3.0 interprocess implementation tag

.circleci/config.yml

@@ -214,10 +214,8 @@ workflows:
           <<: *filter-template-non-master
       - amd64-noble-build:
           <<: *filter-template-non-master
-
-
       - amd64-noble-minimal-build:
-          <<: *filter-template-master-only
+          <<: *filter-template-non-master
 
       - get-orig-source:
           <<: *filter-template-master-only

.github/workflows/copilot-setup-steps.yml

@@ -28,6 +28,8 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v5      
+        with:
+          fetch-depth: 0 # required to ensure we have tags
 
       - name: Install dependencies
         run: |

CMakeLists.txt

@@ -133,7 +133,7 @@ add_custom_command(OUTPUT ShareLink COMMAND ${CMAKE_COMMAND} -E create_symlink $
 add_custom_target(share_link ALL DEPENDS ShareLink)
 
 
-set(GOBY_DEBUG_OPTIONS -Wall -Werror -Wno-error=deprecated-declarations -Wno-sign-compare)
+set(GOBY_DEBUG_OPTIONS -Wall -Werror -Wno-sign-compare)
 add_compile_options("$<$<CONFIG:DEBUG>:${GOBY_DEBUG_OPTIONS}>")
 add_compile_options("$<$<CXX_COMPILER_ID:Clang>:-Wdocumentation>")
 

scripts/update_copyright.sh

@@ -1,5 +1,6 @@
 #!/bin/bash
 
+
 here=`pwd`
 
 header_strip()
@@ -57,7 +58,7 @@ EOF
         if [ ! -z "$proper_email" ]; then
             proper_email=" <${proper_email}>"
         fi
-        if ! grep -q $proper_email /tmp/goby_authors.tmp; then
+        if ! grep -q "$proper_email" /tmp/goby_authors.tmp; then
             echo "//   $proper_author$proper_email"  >> /tmp/goby_authors.tmp
         fi
     done

src/CMakeLists.txt

@@ -211,7 +211,7 @@ endmacro()
 
 ## boost
 goby_find_required_package(Boost 1.58.0 COMPONENTS system date_time program_options filesystem)
-include_directories(${Boost_INCLUDE_DIRS})
+include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
 
 protobuf_generate_cpp_dccl(BASE_PROTO_SRCS BASE_PROTO_HDRS 
   protobuf/option_extensions.proto

src/acomms/amac/mac_manager.h

@@ -1,4 +1,4 @@
-// Copyright 2010-2023:
+// Copyright 2010-2026:
 //   GobySoft, LLC (2013-)
 //   Massachusetts Institute of Technology (2007-2014)
 //   Community contributors (see AUTHORS file)

src/acomms/modemdriver/iridium_driver.cpp

@@ -1,4 +1,4 @@
-// Copyright 2013-2025:
+// Copyright 2013-2026:
 //   GobySoft, LLC (2013-)
 //   Massachusetts Institute of Technology (2007-2014)
 //   Community contributors (see AUTHORS file)
@@ -31,7 +31,22 @@
 #include <boost/function.hpp>                          // for function
 #include <boost/signals2/expired_slot.hpp>             // for expired_slot
 #include <boost/signals2/signal.hpp>                   // for signal
+
+// Deprecation warning in Boost 1.83
+#if defined(__clang__)
+#  pragma clang diagnostic push
+#  pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#elif defined(__GNUC__)
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
 #include <boost/statechart/state_machine.hpp>          // for state_mac...
+#if defined(__clang__)
+#  pragma clang diagnostic pop
+#elif defined(__GNUC__)
+#  pragma GCC diagnostic pop
+#endif
+
 #include <cerrno>                                      // for errno
 #include <chrono>                                      // for operator/
 #include <cstring>                                     // for strerror

src/acomms/modemdriver/mm_driver.h

@@ -1,4 +1,4 @@
-// Copyright 2009-2021:
+// Copyright 2009-2026:
 //   GobySoft, LLC (2013-)
 //   Massachusetts Institute of Technology (2007-2014)
 //   Community contributors (see AUTHORS file)

src/acomms/queue/queue.cpp

@@ -4,7 +4,6 @@
 //   Community contributors (see AUTHORS file)
 // File authors:
 //   Toby Schneider <toby@gobysoft.org>
-//   Copilot <198982749+Copilot@users.noreply.github.com>
 //
 //
 // This file is part of the Goby Underwater Autonomy Project Libraries

src/acomms/queue/queue_manager.h

@@ -1,4 +1,4 @@
-// Copyright 2009-2025:
+// Copyright 2009-2026:
 //   GobySoft, LLC (2013-)
 //   Massachusetts Institute of Technology (2007-2014)
 //   Community contributors (see AUTHORS file)

src/apps/CMakeLists.txt

@@ -1,6 +1,7 @@
 add_subdirectory(acomms)
 add_subdirectory(util)
 add_subdirectory(middleware)
+add_subdirectory(udpm)
 
 if(build_zeromq)
   add_subdirectory(zeromq)

src/apps/acomms/abc_modem_simulator/abc_modem_simulator.cpp

@@ -1,4 +1,4 @@
-// Copyright 2011-2021:
+// Copyright 2011-2026:
 //   GobySoft, LLC (2013-)
 //   Massachusetts Institute of Technology (2007-2014)
 //   Community contributors (see AUTHORS file)

src/apps/acomms/rockblock_simulator/rockblock_simulator.cpp

@@ -1,4 +1,4 @@
-// Copyright 2023:
+// Copyright 2023-2026:
 //   GobySoft, LLC (2013-)
 //   Community contributors (see AUTHORS file)
 // File authors:
@@ -99,7 +99,7 @@ class RockBLOCKSimulator
 };
 
 class RockBLOCKMTHTTPEndpointThread
-    : public goby::middleware::SimpleThread<protobuf::RockBLOCKSimulatorConfig>
+    : public goby::middleware::StandaloneThread<protobuf::RockBLOCKSimulatorConfig>
 {
   public:
     RockBLOCKMTHTTPEndpointThread(const protobuf::RockBLOCKSimulatorConfig cfg);
@@ -113,11 +113,11 @@ class RockBLOCKMTHTTPEndpointThread
 class RockBLOCKPTYThread
     : public goby::middleware::io::detail::PTYThread<
           pty_in, pty_out, goby::middleware::io::PubSubLayer::INTERTHREAD,
-          goby::middleware::io::PubSubLayer::INTERTHREAD, goby::middleware::SimpleThread>
+          goby::middleware::io::PubSubLayer::INTERTHREAD, goby::middleware::StandaloneThread>
 {
     using Base = goby::middleware::io::detail::PTYThread<
         pty_in, pty_out, goby::middleware::io::PubSubLayer::INTERTHREAD,
-        goby::middleware::io::PubSubLayer::INTERTHREAD, goby::middleware::SimpleThread>;
+        goby::middleware::io::PubSubLayer::INTERTHREAD, goby::middleware::StandaloneThread>;
 
   public:
     RockBLOCKPTYThread(const goby::middleware::protobuf::PTYConfig& config, int index)
@@ -314,7 +314,7 @@ void goby::apps::acomms::RockBLOCKSimulator::process_command_data(
             std::string rx_msg{0, SBD_FIELD_SIZE_BYTES};
             unsigned message_size = modem_data.mt_message->size();
             rx_msg[0] = (message_size >> SBD_BITS_IN_BYTE) & 0xFF;
-            rx_msg[1] = (message_size)&0xFF;
+            rx_msg[1] = (message_size) & 0xFF;
             rx_msg += *modem_data.mt_message;
             unsigned int csum = goby::acomms::iridium::sbd_csum(*modem_data.mt_message);
             const int bits_in_byte = 8;
@@ -450,7 +450,7 @@ void goby::apps::acomms::RockBLOCKSimulator::write_mo_message(int index)
 
 goby::apps::acomms::RockBLOCKMTHTTPEndpointThread::RockBLOCKMTHTTPEndpointThread(
     const protobuf::RockBLOCKSimulatorConfig cfg)
-    : goby::middleware::SimpleThread<protobuf::RockBLOCKSimulatorConfig>(cfg)
+    : goby::middleware::StandaloneThread<protobuf::RockBLOCKSimulatorConfig>(cfg)
 {
     for (const auto& imei_to_id : cfg.imei_to_id()) imei_in_use_.insert(imei_to_id.imei());
 

src/apps/middleware/goby_tool/tool.proto

@@ -41,6 +41,10 @@ message GobyToolConfig
             short_help_msg: "Interact with ZeroMQ Goby pub/sub",
             external_command: "goby_zeromq_tool"
         }];
+        udpm = 11 [(goby.ev).cfg = {
+            short_help_msg: "Interact with UDPM Goby pub/sub",
+            external_command: "goby_udpm_tool"
+        }];
 
         // middleware/marshalling
         protobuf = 20 [(goby.ev).cfg = {

src/apps/udpm/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(udpm_tool)

src/apps/udpm/udpm_tool/CMakeLists.txt

@@ -0,0 +1,4 @@
+add_executable(goby_udpm_tool
+  udpm_tool.cpp
+  )
+target_link_libraries(goby_udpm_tool goby)

src/apps/udpm/udpm_tool/udpm_tool.cpp

@@ -0,0 +1,170 @@
+// Copyright 2026:
+//   GobySoft, LLC (2013-)
+//   Community contributors (see AUTHORS file)
+// File authors:
+//   Toby Schneider <toby@gobysoft.org>
+//
+//
+// This file is part of the Goby Underwater Autonomy Project Binaries
+// ("The Goby Binaries").
+//
+// The Goby Binaries are free software: you can redistribute them and/or modify
+// them under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 2 of the License, or
+// (at your option) any later version.
+//
+// The Goby Binaries are distributed in the hope that they will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "goby/middleware/application/configuration_reader.h"
+#include "goby/middleware/application/interface.h"
+#include "goby/middleware/application/tool.h"
+#include "goby/middleware/protobuf/tool_config.pb.h"
+#include "goby/middleware/tool/publish_subscribe_tool.h"
+#include "goby/udpm/application/single_thread.h"
+#include "goby/udpm/protobuf/tool_config.pb.h"
+
+namespace goby
+{
+namespace apps
+{
+namespace udpm
+{
+class UDPMToolConfigurator
+    : public goby::middleware::ProtobufConfigurator<goby::udpm::protobuf::UDPMToolConfig>
+{
+  public:
+    UDPMToolConfigurator(int argc, char* argv[])
+        : goby::middleware::ProtobufConfigurator<goby::udpm::protobuf::UDPMToolConfig>(argc, argv)
+    {
+        auto& cfg = mutable_cfg();
+        if (!cfg.app().glog_config().has_tty_verbosity())
+            cfg.mutable_app()->mutable_glog_config()->set_tty_verbosity(
+                goby::util::protobuf::GLogConfig::WARN);
+    }
+};
+
+class UDPMTool : public goby::middleware::Application<goby::udpm::protobuf::UDPMToolConfig>
+{
+  public:
+    UDPMTool();
+    ~UDPMTool() override {}
+
+  private:
+    // never gets called
+    void run() override { assert(false); }
+
+  private:
+};
+
+class UDPMPublishTool
+    : public goby::udpm::SingleThreadApplication<goby::middleware::protobuf::PublishToolConfig>,
+      public goby::middleware::ToolSharedLibraryLoader
+{
+  public:
+    UDPMPublishTool();
+    ~UDPMPublishTool() override {}
+    void loop() override;
+
+  private:
+};
+
+class UDPMSubscribeTool
+    : public goby::udpm::SingleThreadApplication<goby::middleware::protobuf::SubscribeToolConfig>,
+      public goby::middleware::ToolSharedLibraryLoader
+{
+  public:
+    UDPMSubscribeTool();
+    ~UDPMSubscribeTool() override {}
+
+  private:
+    std::map<int, std::unique_ptr<goby::middleware::log::LogPlugin>> plugins_;
+};
+
+} // namespace udpm
+} // namespace apps
+} // namespace goby
+
+int main(int argc, char* argv[])
+{
+    return goby::run<goby::apps::udpm::UDPMTool>(
+        goby::apps::udpm::UDPMToolConfigurator(argc, argv));
+}
+
+goby::apps::udpm::UDPMTool::UDPMTool()
+{
+    goby::middleware::ToolHelper tool_helper(
+        app_cfg().app().binary(), app_cfg().app().tool_cfg(),
+        goby::udpm::protobuf::UDPMToolConfig::Action_descriptor());
+
+    if (!tool_helper.perform_action(app_cfg().action()))
+    {
+        switch (app_cfg().action())
+        {
+            case goby::udpm::protobuf::UDPMToolConfig::help:
+                int action_for_help;
+                if (!tool_helper.help(&action_for_help))
+                {
+                    switch (action_for_help)
+                    {
+                        case goby::udpm::protobuf::UDPMToolConfig::publish:
+                            tool_helper.help<goby::apps::udpm::UDPMPublishTool>(action_for_help);
+                            break;
+
+                        case goby::udpm::protobuf::UDPMToolConfig::subscribe:
+                            tool_helper.help<goby::apps::udpm::UDPMSubscribeTool>(action_for_help);
+                            break;
+
+                        default:
+                            throw(goby::Exception(
+                                "Help was expected to be handled by external tool"));
+                            break;
+                    }
+                }
+                break;
+
+            case goby::udpm::protobuf::UDPMToolConfig::publish:
+                tool_helper.run_subtool<goby::apps::udpm::UDPMPublishTool>();
+                break;
+
+            case goby::udpm::protobuf::UDPMToolConfig::subscribe:
+                tool_helper.run_subtool<goby::apps::udpm::UDPMSubscribeTool>();
+                break;
+
+            default:
+                // perform action will call 'exec' if an external tool performs the action,
+                // so if we are continuing, this didn't happen
+                throw(goby::Exception("Action was expected to be handled by external tool"));
+                break;
+        }
+    }
+
+    quit(0);
+}
+
+goby::apps::udpm::UDPMPublishTool::UDPMPublishTool()
+    : goby::udpm::SingleThreadApplication<goby::middleware::protobuf::PublishToolConfig>(
+          1.0 * boost::units::si::hertz),
+      goby::middleware::ToolSharedLibraryLoader(app_cfg().load_shared_library())
+{
+    goby::middleware::tool::publish_tool_impl(interprocess(), cfg(), "goby udpm publish");
+}
+
+void goby::apps::udpm::UDPMPublishTool::loop()
+{
+    static int i = 0;
+    ++i;
+    if (i > 1) // exit on second call of loop, plenty of time for publish to go through
+        quit(0);
+}
+
+goby::apps::udpm::UDPMSubscribeTool::UDPMSubscribeTool()
+    : goby::middleware::ToolSharedLibraryLoader(app_cfg().load_shared_library())
+{
+    goby::middleware::tool::subscribe_tool_impl(interprocess(), cfg(), plugins_);
+}