Merged in connection_validator (pull request osrf#436)

Connection validator

Approved-by: Michael Carroll <michael@openrobotics.org>

subt_ign/CMakeLists.txt

@@ -130,6 +130,28 @@ install(TARGETS ${artifact_validator_name}
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
+set(connection_validator_name ConnectionValidator)
+add_library(${connection_validator_name} SHARED
+  src/ConnectionValidator.cc
+  src/ConnectionValidatorPrivate.cc
+  src/SimpleDOTParser.cc)
+target_link_libraries(${connection_validator_name}
+  PRIVATE
+    ignition-gazebo${IGN_GAZEBO_VER}::core
+    ignition-common3::ignition-common3
+    ignition-launch1::ignition-launch1
+    ignition-math6::ignition-math6
+    ignition-msgs4::ignition-msgs4
+    ignition-plugin1::loader
+    ignition-transport7::ignition-transport7
+    ${catkin_LIBRARIES}
+    ${protobuf_lib_name}
+)
+install(TARGETS ${connection_validator_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
 # Create the libCommsBrokerPlugin.so library.
 set(comms_broker_plugin_name CommsBrokerPlugin)
 add_library(${comms_broker_plugin_name}

subt_ign/include/subt_ign/ConnectionValidator.hh

@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef SUBT_IGN_CONNECTIONVALIDATOR_HH_
+#define SUBT_IGN_CONNECTIONVALIDATOR_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace subt
+{
+  class ConnectionValidatorPrivate;
+
+  class ConnectionValidator:
+    public ignition::gazebo::System,
+    public ignition::gazebo::ISystemConfigure,
+    public ignition::gazebo::ISystemPostUpdate
+  {
+    /// \brief Constructor
+    public: ConnectionValidator();
+
+    /// \brief Destructor
+    public: ~ConnectionValidator();
+
+    // Documentation inherited
+    public: void Configure(const ignition::gazebo::Entity &_entity,
+                           const std::shared_ptr<const sdf::Element> &_sdf,
+                           ignition::gazebo::EntityComponentManager &_ecm,
+                           ignition::gazebo::EventManager &_eventMgr) override;
+
+    // Documentation inherited
+    public: void PostUpdate(const ignition::gazebo::UpdateInfo &_info,
+                const ignition::gazebo::EntityComponentManager &_ecm) override;
+
+    /// \brief Private data pointer.
+    private: std::unique_ptr<ConnectionValidatorPrivate> dataPtr;
+  };
+}
+
+#endif  // SUBT_IGN_CONNECTIONVALIDATOR_HH_