compilation failure for vehicle_gateway_multi

[olkur]

I clone the current repo and started to build using docker container but faced the following issue:

$ colcon build --event-handlers console_direct+ --packages-select vehicle_gateway_multi
Starting >>> vehicle_gateway_multi
Consolidate compiler generated dependencies of target vehicle_gateway_multi_bridge_client
Consolidate compiler generated dependencies of target vehicle_gateway_multi_bridge
[ 25%] Building CXX object CMakeFiles/vehicle_gateway_multi_bridge_client.dir/src/vehicle_gateway_multi_bridge_client.cpp.o
[ 50%] Building CXX object CMakeFiles/vehicle_gateway_multi_bridge.dir/src/vehicle_gateway_multi_bridge.cpp.o
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:21:25: error: ‘z_sample_t’ does not name a type; did you mean ‘z_time_t’?
   21 | void data_handler(const z_sample_t * sample, void * /*arg*/)
      |                         ^~~~~~~~~~
      |                         z_time_t
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp: In function ‘void data_handler(const int*, void*)’:
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:23:3: error: ‘z_owned_str_t’ was not declared in this scope; did you mean ‘z_owned_string_t’?
   23 |   z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
      |   ^~~~~~~~~~~~~
      |   z_owned_string_t
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:25:73: error: request for member ‘kind’ in ‘* sample’, which is of non-class type ‘const int’
   25 |     ">> [Subscriber] Received %s ('%s': '%.*s')\n", kind_to_str(sample->kind), z_loan(keystr),
      |                                                                         ^~~~
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:25:87: error: ‘keystr’ was not declared in this scope; did you mean ‘key_t’?
   25 |     ">> [Subscriber] Received %s ('%s': '%.*s')\n", kind_to_str(sample->kind), z_loan(keystr),
      |                                                                                       ^~~~~~
      |                                                                                       key_t
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:26:30: error: request for member ‘payload’ in ‘* sample’, which is of non-class type ‘const int’
   26 |     static_cast<int>(sample->payload.len), sample->payload.start);
      |                              ^~~~~~~
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:26:52: error: request for member ‘payload’ in ‘* sample’, which is of non-class type ‘const int’
   26 |     static_cast<int>(sample->payload.len), sample->payload.start);
      |                                                    ^~~~~~~
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp: In function ‘int main(int, char**)’:
/root/vg/src/vehicle_gateway/vehicle_gateway_multi/src/vehicle_gateway_multi_bridge_client.cpp:37:45: error: too few arguments to function ‘z_result_t z_config_default(z_owned_config_t*)’
   37 |   z_owned_config_t config = z_config_default();

I am not familiar yet with the build system of the project so I would be happy with any hints what is the reason for this issue.

thanks.

[olkur]

It seems like the latest version where the mentioned types exist was in 0.7.2-rc.1 of zenohc but in dependency file it is mentioned main ( 1.0.0 ) where this types were renamed a little bit.

Or we have to set lower version of zenohc or update the code of vehicle_gateway_multi.

[olkur]

With the following patch I've been able to build the project without chaning of depencencies:
0001-WIP.txt

[ruipimentelfigueiredo]

Hello, did you solve this issue?
@inisider I tried building the dev/Dockerfile after using your patch, but it did not compile. I still have build errors such as:
vehicle_gateway_multi_bridge.cpp:146:8: error: ‘z_check’ was not declared in this scope

[olkur]

Hello @ruipimentelfigueiredo,
If a compilation issue are completely the same then seems like it is something with applying of the patch or some parts have been updated since I worked on the patch and additional changes should be done. It is needed more details/log you have.

[ruipimentelfigueiredo]

Hello @inisider ,
After cloning this repo, I have added the 0001-WIP.txt file with your changes to the root of the repo and patched with:
git am 0001-WIP.txt
after I tried building the Docker/dev and got the following errors:
build.log

[olkur]

Hello @ruipimentelfigueiredo,

Unfortunately in this log I don't see any details of compilation errors so it isn't really clear if it is a new place which patch doesn't cover or an issue with applying of the patch itself.

Could you also grab&share some compilation errors log?

[ruipimentelfigueiredo]

Hello @inisider
I finally succeeded building the repo with your changes. I had to change the following Docker/dev/Dockerfile lines:

#RUN mkdir -p /home/vehicle_gateway/src && cd /home/vehicle_gateway && git clone #https://github.com/osrf/vehicle_gateway src/vehicle_gateway --depth 1 && \
#    vcs import src < src/vehicle_gateway/dependencies.repos
WORKDIR /home/vehicle_gateway/src
COPY ./vehicle_gateway vehicle_gateway
WORKDIR /home/vehicle_gateway
RUN    vcs import src  < src/vehicle_gateway/dependencies.repos

and build the docker from the project parent folder:
docker build -f vehicle_gateway/Docker/dev/Dockerfile .

[olkur]

Great! Let me know if everything is working for you ( @ruipimentelfigueiredo ). Thanks.