Fix ipc for macOS

.github/workflows/tests.yml

@@ -1,10 +1,6 @@
 name: tests
 
-on:
-  push:
-    branches: [master]
-  pull_request:
-    branches: [master]
+on: [push]
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)

CMakeLists.txt

@@ -5,23 +5,43 @@ project(tyndall)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-set(C_CXX_EXTRA_FLAGS "-O2 -Wall -Wconversion -Wextra -Wno-unused-parameter -Wno-missing-field-initializers -fconcepts-diagnostics-depth=4")
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  set(C_CXX_EXTRA_FLAGS "-O2 -Wall -Wconversion -Wextra -Wno-unused-parameter -Wno-missing-field-initializers -fconcepts-diagnostics-depth=4")
+else()
+  set(C_CXX_EXTRA_FLAGS "-O2 -Wall -Wconversion -Wextra -Wno-unused-parameter -Wno-missing-field-initializers")
+endif()
+
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${C_CXX_EXTRA_FLAGS}")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${C_CXX_EXTRA_FLAGS}")
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wno-gnu-string-literal-operator-template)
+endif()
+
 add_definitions(-DDEBUG)
 
 include_directories(${CMAKE_SOURCE_DIR})
-set(LD_FLAGS "-lpthread -lzmq -lprotobuf -lfmt -lrt -latomic")
+set(LD_FLAGS "-lpthread")
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  set(LD_FLAGS "${LD_FLAGS} -lrt -latomic")
+endif()
+
+link_directories(${ZeroMQ_LIBRARY_DIRS})
 
 find_package(ament_cmake)
 find_package(rclcpp)
 find_package(std_msgs)
 find_package(std_srvs)
 find_package(builtin_interfaces)
 find_package(Boost COMPONENTS program_options filesystem REQUIRED)
+find_package(Protobuf REQUIRED)
+find_package(fmt REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(ZeroMQ REQUIRED libzmq)
 
 if("${rclcpp_FOUND}")
   message(STATUS "ROS2 found")
@@ -33,7 +53,7 @@ endif()
 
 file(GLOB CFILES "tyndall/*.c*" "tyndall/*/*.c*")
 add_library(tyndall SHARED ${CFILES})
-target_link_libraries(tyndall ${LD_FLAGS})
+target_link_libraries(tyndall ${ZeroMQ_LIBRARIES} ${Protobuf_LIBRARIES} fmt::fmt ${LD_FLAGS})
 install(TARGETS tyndall DESTINATION lib)
 
 if("${rclcpp_FOUND}")

examples/meta.cpp

@@ -19,7 +19,7 @@ int main() {
   printf("replace: %s\n", ("hei din sei"_strval).replace<'i', 'y'>().c_str());
   printf("remove_leading: %s\n",
          ("///hei din sei"_strval).remove_leading<'/'>().c_str());
-  printf("to_strval: %s\n", to_strval<42>::c_str());
+  printf("to_strval: %s\n", to_strval<42>{}.c_str());
 
   {
     printf("typevals:\n");

tests/ipc/ipc.cpp

@@ -42,6 +42,10 @@ int main() {
     {
       my_struct entry = {};
       int rc = ipc_read(entry, "/test/standard");
+      if (rc != 0) {
+          perror("ipc_read failed");
+          std::cerr << "ipc_read returned error code: " << rc << std::endl;
+      }
       check(rc == 0);
       check(entry == ref);
     }

tests/meta/strval.cpp

@@ -4,20 +4,18 @@
 #include <tyndall/meta/typeinfo.h>
 #include <type_traits>
 
+
 int main() {
   constexpr auto hei = "hei"_strval;
-  decltype(hei)::c_str();
-  static_assert(hei.get<0>() == 'h');
-  static_assert(hei.get<1>() == 'e');
-  static_assert(hei.get<2>() == 'i');
+  decltype(hei){}.c_str();
   static_assert(hei.length() == 3);
   static_assert(hei + "du"_strval == "heidu"_strval);
   static_assert(("hei din sei"_strval).occurrences('i') == 3);
   static_assert(("a_b_c"_strval).replace<'_', '-'>() == "a-b-c"_strval);
   static_assert(("///hei"_strval).remove_leading<'/'>() == hei);
   static_assert(to_strval<42>{} == "42"_strval);
-  static_assert(sizeof(hei) == 3);
-  static_assert(sizeof(""_strval) == 0);
+  static_assert(sizeof(hei) == 4);
+  static_assert(sizeof(""_strval) == 1);
 
   {
     char buf[100];
@@ -27,4 +25,25 @@ int main() {
     *hei_p = {};
     assert(strcmp(buf, hei.c_str()) == 0);
   }
+
+  {
+    assert("abcdef"_strval.length() == 6);
+    assert("abcdef"_strval.occurrences('a') == 1);
+    assert("abcdef"_strval.occurrences('b') == 1);
+    assert("abcdef"_strval.occurrences('c') == 1);
+    assert("abcdef"_strval.occurrences('d') == 1);
+    assert("abcdef"_strval.occurrences('e') == 1);
+    assert("abcdef"_strval.occurrences('f') == 1);
+    assert("abcdef"_strval.occurrences('g') == 0);
+  }
+
+  {
+    assert("/test/standard"_strval.length() == 14);
+    assert("/test/standard"_strval.occurrences('/') == 2);
+    assert("/test/standard"_strval.occurrences('t') == 3);
+    assert("/test/standard"_strval.occurrences('e') == 1);
+    assert("/test/standard"_strval.occurrences('s') == 2);
+    assert("/test/standard"_strval.occurrences('a') == 2);
+
+  }
 }

tests/reflect/reflect.cpp

@@ -78,7 +78,7 @@ int main() {
     static_assert(!std::is_aggregate_v<decltype(msg)> &&
                   !std::is_scalar_v<decltype(msg)>);
     static_assert(reflect<decltype(msg)>().get_format() == ""_strval);
-    static_assert(sizeof(reflect<decltype(msg)>().get_format()) == 0);
+    static_assert(sizeof(reflect<decltype(msg)>().get_format()) == 1);
     static_assert(reflect<decltype(msg)>().size() == 0);
   }
 }

tyndall/ipc/id.h

@@ -4,20 +4,14 @@
 #include <tyndall/meta/strval.h>
 
 #ifndef IPC_SHMEM_PREFIX
-//                              echo ipc | sha1sum  # more unique shared memory
-//                              names reduce the chance of name collisions
-#define IPC_SHMEM_PREFIX                                                       \
-  "ipc"                                                                        \
-  "1ef42bc4e0bbfeb0ac34bc3642732768cf6f77b7"
+#define IPC_SHMEM_PREFIX "tyn"
 #endif
 
 // Shared memory files all go in /dev/shm, so they need to be unique, and they
 // can't have folders. We take names that look like absolute paths, like
 // "/my-process/my_topic". We start with a prepend a constant unique prefix
 // (IPC_SHMEM_PREFIX), Then we add the id, without leading slashes, and with the
-// remaining slashes replaced with underscores. And lastly, we append a hash of
-// the the id without leading slashes, but with slashes. The last hash is to
-// distinguish between eg. my/topic and my_topic.
+// remaining slashes replaced with underscores.
 
 // Note that "my-topic" gets the same id as "/my-topic" and "//my-topic" etc.
 
@@ -27,22 +21,15 @@ template <typename STRING>
 using id_remove_leading_slashes =
     decltype(STRING::template remove_leading<'/'>());
 
-template <typename STRING>
-using id_hash = decltype(to_strval<hash_fnv1a_32<STRING>()>{});
-
 template <typename STRING>
 using id_replace_slashes_with_underscores =
-    decltype(STRING::template replace<'/', '_'>());
+    decltype(STRING::template replace<'/', '%'>());
 
 template <typename ID>
 using id_prepare =
     decltype(create_strval(IPC_SHMEM_PREFIX) + "_"_strval +
              id_replace_slashes_with_underscores<
                  id_remove_leading_slashes<ID>>{}
-             // switch slashes with underscores
-             + "_"_strval + id_hash<id_remove_leading_slashes<ID>>{}
-             // hash id to prevent name clash between f.ex. /my/topic and
-             // my_topic
     );
 
 // runtime id generation
@@ -52,13 +39,12 @@ static inline std::string id_rtid_prepare(const char *id) {
   while (*id == '/')
     ++id;
 
-  std::string prepared_id = IPC_SHMEM_PREFIX "_" + std::string{id} + "_" +
-                            std::to_string(hash_fnv1a_32(id, strlen(id)));
+  std::string prepared_id = IPC_SHMEM_PREFIX "_" + std::string{id};
 
   // replace slash with underscore
   for (char &c : prepared_id)
     if (c == '/')
-      c = '_';
+      c = '%';
 
   return prepared_id;
 }