Release 3.1.5

ZeroMQ

• Ported set of acomms applications from Goby2 to Goby3 ZeroMQ as an alternative to the intervehicle layer in Goby3:
  • goby_modemdriver
  • goby_bridge
  • goby_file_transfer
  • goby_mosh_relay
  • goby_ip_gateway
• Added ability for goby_coroner to append health summary to a text file.
• Added option to turn off symlink generation and/or timestamps for glog logs and goby_logger logs for easier integration with the logrotate tool.

Acomms

• Added goby_store_server (from Goby2) and accompanying store_server driver, which uses an SQLite store and forward database over TCP.
• Updated Benthos driver to set packet max (~4000B).

Bug fixes

• Fixed bug in DynamicBuffer where messages in ack-wait were causing the priority contest to end prematurely (throwing a DynamicBufferNoDataException even when valid data existed to return)
• Fix bug where InterProcessTransporterBase was not always picking the correct scheme overload when using the publish_dynamic/subscribe_dynamic functions.

Release 3.1.4

Middleware

• Add ability to close log file with STOP_LOGGING request to goby_logger.

Release 3.1.3

General

• Updates to configuration reader (called by ProtobufConfigurator) to better support creation of command line tools (of the style tool <action> <subaction> [--options]). New goby::middleware::ToolHelper class for tools to use.
  • Support for environmental variables
  • Support for custom positional parameters to replace default <cfg_file> <app_name>
  • Support for custom short (e.g., '-l' for '--library') command line options.
• New goby command line tool that unifies existing tools and apps into a single point of entry and adds new tools (most notable are goby zeromq publish and goby zeromq subscribe, allowing command line publish/subscribe to gobyd):
  • goby log: Manage goby log files
    • convert: Convert .goby log files to other formats [goby_log_tool]
  • goby launch: Launch goby *.launch files [goby_launch]
  • goby zeromq: Interact with ZeroMQ Goby pub/sub [goby_zeromq_tool]
    • terminate: Terminate Goby applications [goby_terminate]
    • publish: Publish a message (on interprocess)
    • subscribe: Subscribe to messages (on interprocess)
    • playback: Playback .goby log files [goby_playback]
    • daemon: Publish/subscribe broker for interprocess and, optionally, intervehicle portal [gobyd]
    • logger: Binary logger of interprocess messages [goby_logger]
    • coroner: Monitoring of process health [goby_coroner]
    • intervehicle_portal: Standalone intervehicle portal [goby_intervehicle_portal]
    • gps: GPSD client that publishes data into Goby pub/sub [goby_gps]
    • frontseat_interface: Interface to vehicle Frontseat system (control system) [goby_frontseat_interface]
    • geov: Interface to Google Earth via GEOV (https://gobysoft.org/geov/) [goby_geov_interface]
    • liaison: Web-based UI for control/monitoring of Goby pub/sub [goby_liaison]
    • opencpn: Interface to the OpenCPN GUI [goby_opencpn_interface]
    • moos_gateway: Gateway to the MOOS middleware [goby_moos_gateway]
  • goby protobuf: Tools for the Google Protocol Buffers (protobuf) marshalling scheme
    • show: Display definition for message

Release 3.1.2

Bugs

• Added IPv6 support to most components

Release 3.1.1

Bugs

• Added missing "inline" on intermodule function
• Added missing index on UDP threads, and use_indexed_groups on UDP/PTY threads.

External Dependencies

Updated nlohmann JSON to 3.11.2

Release 3.1.0

Middleware

• Update Subscription DCCL message to fill full uint32 (with varint) now that Group using uint32 group sizes. Also switch dccl_id to default id codec. Add intervehicle API version for future changes to Subscription message. Reworked Subscription message to use new DCCL ID 3 to distinguish from old Subscription message (DCCL ID 2) and moved dccl_id and group fields to front of message to detect future changes Important: this necessary change makes Goby 3.0 and Goby 3.1 NOT wire compatible for intervehicle publish/subscribe.

Acomms

• Support for Iridium 9503 (RockBlock) and Rockblock SBD HTTP shore-side API in Iridium drivers. New goby_rockblock_simulator to simulate a system with N Rockblock modems and a shore-side server.

General

• Add optional log rotation on a fixed time to glog files

Bugs

• Remove warnings about boost::placeholder deprecation in boost::bind
• Create common functions for responding to goby_terminate and goby_coroner and add these to gobyd/goby_intervehicle_portal and TimerThread to get full responses for goby_coroner
• Improve Protobuf log plugin: recursively add field extensions to ensure we pick them all up at log writing time.

Release 3.0.17

MOOS

Thanks to @jturner314-nrl

• Support for Iver Remote Helm version 5 in Iver frontseat driver.
• Config to assign Iver modes to Frontseat states in Iver frontseat driver.

goby_log_tool

• Add ability for goby_log_tool HDF5 output to chunk the HDF5 file to bound (and greatly reduce) memory requirements on larger files and to optional compress the chunked files. Use --hdf5_chunk_length to enable chunking, and (optionally) also --hdf_compression_level to enable compression.
• Added regexes to configuration to include or exclude groups and/or types from the output file.

goby_gps

• Compute usat/nsat in goby_gps SkyView message (previously these were unpopulated fields).

ModemDriver

Thanks to @jturner314-nrl

• Add config for partial frame padding in mm_driver (and change default behavior to not pad frames)

Bugs

• Catch exceptions in ModemDriverThread caused by bad DCCL messages
• Update Benthos driver to use "P1Prompt" instead of "Prompt". This will likely preclude older versions of the Benthos modem, but will support newer ones (exact Benthos version for this change is unknown). Thanks to @bzoss.
• Fix computation of buffer size in DynamicBuffer when several unacked messages are in the buffer
• Remove deprecation warnings for newer ZMQ and Boost (for Ubuntu 22.04 and newer).

Release 3.0.16

Version 3.0.16

Build

Support for Mac OS X builds (thanks @jturner314-nrl)
Support for DCCL 4.1 (forthcoming)

MOOS

(thanks @jturner314-nrl)
Blackout changed to double from int
iFrontSeat publishes NAV_YAW

Release 3.0.15

Acomms

• New ModemDriverBase report(...) method to provide information about link availability, link quality (if known), and any other data the driver wants to provide.

Middleware

• Call new ModemDriverBase::report(...) regularly from intervehicle driver threads and publish to goby::middleware::intervehicle::modem_report.
• Improve names of glog groups for intervehicle acomms components.
• Add new goby_intervehicle_portal application that acts just like the intervehicle part of gobyd (so that the intervehicle drivers can be run in a separate app from the interprocess manager, etc. that gobyd provides). Users can use gobyd just as before, if desired.

Bugs

• Fix lack of subscriptions when removing and creating a second InterProcessTransporter on the same thread (used by ModemDrivers).

Build

• Fix build with MOOS enabled and ZeroMQ disabled

Release 3.0.14

Bugs

• Fix Liaison Commander crash with messages containing embedded messages that have "oneof" fields
• Fix bug where intermodule subscriptions only go to the first subscriber.