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Silence zmq bullseye #126

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Silence zmq bullseye #126

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2b66675
Silence warnings related to deprecated zmq C++ API due to the upgrade…
Jan 7, 2022
bf4b64f
Reduce amount of stringstream misuse
Jan 7, 2022
4b4b7f5
remove warnings further
Mar 30, 2023
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47 changes: 20 additions & 27 deletions src/binpickingtask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1817,14 +1817,12 @@ void BinPickingTaskResource::_HeartbeatMonitorThread(const double reinitializeti
socket.reset();
}
socket.reset(new zmq::socket_t((*_zmqcontext.get()),ZMQ_SUB));
socket->setsockopt(ZMQ_TCP_KEEPALIVE, 1); // turn on tcp keepalive, do these configuration before connect
socket->setsockopt(ZMQ_TCP_KEEPALIVE_IDLE, 2); // the interval between the last data packet sent (simple ACKs are not considered data) and the first keepalive probe; after the connection is marked to need keepalive, this counter is not used any further
socket->setsockopt(ZMQ_TCP_KEEPALIVE_INTVL, 2); // the interval between subsequential keepalive probes, regardless of what the connection has exchanged in the meantime
socket->setsockopt(ZMQ_TCP_KEEPALIVE_CNT, 2); // the number of unacknowledged probes to send before considering the connection dead and notifying the application layer
std::stringstream ss; ss << std::setprecision(std::numeric_limits<double>::digits10+1);
ss << _heartbeatPort;
socket->connect(("tcp://"+ _mujinControllerIp+":"+ss.str()).c_str());
socket->setsockopt(ZMQ_SUBSCRIBE, "", 0);
socket->set(zmq::sockopt::tcp_keepalive, 1); // turn on tcp keepalive, do these configuration before connect
socket->set(zmq::sockopt::tcp_keepalive_idle, 2); // the interval between the last data packet sent (simple ACKs are not considered data) and the first keepalive probe; after the connection is marked to need keepalive, this counter is not used any further
socket->set(zmq::sockopt::tcp_keepalive_intvl, 2); // the interval between subsequential keepalive probes, regardless of what the connection has exchanged in the meantime
socket->set(zmq::sockopt::tcp_keepalive_cnt, 2); // the number of unacknowledged probes to send before considering the connection dead and notifying the application layer
socket->connect("tcp://" + _mujinControllerIp + ":" + std::to_string(_heartbeatPort));
socket->set(zmq::sockopt::subscribe, "");

zmq::pollitem_t pollitem;
memset(&pollitem, 0, sizeof(zmq::pollitem_t));
Expand All @@ -1833,13 +1831,12 @@ void BinPickingTaskResource::_HeartbeatMonitorThread(const double reinitializeti

unsigned long long lastheartbeat = GetMilliTime();
while (!_bShutdownHeartbeatMonitor && (GetMilliTime() - lastheartbeat) / 1000.0f < reinitializetimeout) {
zmq::poll(&pollitem,1, 50); // wait 50 ms for message
zmq::poll(&pollitem, 1, std::chrono::milliseconds{50}); // wait 50 ms for message
if (pollitem.revents & ZMQ_POLLIN) {
zmq::message_t reply;
socket->recv(&reply);
std::string replystring((char *)reply.data (), (size_t)reply.size());
socket->recv(reply);
//if ((size_t)reply.size() == 1 && ((char *)reply.data())[0]==255) {
if (replystring == "255") {
if (reply.to_string() == "255") {
lastheartbeat = GetMilliTime();
}
}
Expand All @@ -1859,37 +1856,36 @@ void BinPickingTaskResource::_HeartbeatMonitorThread(const double reinitializeti
std::string utils::GetHeartbeat(const std::string& endpoint) {
zmq::context_t zmqcontext(1);
zmq::socket_t socket(zmqcontext, ZMQ_SUB);
socket.connect(endpoint.c_str());
socket.setsockopt(ZMQ_SUBSCRIBE, "", 0);
socket.connect(endpoint);
socket.set(zmq::sockopt::subscribe, "");

zmq::pollitem_t pollitem;
memset(&pollitem, 0, sizeof(zmq::pollitem_t));
pollitem.socket = socket;
pollitem.events = ZMQ_POLLIN;

zmq::poll(&pollitem,1, 50); // wait 50 ms for message
zmq::poll(&pollitem, 1, std::chrono::milliseconds{50}); // wait 50 ms for message
if (!(pollitem.revents & ZMQ_POLLIN)) {
return "";
}

zmq::message_t reply;
socket.recv(&reply);
const std::string received((char *)reply.data (), (size_t)reply.size());
socket.recv(reply);
#ifndef _WIN32
return received;
return reply.to_string();
#else
// sometimes buffer can container \n or \\, which windows does not like
std::string newbuffer;
std::vector< std::pair<std::string, std::string> > serachpairs(2);
serachpairs[0].first = "\n"; serachpairs[0].second = "";
serachpairs[1].first = "\\"; serachpairs[1].second = "";
SearchAndReplace(newbuffer, received, serachpairs);
SearchAndReplace(newbuffer, reply.to_string(), serachpairs);
return newbuffer;
#endif
}


namespace {

std::string FindSmallestSlaveRequestId(const rapidjson::Value& pt) {
// get all slave request ids
std::vector<std::string> slavereqids;
Expand Down Expand Up @@ -1936,13 +1932,11 @@ std::string FindSmallestSlaveRequestId(const rapidjson::Value& pt) {
return slavereqids[smallest_suffix_index];
}

std::string GetValueForSmallestSlaveRequestId(const std::string& heartbeat,
const std::string& key)
std::string GetValueForSmallestSlaveRequestId(const std::string& heartbeat, const std::string& key)
{

rapidjson::Document pt(rapidjson::kObjectType);
std::stringstream ss(heartbeat);
ParseJson(pt, ss.str());
ParseJson(pt, heartbeat);
try {
const std::string slavereqid = FindSmallestSlaveRequestId(pt);
std::string result;
Expand All @@ -1954,8 +1948,8 @@ std::string GetValueForSmallestSlaveRequestId(const std::string& heartbeat,
}

}
}

} // anonymous namespace

std::string mujinclient::utils::GetScenePkFromHeartbeat(const std::string& heartbeat) {
static const std::string prefix("mujin:/");
Expand All @@ -1964,8 +1958,7 @@ std::string mujinclient::utils::GetScenePkFromHeartbeat(const std::string& heart

std::string utils::GetSlaveRequestIdFromHeartbeat(const std::string& heartbeat) {
rapidjson::Document pt;
std::stringstream ss(heartbeat);
ParseJson(pt, ss.str());
ParseJson(pt, heartbeat);
try {
static const std::string prefix("slaverequestid-");
return FindSmallestSlaveRequestId(pt).substr(prefix.length());
Expand Down
26 changes: 10 additions & 16 deletions src/binpickingtaskzmq.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -220,30 +220,26 @@ void BinPickingTaskZmqResource::_HeartbeatMonitorThread(const double reinitializ
socket.reset();
}
socket.reset(new zmq::socket_t((*_zmqcontext.get()),ZMQ_SUB));
socket->setsockopt(ZMQ_TCP_KEEPALIVE, 1); // turn on tcp keepalive, do these configuration before connect
socket->setsockopt(ZMQ_TCP_KEEPALIVE_IDLE, 2); // the interval between the last data packet sent (simple ACKs are not considered data) and the first keepalive probe; after the connection is marked to need keepalive, this counter is not used any further
socket->setsockopt(ZMQ_TCP_KEEPALIVE_INTVL, 2); // the interval between subsequential keepalive probes, regardless of what the connection has exchanged in the meantime
socket->setsockopt(ZMQ_TCP_KEEPALIVE_CNT, 2); // the number of unacknowledged probes to send before considering the connection dead and notifying the application layer
std::stringstream ss; ss << std::setprecision(std::numeric_limits<double>::digits10+1);
ss << _heartbeatPort;
socket->connect (("tcp://"+ _mujinControllerIp+":"+ss.str()).c_str());
socket->setsockopt(ZMQ_SUBSCRIBE, "", 0);
socket->set(zmq::sockopt::tcp_keepalive, 1); // turn on tcp keepalive, do these configuration before connect
socket->set(zmq::sockopt::tcp_keepalive_idle, 2); // the interval between the last data packet sent (simple ACKs are not considered data) and the first keepalive probe; after the connection is marked to need keepalive, this counter is not used any further
socket->set(zmq::sockopt::tcp_keepalive_intvl, 2); // the interval between subsequential keepalive probes, regardless of what the connection has exchanged in the meantime
socket->set(zmq::sockopt::tcp_keepalive_cnt, 2); // the number of unacknowledged probes to send before considering the connection dead and notifying the application layer
socket->connect("tcp://" + _mujinControllerIp + ":" + std::to_string(_heartbeatPort));
socket->set(zmq::sockopt::subscribe, "");

zmq::pollitem_t pollitem;
memset(&pollitem, 0, sizeof(zmq::pollitem_t));
pollitem.socket = socket->operator void*();
pollitem.events = ZMQ_POLLIN;
unsigned long long lastheartbeat = GetMilliTime();
while (!_bShutdownHeartbeatMonitor && (GetMilliTime() - lastheartbeat) / 1000.0f < reinitializetimeout) {
zmq::poll(&pollitem,1, 50); // wait 50 ms for message
zmq::poll(&pollitem, 1, std::chrono::milliseconds{50}); // wait 50 ms for message
if (pollitem.revents & ZMQ_POLLIN) {
zmq::message_t reply;
socket->recv(&reply);
std::string replystring((char *)reply.data (), (size_t)reply.size());
socket->recv(reply);
rapidjson::Document pt(rapidjson::kObjectType);
try{
std::stringstream replystring_ss(replystring);
ParseJson(pt, replystring_ss.str());
ParseJson(pt, reply.to_string());
heartbeat.Parse(pt);
{
boost::mutex::scoped_lock lock(_mutexTaskState);
Expand All @@ -257,7 +253,7 @@ void BinPickingTaskZmqResource::_HeartbeatMonitorThread(const double reinitializ
}
catch (std::exception const &e) {
MUJIN_LOG_ERROR("HeartBeat reply is not JSON");
MUJIN_LOG_ERROR(replystring);
MUJIN_LOG_ERROR(reply.to_string());
MUJIN_LOG_ERROR(e.what());
continue;
}
Expand All @@ -272,6 +268,4 @@ void BinPickingTaskZmqResource::_HeartbeatMonitorThread(const double reinitializ
MUJIN_LOG_DEBUG(str(boost::format("Stopped controller %s monitoring thread on port %d for slaverequestid=%s.")%_mujinControllerIp%_heartbeatPort%_slaverequestid));
}



} // end namespace mujinclient
4 changes: 2 additions & 2 deletions src/controllerclientimpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
#include <boost/algorithm/string.hpp>
#include <boost/scope_exit.hpp>
#include <boost/property_tree/xml_parser.hpp>
#include <strstream>
#include <sstream>

#define SKIP_PEER_VERIFICATION // temporary
//#define SKIP_HOSTNAME_VERIFICATION
Expand Down Expand Up @@ -126,7 +126,7 @@ ControllerClientImpl::ControllerClientImpl(const std::string& usernamepassword,
_mujinControllerIp = _baseuri.substr(_baseuri.find("//")+2, _baseuri.size());
_mujinControllerIp.erase(remove(_mujinControllerIp.begin(), _mujinControllerIp.end(), '/'), _mujinControllerIp.end()); // Remove / from string
// Remove port
int idx = _mujinControllerIp.find(':');
size_t idx = _mujinControllerIp.find(':');
if (idx != std::string::npos) {
_mujinControllerIp = _mujinControllerIp.substr(0, idx);
}
Expand Down
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