Public-Auto-release: v2.20.0

# Added
* [closes #34915, #40093] Client times out after 30 seconds and throws a ConnectionAbort error. Developers should check the error handling examples.

# Changed
* Fix deprecation warnings with newer CMake versions
* Update googletest to latest release

doc/CHANGELOG.md

@@ -13,6 +13,15 @@ influence the resulting point cloud.
 
 ### Removed
 
+## [2.20.0] - 2022.07.20
+
+### Added
+* [closes #34915, #40093] Client times out after 30 seconds and throws a ConnectionAbort error. Developers should check the error handling examples.
+
+### Changed
+* Fix deprecation warnings with newer CMake versions
+* Update googletest to latest release
+
 ## [2.19.7] - 2022.05.31
 
 ### Changed

doc/protobuf_protocol.md

@@ -70,6 +70,7 @@ The data, such as a point cloud, are also packed in protobuf messages.
 
 - [blickfeld/error.proto](#blickfeld/error.proto)
     - [Error](#blickfeld.protocol.Error)
+    - [Error.ConnectionAbort](#blickfeld.protocol.Error.ConnectionAbort)
     - [Error.ConnectionClosed](#blickfeld.protocol.Error.ConnectionClosed)
     - [Error.Empty](#blickfeld.protocol.Error.Empty)
     - [Error.HardwareError](#blickfeld.protocol.Error.HardwareError)
@@ -1147,6 +1148,22 @@ The format type of response is an undocumented, internal feature required for th
 | time_sync_failed | [Error.TimeSyncFailed](#blickfeld.protocol.Error.TimeSyncFailed) | optional | Refer to [TimeSyncFailed](#blickfeld.protocol.Error.TimeSyncFailed) |
 | no_device_discovered | [Error.NoDeviceDiscovered](#blickfeld.protocol.Error.NoDeviceDiscovered) | optional | Refer to [NoDeviceDiscovered](#blickfeld.protocol.Error.NoDeviceDiscovered) |
 | not_supported | [Error.NotSupported](#blickfeld.protocol.Error.NotSupported) | optional | Refer to [NotSupported](#blickfeld.protocol.Error.NotSupported) |
+| connection_abort | [Error.ConnectionAbort](#blickfeld.protocol.Error.ConnectionAbort) | optional | Refer to [ConnectionAbort](#blickfeld.protocol.Error.ConnectionAbort) |
+
+
+
+
+
+
+<a name="blickfeld.protocol.Error.ConnectionAbort"></a>
+
+### Error.ConnectionAbort
+During reading, the connection to the client got aborted.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| details | [string](#string) | optional |  |
 
 
 

examples/cpp/async_fetch_clouds/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/error_handling/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/fetch_clouds/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/fetch_imu/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/named_scan_pattern/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/read_from_file/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/reduced_clouds/CMakeLists.txt

@@ -7,7 +7,7 @@
 ##
 ## > Introduced in BSL v2.10 and firmware v1.9
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/server/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/set_scan_pattern/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/ssl/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp/time_synchronization/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp_standalone/discover/CMakeLists.txt

@@ -6,7 +6,7 @@
 ## LICENSE.md file in the root directory of this source tree.
 ##
 
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

examples/cpp_standalone/fetch_clouds/CMakeLists.txt

@@ -5,7 +5,7 @@
 ## This source code is licensed under the BSD-style license found in the
 ## LICENSE.md file in the root directory of this source tree.
 ##
-cmake_minimum_required (VERSION 2.6)
+cmake_minimum_required (VERSION 2.8.12)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

protocol/CMakeLists.txt

@@ -26,7 +26,7 @@ if (BF_BUILD_NPM AND NODEJS_EXECUTABLE AND NPM_EXECUTABLE)
 		OUTPUT ${PBJS_PATH}
 		OUTPUT ${PBTS_PATH}
 		COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/npm-install
-		COMMAND ${NPM_EXECUTABLE} install protobufjs --prefix ${PROJECT_BINARY_DIR}/npm-install
+		COMMAND ${NPM_EXECUTABLE} install protobufjs@6.11.3 --prefix ${PROJECT_BINARY_DIR}/npm-install
 	)
 	add_custom_target(blickfeld-protocol-npm DEPENDS ${PBJS_PATH} DEPENDS ${PBTS_PATH})
 endif()

protocol/blickfeld/error.proto

@@ -163,6 +163,15 @@ message Error {
 		optional string reason = 1 [ default = "No detailed reason available." ]; // Description why this is not supported
 	}
 
+	/**
+	 * During reading, the connection to the client got aborted.
+	 */
+	message ConnectionAbort {
+		option (e_desc) = "During reading, the connection to the client got aborted. Check the network connectivity or power state of the device.\n\tDetails: {details:%s}";
+
+		optional string details = 1;
+	}
+
 	oneof error {
 		Unknown unknown = 1;  // Refer to [Unknown](#blickfeld.protocol.Error.Unknown)
 		NotImplemented not_implemented = 2;  // Refer to [NotImplemented](#blickfeld.protocol.Error.NotImplemented)
@@ -183,7 +192,8 @@ message Error {
 		TimeSyncFailed time_sync_failed = 23;  // Refer to [TimeSyncFailed](#blickfeld.protocol.Error.TimeSyncFailed)
 		NoDeviceDiscovered no_device_discovered = 24;  // Refer to [NoDeviceDiscovered](#blickfeld.protocol.Error.NoDeviceDiscovered)
 		NotSupported not_supported = 25; // Refer to [NotSupported](#blickfeld.protocol.Error.NotSupported)
+		ConnectionAbort connection_abort = 26; // Refer to [ConnectionAbort](#blickfeld.protocol.Error.ConnectionAbort)
 	}
 
 	reserved 7 to 10, 19, 20;
-}
+}

protocol/plugin/blickfeld/error.custom.pb.h

@@ -30,6 +30,7 @@ static inline protocol_exception<Error::NotInRange> CreateErrorNotInRange(std::s
 static inline protocol_exception<Error::TimeSyncFailed> CreateErrorTimeSyncFailed(std::string ntp_daemon_log) { auto err = Error::TimeSyncFailed(); err.set_ntp_daemon_log(ntp_daemon_log);  return protocol_exception<decltype(err)>(err); }
 static inline protocol_exception<Error::NoDeviceDiscovered> CreateErrorNoDeviceDiscovered() { auto err = Error::NoDeviceDiscovered();  return protocol_exception<decltype(err)>(err); }
 static inline protocol_exception<Error::NotSupported> CreateErrorNotSupported(std::string reason="No detailed reason available.") { auto err = Error::NotSupported(); err.set_reason(reason);  return protocol_exception<decltype(err)>(err); }
+static inline protocol_exception<Error::ConnectionAbort> CreateErrorConnectionAbort(std::string details) { auto err = Error::ConnectionAbort(); err.set_details(details);  return protocol_exception<decltype(err)>(err); }
 
 
     static inline void throw_typed_protocol_exception (Error err) {
@@ -53,6 +54,7 @@ case 22: throw protocol_exception<Error::NotInRange>(err.not_in_range()); break;
 case 23: throw protocol_exception<Error::TimeSyncFailed>(err.time_sync_failed()); break; 
 case 24: throw protocol_exception<Error::NoDeviceDiscovered>(err.no_device_discovered()); break; 
 case 25: throw protocol_exception<Error::NotSupported>(err.not_supported()); break; 
+case 26: throw protocol_exception<Error::ConnectionAbort>(err.connection_abort()); break; 
 
             case Error::ERROR_NOT_SET:
             default:

python/blickfeld_scanner/scanner.py

@@ -20,7 +20,7 @@
 import time
 from distutils.version import LooseVersion, StrictVersion
 
-from .protocol import connection_pb2
+from .protocol import connection_pb2, error_pb2
 from .protocol.stream import connection_pb2 as stream_connection_pb2
 from .protocol import options_pb2, common_pb2
 from .protocol.config import algorithm_pb2
@@ -38,6 +38,8 @@ class scanner(object):
     :type hostname_or_ip: str
     :param port: Port on which the device is reachable the default is 8000.
     :type port: int
+    :param timeout: Timeout in seconds until connection is aborted
+    :type timeout: int
     :param name: Name of the device used for string representation.
     :type name: str
     :param key_and_cert_file: Filename containing a private key and certificate for SSL connection.
@@ -49,8 +51,9 @@ class scanner(object):
     _default_port = 8000
     _default_ssl_port = 8800
 
-    def __init__(self, hostname_or_ip="localhost", port=None, name=None, key_and_cert_file=None, key_and_cert=None):
+    def __init__(self, hostname_or_ip="localhost", port=None, timeout=30, name=None, key_and_cert_file=None, key_and_cert=None):
         self.hostname_or_ip = hostname_or_ip
+        self.timeout = timeout
         self.name = name if name is not None else self.hostname_or_ip
         self.api_path = "http://" + hostname_or_ip + "/api/v1/"
 
@@ -445,7 +448,7 @@ def create_connection(self):
         
         :return: Newly created :py:class:`blickfeld_scanner.scanner.connection`
         """
-        return connection(self.hostname_or_ip, self.port, self._key_and_cert)
+        return connection(self.hostname_or_ip, self.port, timeout=self.timeout, key_and_cert=self._key_and_cert)
 
     def attempt_error_recovery(self):
         """> Introduced in BSL v2.13 and firmware v1.13
@@ -603,12 +606,14 @@ class connection(object):
     :type hostname_or_ip: str
     :param port: port on which the connection should be established
     :type port: int
+    :param timeout: Timeout in seconds until connection is aborted
+    :type timeout: int
     :param key_and_cert: String containing a private key and certificate for SSL connection
     :type key_and_cert: str
     :param ssl_protocol: The protocol used for an SSL connection
     :type ssl_protocol: see ssl lib: `ssl.PROTOCOL_...`
     """
-    def __init__(self, hostname_or_ip, port, key_and_cert=None, ssl_protocol=ssl.PROTOCOL_TLS):
+    def __init__(self, hostname_or_ip, port, timeout, key_and_cert=None, ssl_protocol=ssl.PROTOCOL_TLS):
         self._key_and_cert = key_and_cert
         self.has_ssl = self._key_and_cert != None
         if self.has_ssl:
@@ -627,10 +632,9 @@ def __init__(self, hostname_or_ip, port, key_and_cert=None, ssl_protocol=ssl.PRO
             os.unlink(key_and_cert_file)
 
             self._ssl_context.verify_mode = ssl.CERT_NONE
-            self.socket = self._ssl_context.wrap_socket(socket.create_connection((hostname_or_ip, port)), server_hostname=hostname_or_ip)
+            self.socket = self._ssl_context.wrap_socket(socket.create_connection((hostname_or_ip, port), timeout=timeout), server_hostname=hostname_or_ip)
         else:
-            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.socket.connect((hostname_or_ip, port))
+            self.socket = socket.create_connection((hostname_or_ip, port), timeout=timeout)
 
     def __del__(self):
         self.close()
@@ -690,9 +694,16 @@ def recv(self):
     def __recv_all(self, n):
         data = b''
         while len(data) < n:
-            packet = self.socket.recv(n - len(data))
+            try:
+                packet = self.socket.recv(n - len(data))
+            except socket.timeout:
+                err = error_pb2.Error()
+                err.connection_abort.details = "Timeout after %u seconds" % (self.socket.timeout)
+                raise protocol_exception(err)
             if not packet:
-                return None
+                err = error_pb2.Error()
+                err.connection_abort.details = "Receive failed"
+                raise protocol_exception(err)
             data += packet
         return data
 

src/scanner_connection.cpp

@@ -25,9 +25,10 @@ const uint32_t scanner_connection::default_server_port = 8000;
 const uint32_t scanner_connection::default_server_ssl_port = 8800;
 #endif
 
-scanner_connection::scanner_connection(asio::io_context& io_context, string hostname) :
+scanner_connection::scanner_connection(asio::io_context& io_context, string hostname, std::chrono::duration<long int> timeout) :
 	io_context(io_context),
 	hostname(hostname),
+	timeout(timeout),
 #ifdef HAVE_OPENSSL
 	socket(std::make_shared<asio::ip::tcp::socket>(io_context))
 #else
@@ -47,9 +48,10 @@ scanner_connection::scanner_connection(asio::io_context& io_context, string host
 }
 
 #ifdef HAVE_OPENSSL
-scanner_connection::scanner_connection(asio::io_context& io_context, std::string hostname, asio::ssl::context& ssl_context) :
+scanner_connection::scanner_connection(asio::io_context& io_context, std::string hostname, asio::ssl::context& ssl_context, std::chrono::duration<long int> timeout) :
 	io_context(io_context),
 	hostname(hostname),
+	timeout(timeout),
 	socket(std::make_shared<asio::ssl::stream<asio::ip::tcp::socket> >(io_context, ssl_context))
 {
 	string port = to_string(default_server_ssl_port);
@@ -92,12 +94,44 @@ void scanner_connection::recv(protocol::Response &resp) {
 	} else {
 		std::istream recv_stream(&input_buffer);
 
-		uint32_t size;
-		asio::read(socket, input_buffer, asio::transfer_exactly(sizeof(uint32_t)));
-		recv_stream.read(reinterpret_cast<char*>(&size), sizeof(uint32_t));
-		asio::read(socket, input_buffer, asio::transfer_exactly(size));
+		// Set up sync flags and deadline timer
+		auto expired = make_shared<bool>(), received = make_shared<bool>();
+		*expired = false, *received = false;
+		asio::steady_timer timer(io_context);
+		timer.expires_from_now(timeout);
+		timer.async_wait([expired, received](const asio::error_code& ec) {
+				*expired = !*received;
+			});
+
+		// Asynchronous read
+		asio::async_read(socket, input_buffer, asio::transfer_exactly(sizeof(uint32_t)), [this, &resp, received](const asio::error_code& ec, std::size_t length) {
+				if (ec) {
+					throw protocol::CreateErrorConnectionAbort("Failed to read message size with error code: " + ec.message());
+				}
+
+				uint32_t size;
+				std::istream recv_stream_size(&input_buffer);
+				recv_stream_size.read(reinterpret_cast<char*>(&size), sizeof(uint32_t));
+				asio::async_read(socket, input_buffer, asio::transfer_exactly(size), [this, &resp, received](const std::error_code& ec, std::size_t length) {
+					if (ec) {
+						throw protocol::CreateErrorConnectionAbort("Failed to read message buffer with error code: " + ec.message());
+					}
 
-		parse_response(recv_stream, resp);
+					std::istream recv_stream(&input_buffer);
+					parse_response(recv_stream, resp);
+
+					// Successful read
+					*received = true;
+				});
+			});
+
+		// Make asynchronous read, synchronous
+		io_context.reset();
+		while(io_context.run_one() && !*received) {
+			if (*expired)
+				throw protocol::CreateErrorConnectionAbort("Timeout after " + to_string(timeout.count()) + " seconds");
+		}
+		timer.cancel();
 	}
 }