[XPCC] Add ZeroMQ as transport layer for XPCC.

This feature adds a ZeroMQ implementation of the XPCC backend as a
replacement for TIPC on hosted targets and examples to show this new
functionality.

.travis.yml

@@ -16,6 +16,7 @@ addons:
    - lib32z1
    - lib32ncurses5
    - lib32bz2-1.0
+   - libzmqpp-dev
 
 before_install:
  - export CC=gcc-4.8
@@ -66,5 +67,6 @@ env:
  - TEST_SUITE="check=examples examples=nucleo_f411re"
  - TEST_SUITE="check=examples examples=nucleo_f429zi"
  - TEST_SUITE="check=examples examples=unittest"
+ - TEST_SUITE="check=examples examples=zmq"
 
 script: "scons $TEST_SUITE"

examples/avr/communication/receiver/component_receiver/receiver.cpp

@@ -37,7 +37,7 @@
 #include "receiver.hpp"
 
 // ----------------------------------------------------------------------------
-component::Receiver::Receiver(uint8_t id, xpcc::Dispatcher *communication) :
+component::Receiver::Receiver(uint8_t id, xpcc::Dispatcher &communication) :
 	xpcc::AbstractComponent(id, communication)
 {
 }

examples/avr/communication/receiver/component_receiver/receiver.hpp

@@ -40,7 +40,7 @@ namespace component
 	class Receiver : public xpcc::AbstractComponent
 	{
 	public:
-		Receiver(uint8_t id, xpcc::Dispatcher *communication);
+		Receiver(uint8_t id, xpcc::Dispatcher &communication);
 
 		void
 		actionSetPosition(const xpcc::ResponseHandle& handle,

examples/avr/communication/receiver/main.cpp

@@ -67,7 +67,7 @@ FLASH_STORAGE(uint8_t canFilter[]) =
 
 namespace component
 {
-	Receiver receiver(robot::component::RECEIVER, &dispatcher);
+	Receiver receiver(robot::component::RECEIVER, dispatcher);
 }
 
 // ----------------------------------------------------------------------------

examples/avr/communication/sender/component_sender/sender.cpp

@@ -40,7 +40,7 @@
 #include "sender.hpp"
 
 // ----------------------------------------------------------------------------
-component::Sender::Sender(uint8_t id, xpcc::Dispatcher *communication) :
+component::Sender::Sender(uint8_t id, xpcc::Dispatcher &communication) :
 	xpcc::AbstractComponent(id, communication),
 	positionCallback(this, &Sender::getPositionCallback),
 	timer(2000)

examples/avr/communication/sender/component_sender/sender.hpp

@@ -41,7 +41,7 @@ namespace component
 	class Sender : public xpcc::AbstractComponent
 	{
 	public:
-		Sender(uint8_t id, xpcc::Dispatcher *communication);
+		Sender(uint8_t id, xpcc::Dispatcher &communication);
 
 		void
 		update();

examples/avr/communication/sender/main.cpp

@@ -67,7 +67,7 @@ FLASH_STORAGE(uint8_t canFilter[]) =
 
 namespace component
 {
-	Sender sender(robot::component::SENDER, &dispatcher);
+	Sender sender(robot::component::SENDER, dispatcher);
 }
 
 // ----------------------------------------------------------------------------

examples/communication/xml/communication.xml

@@ -2,6 +2,7 @@
 <!DOCTYPE rca SYSTEM "communication.dtd">
 <rca version="1.0">
 
+<!-- Basic data types -->
 <builtin name="int8_t" size="1" />
 <builtin name="int16_t" size="2" />
 <builtin name="int32_t" size="4" />
@@ -16,13 +17,27 @@
 		This type is defined to make it possible to send bools from everywhere.</description>
 </typedef>
 
+<!-- Aggregated data types -->
 <struct name="position">
 	<description>Position of the Robot on the Playground.</description>
 
 	<element name="x" type="int16_t" unit="mm" />
 	<element name="y" type="int16_t" unit="mm" />
 </struct>
 
+<struct name="Location">
+	<description>Lage = Position + Orientierung</description>
+	<element name="x"   type="int16_t" unit="mm"  />
+	<element name="y"   type="int16_t" unit="mm"  />
+	<element name="phi" type="float"   unit="rad" />
+</struct>
+
+<!-- Events -->
+<event name="Robot Location" type="Location" id="0x13">
+	<description>The current Location of the Robot. Pivot point of the differential drive.</description>
+</event>
+
+<!-- Components -->
 <component name="sender" id="0x01">
 
 </component>
@@ -34,7 +49,28 @@
 	</actions>
 </component>
 
+<component name="odometry" id="0x03">
+	<actions>
+		<action name="set led red" id="0x09" parameterType="Bool" />
+	</actions>
+	<events>
+		<publish>
+			<event name="Robot Location" />
+			<!-- <event name="Odometry Speed" /> -->
+			<!-- <event name="Odometry Encoder Integration" /> -->
+		</publish>
+	</events>
+</component>
+
+<component name="gui" id="0x04">
+	<events>
+		<subscribe>
+			<event name="Robot Location" />
+		</subscribe>
+	</events>
+</component>
 
+<!-- Containers -->
 <container name="sender">
 	<component name="sender" />
 </container>
@@ -43,9 +79,17 @@
 	<component name="receiver" />
 </container>
 
+<container name="odometry">
+	<component name="odometry" />
+</container>
+
 <container name="senderreceiver">
 	<component name="sender" />
 	<component name="receiver" />
 </container>
 
+<container name="gui">
+	<component name="gui" />
+</container>
+
 </rca>

examples/linux/can_debugger/main.cpp

@@ -3,7 +3,7 @@
 #include <xpcc/architecture.hpp>
 
 #include <xpcc/architecture/interface/can.hpp>
-#include <xpcc/architecture/platform/driver/can/hosted/canusb.hpp>
+#include <xpcc/architecture/platform/driver/can/canusb/canusb.hpp>
 
 #include <cstdlib>
 

examples/linux/communication/basic/component_receiver/receiver.cpp

@@ -37,7 +37,7 @@
 #include "receiver.hpp"
 
 // ----------------------------------------------------------------------------
-component::Receiver::Receiver(uint8_t id, xpcc::Dispatcher *communication) :
+component::Receiver::Receiver(uint8_t id, xpcc::Dispatcher &communication) :
 	xpcc::AbstractComponent(id, communication)
 {
 }

examples/linux/communication/basic/component_receiver/receiver.hpp

@@ -40,7 +40,7 @@ namespace component
 	class Receiver : public xpcc::AbstractComponent
 	{
 	public:
-		Receiver(uint8_t id, xpcc::Dispatcher *communication);
+		Receiver(uint8_t id, xpcc::Dispatcher &communication);
 
 		void
 		actionSetPosition(const xpcc::ResponseHandle& handle,

examples/linux/communication/basic/component_sender/sender.cpp

@@ -40,7 +40,7 @@
 #include "sender.hpp"
 
 // ----------------------------------------------------------------------------
-component::Sender::Sender(uint8_t id, xpcc::Dispatcher *communication) :
+component::Sender::Sender(uint8_t id, xpcc::Dispatcher &communication) :
 	xpcc::AbstractComponent(id, communication),
 	positionCallback(this, &Sender::getPositionCallback),
 	timer(2000)

examples/linux/communication/basic/component_sender/sender.hpp

@@ -41,7 +41,7 @@ namespace component
 	class Sender : public xpcc::AbstractComponent
 	{
 	public:
-		Sender(uint8_t id, xpcc::Dispatcher *communication);
+		Sender(uint8_t id, xpcc::Dispatcher &communication);
 
 		void
 		update();

examples/linux/communication/basic/main.cpp

@@ -2,7 +2,8 @@
 #include <xpcc/architecture.hpp>
 
 #include <xpcc/communication.hpp>
-#include <xpcc/communication/xpcc/backend/tipc.hpp>
+// #include <xpcc/communication/xpcc/backend/tipc.hpp>
+#include <xpcc/communication/xpcc/backend/zeromq.hpp>
 
 #include <xpcc/debug/logger.hpp>
 
@@ -16,7 +17,13 @@
 #include "communication/postman.hpp"
 #include "communication/identifier.hpp"
 
-xpcc::TipcConnector connector;
+// Use TIPC on Linux only
+// xpcc::TipcConnector connector;
+
+// Use ZeroMQ on Linux and Darwin
+const std::string endpointIn  = "tcp://127.0.0.1:8211";
+const std::string endpointOut = "tcp://127.0.0.1:8212";
+static xpcc::ZeroMQConnector connector(endpointIn, endpointOut, xpcc::ZeroMQConnector::Mode::SubPush);
 
 // create an instance of the generated postman
 Postman postman;
@@ -25,19 +32,20 @@ xpcc::Dispatcher dispatcher(&connector, &postman);
 
 namespace component
 {
-	Sender sender(robot::component::SENDER, &dispatcher);
-	Receiver receiver(robot::component::RECEIVER, &dispatcher);
+	Sender sender(robot::component::SENDER, dispatcher);
+	Receiver receiver(robot::component::RECEIVER, dispatcher);
 }
 
 int
 main()
 {
-	connector.addReceiverId(robot::component::SENDER);
-	connector.addReceiverId(robot::component::RECEIVER);
+	// Required for TIPC on Linux only
+	// connector.addReceiverId(robot::component::SENDER);
+	// connector.addReceiverId(robot::component::RECEIVER);
 
 	XPCC_LOG_INFO << "Welcome to the communication test!" << xpcc::endl; 
 
-	while (1)
+	while (true)
 	{
 		// deliver received messages
 		dispatcher.update();

examples/linux/communication/basic/project.cfg

@@ -2,6 +2,9 @@
 container = senderreceiver
 source = ../../../communication/xml/communication.xml
 
+[environment]
+LINKCOM* = -lpthread -lzmqpp -lzmq
+
 [build]
-device = hosted/linux
+device = hosted
 buildpath = ${xpccpath}/build/linux/${name}

examples/linux/gui/basic/project.cfg

@@ -1,7 +1,7 @@
 [build]
 device = hosted
-buildpath = ${xpccpath}/build/linux/${name}
+buildpath = ${xpccpath}/build/linux/gui/${name}
 
 [environment]
 CXXCOM* = `pkg-config --libs --cflags  gtkmm-2.4 cairomm-1.0 sdl`
-LINKCOM* = `pkg-config --libs --cflags gtkmm-2.4 cairomm-1.0 sdl`
+LINKCOM* = `pkg-config --libs --cflags gtkmm-2.4 cairomm-1.0 sdl` -lpthread -lzmqpp -lzmq

examples/zmq/1_stm32/.gitignore

@@ -0,0 +1 @@
+communication/

examples/zmq/1_stm32/SConstruct

@@ -0,0 +1,4 @@
+# path to the xpcc root directory
+xpccpath = '../../..'
+# execute the common SConstruct file
+execfile(xpccpath + '/scons/SConstruct')