETCAN_PROFILE
 #endif // _WIN32
         ss << std::endl;
         // TODO(@jamoralp): Once documentation is updated with proper CLI section, add here an hyperlink to that section
@@ -1095,7 +1108,9 @@ class ArgumentParser
     CommonArgs<AgentType> common_args_;
     IPvXArgs<AgentType> ip_args_;
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
     CanArgs<AgentType> can_args_;
+#endif // UAGENT_SOCKETCAN_PROFILE
     SerialArgs<AgentType> serial_args_;
     MultiSerialArgs<AgentType> multiserial_args_;
     PseudoTerminalArgs<AgentType> pseudoterminal_args_;
@@ -1162,6 +1177,7 @@ template<> inline bool ArgumentParser<PseudoTerminalAgent>::launch_agent()
     return false;
 }
 
+#ifdef UAGENT_SOCKETCAN_PROFILE
 template<> inline bool ArgumentParser<CanAgent>::launch_agent()
 {
     uint32_t can_id = strtoul(can_args_.can_id().c_str(), NULL, 16);
@@ -1179,6 +1195,7 @@ template<> inline bool ArgumentParser<CanAgent>::launch_agent()
 
     return false;
 }
+#endif // UAGENT_SOCKETCAN_PROFILE
 #endif // _WIN32
 
 } // namespace parser

src/cpp/AgentInstance.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <uxr/agent/config.hpp>
 #include <uxr/agent/AgentInstance.hpp>
 #include <uxr/agent/middleware/utils/Callbacks.hpp>
 
@@ -64,11 +65,13 @@ bool AgentInstance::create(
             break;
         }
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
         case agent::TransportKind::CAN:
         {
             agent_thread_ = std::move(agent::create_agent_thread<CanAgent>(argc, argv, exit_signal, valid_transport));
             break;
         }
+#endif // UAGENT_SOCKETCAN_PROFILE
         case agent::TransportKind::SERIAL:
         {
             agent_thread_ = std::move(agent::create_agent_thread<TermiosAgent>(argc, argv, exit_signal, valid_transport));

src/cpp/utils/ArgumentParser.cpp

@@ -15,6 +15,7 @@
 #ifndef UXR_AGENT_UTILS_ARGUMENTPARSER_CPP_
 #define UXR_AGENT_UTILS_ARGUMENTPARSER_CPP_
 
+#include <uxr/agent/config.hpp>
 #include <uxr/agent/utils/ArgumentParser.hpp>
 
 // TODO(jamoralp): move definitions of ArgumentParser.hpp into this file, to maintain code coherence.
@@ -53,7 +54,9 @@ eprosima::uxr::agent::TransportKind eprosima::uxr::agent::parser::utils::check_t
     {"tcp4", eprosima::uxr::agent::TransportKind::TCP4},
     {"tcp6", eprosima::uxr::agent::TransportKind::TCP6},
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
     {"canfd", eprosima::uxr::agent::TransportKind::CAN},
+#endif // UAGENT_SOCKETCAN_PROFILE
     {"serial", eprosima::uxr::agent::TransportKind::SERIAL},
     {"multiserial", eprosima::uxr::agent::TransportKind::MULTISERIAL},
     {"pseudoterminal", eprosima::uxr::agent::TransportKind::PSEUDOTERMINAL},