Merge latest dev to master (#55)

norro · web-flow · commit 5359d233697a · 2020-12-17T10:49:16.000+01:00
Version 0.4.2 * Mode inference now capable of detecting deviation between intended and targeted system state/mode (needs minor fixes) * Mode manager checking for system deviation after each change (transition, mode change, parameter change) * Mode handling successfully parses rules from SMH file * Documentation of rules and rules example #13
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -0,0 +1,33 @@
+name: "Build action: Foxy + Rolling"
+
+on:
+  push:
+    branches: [ master, dev ]
+  pull_request:
+    branches: [ master, dev ]
+  schedule:
+    # Run once per day to detect broken dependencies.
+    - cron: '17 6 * * *'
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ ubuntu-20.04 ]
+        ros_distribution: [ foxy, rolling ]
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@0.0.26
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+    - uses : ros-tooling/action-ros-ci@0.1.0
+      with:
+        package-name: "system_modes system_modes_examples"
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        colcon-mixin-name: coverage-gcc
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+    - uses: codecov/codecov-action@v1
+      with:
+        file: ros_ws/lcov/total_coverage.info
diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
diff --git a/README.md b/README.md
@@ -1,5 +1,13 @@
 # ROS 2 System Modes
 
+[![License](https://img.shields.io/badge/License-Apache%202-blue.svg)](https://github.com/micro-ROS/system_modes/blob/master/LICENSE)
+[![Build status](https://build.ros2.org/job/Ddev__system_modes__ubuntu_bionic_amd64/badge/icon?subject=Build%20farm%3A%20Dashing)](https://build.ros2.org/job/Ddev__system_modes__ubuntu_bionic_amd64/)
+[![Build status](http://build.ros2.org/job/Edev__system_modes__ubuntu_bionic_amd64/badge/icon?subject=Build%20farm%3A%20Eloquent)](http://build.ros2.org/job/Edev__system_modes__ubuntu_bionic_amd64/)
+[![Build status](http://build.ros2.org/job/Fdev__system_modes__ubuntu_focal_amd64/badge/icon?subject=Build%20farm%3A%20Foxy)](http://build.ros2.org/job/Fdev__system_modes__ubuntu_focal_amd64/)
+[![Build status](http://build.ros2.org/job/Rdev__system_modes__ubuntu_focal_amd64/badge/icon?subject=Build%20farm%3A%20Rolling)](http://build.ros2.org/job/Rdev__system_modes__ubuntu_focal_amd64/)
+[![Build status](https://github.com/micro-ROS/system_modes/workflows/Build%20action%3A%20Foxy%20%2B%20Rolling/badge.svg)](https://github.com/micro-ROS/system_modes/actions)
+[![Code coverage](https://codecov.io/gh/micro-ROS/system_modes/branch/master/graph/badge.svg)](https://codecov.io/gh/micro-ROS/system_modes)
+
 This repository explores a system modes concept that is implemented for ROS 2 in two packages:
 * [system_modes](./system_modes/) provides a library for system mode inference, a mode manager, and a mode monitor
 * [system_modes_examples](./system_modes_examples/) implements a simple example
@@ -32,6 +40,12 @@ ROS 2 System Modes are open-sourced under the Apache-2.0 license. See the
 For a list of other open-source components included in ROS 2 system_modes,
 see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 
+## Quality assurance
+
+The colcon_test tool is used for quality assurances, which includes cpplint, uncrustify, flake8, xmllint and various other tools.
+
+Unit tests based on [gtest](https://github.com/google/googletest) are located in the [./system_modes/test](system_modes/test) folder.
+
 ## Known Issues/Limitations
 
 Please notice the following issues/limitations:
diff --git a/system_modes/CMakeLists.txt b/system_modes/CMakeLists.txt
@@ -61,7 +61,7 @@ include_directories(../../build/system_modes/rosidl_generator_cpp/)
 link_directories(../../build/system_modes/)
 target_link_libraries(mode system_modes__rosidl_typesupport_cpp)
 
-  # Causes the visibility macros to use dllexport rather than dllimport,
+# Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(mode PRIVATE "SYSTEMMODES_BUILDING_LIBRARY")
 
@@ -106,9 +106,6 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   # remove the line when a copyright and license is present in all source files
   set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # remove the line when this package is a git repo
-  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 
   set(MODE_FILE_CORRECT ${CMAKE_CURRENT_SOURCE_DIR}/test/test_modes.yaml)
diff --git a/system_modes/changelog.rst b/system_modes/changelog.rst
@@ -2,6 +2,11 @@
 Changelog for package system_modes_examples
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.2 (2020-12-17)
+-----------
+* Error handling and rules feature no longer experimental
+* Fixed bugs in monitor and tests
+
 0.4.1 (2020-10-29)
 -----------
 * Include experimental error handling and rules feature
diff --git a/system_modes/include/system_modes/mode.hpp b/system_modes/include/system_modes/mode.hpp
@@ -16,6 +16,7 @@
 
 #include "system_modes/mode_impl.hpp"
 
+#include <rclcpp/macros.hpp>
 #include <rclcpp/node_interfaces/node_parameters.hpp>
 #include <rclcpp/parameter_map.hpp>
 
@@ -46,6 +47,7 @@ class ModeBase
 public:
   explicit ModeBase(const std::string & mode_name);
   virtual ~ModeBase() = default;
+  // cppcheck-suppress unknownMacro
   RCLCPP_DISABLE_COPY(ModeBase)
 
   std::string get_name() const;
@@ -74,6 +76,7 @@ class DefaultMode : public ModeBase
 public:
   DefaultMode();
   explicit DefaultMode(const std::string & mode_name) = delete;
+  // cppcheck-suppress unknownMacro
   RCLCPP_DISABLE_COPY(DefaultMode)
 
   virtual void set_parameter(const rclcpp::Parameter & parameter);
@@ -89,6 +92,7 @@ class Mode : public ModeBase
 public:
   explicit Mode(const std::string & mode_name) = delete;
   Mode(const std::string & mode_name, const DefaultModePtr default_mode);
+  // cppcheck-suppress unknownMacro
   RCLCPP_DISABLE_COPY(Mode)
 
   virtual ~Mode() = default;
diff --git a/system_modes/include/system_modes/mode_handling.hpp b/system_modes/include/system_modes/mode_handling.hpp
@@ -51,6 +51,7 @@ class ModeHandling
 {
 public:
   explicit ModeHandling(const std::string & model_path);
+  // cppcheck-suppress unknownMacro
   RCLCPP_DISABLE_COPY(ModeHandling)
 
   virtual ~ModeHandling() = default;
diff --git a/system_modes/include/system_modes/mode_inference.hpp b/system_modes/include/system_modes/mode_inference.hpp
@@ -40,6 +40,7 @@ class ModeInference
 {
 public:
   explicit ModeInference(const std::string & model_path);
+  // cppcheck-suppress unknownMacro
   RCLCPP_DISABLE_COPY(ModeInference)
 
   virtual const std::vector<std::string> get_all_parts() const;
diff --git a/system_modes/package.xml b/system_modes/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>system_modes</name>
-  <version>0.4.1</version>
+  <version>0.4.2</version>
   <description>
     The system modes concept assumes that a robotics system is built
     from components with a lifecycle. It adds a notion of (sub-)systems,
diff --git a/system_modes/src/system_modes/mode_inference.cpp b/system_modes/src/system_modes/mode_inference.cpp
@@ -56,7 +56,11 @@ void
 ModeInference::update(const string & node, const StateAndMode & sm)
 {
   this->update_state(node, sm.state);
-  this->update_mode(node, sm.mode);
+  if (sm.state == State::PRIMARY_STATE_ACTIVE) {
+    this->update_mode(node, sm.mode);
+  } else {
+    this->update_mode(node, "");
+  }
 }
 
 void
@@ -162,7 +166,14 @@ ModeInference::get(const string & part) const
     throw std::runtime_error("No solid information about state and mode of '" + part + "'.");
   }
 
-  return this->nodes_.at(part);
+  auto sam = this->nodes_.at(part);
+  if (sam.state != State::PRIMARY_STATE_ACTIVE &&
+    sam.state != State::TRANSITION_STATE_ACTIVATING)
+  {
+    sam.mode = "";
+  }
+
+  return sam;
 }
 
 StateAndMode
@@ -422,7 +433,7 @@ ModeInference::get_or_infer(const string & part)
       return stateAndMode;
     }
   } catch (...) {
-    // not a node, so try inference
+    // so try inference
   }
 
   try {
@@ -441,6 +452,9 @@ ModeInference::get_or_infer(const string & part)
   if (stateAndMode.state == 0 && stateAndMode.mode.empty()) {
     throw std::runtime_error("Not able to infer anything for part " + part);
   }
+  if (stateAndMode.state != State::PRIMARY_STATE_ACTIVE) {
+    stateAndMode.mode = "";
+  }
 
   return stateAndMode;
 }
@@ -555,9 +569,13 @@ ModeInference::read_modes_from_model(const string & model_path)
 
       } else {
         if (param.value_to_string().compare("node") != 0) {
-          this->systems_.emplace(part_name, StateAndMode(0, ""));
+          this->systems_.emplace(
+            part_name,
+            StateAndMode(State::PRIMARY_STATE_UNKNOWN, ""));
         } else {
-          this->nodes_.emplace(part_name, StateAndMode(0, ""));
+          this->nodes_.emplace(
+            part_name,
+            StateAndMode(State::PRIMARY_STATE_UNKNOWN, ""));
         }
       }
     }
diff --git a/system_modes/src/system_modes/mode_monitor.cpp b/system_modes/src/system_modes/mode_monitor.cpp
@@ -204,9 +204,11 @@ ModeMonitor::refresh() const
 
     // state/mode inference
     try {
-      auto stateAndMode = mode_inference_->infer(node);
-      state_infer = stateAndMode.state;
-      mode_infer = stateAndMode.mode;
+      if (state_actual == State::PRIMARY_STATE_ACTIVE) {
+        auto stateAndMode = mode_inference_->infer(node);
+        state_infer = stateAndMode.state;
+        mode_infer = stateAndMode.mode;
+      }
     } catch (std::out_of_range & ex) {
       RCLCPP_DEBUG(
         get_logger(),
diff --git a/system_modes_examples/changelog.rst b/system_modes_examples/changelog.rst
@@ -2,6 +2,11 @@
 Changelog for package system_modes_examples
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.2 (2020-12-17)
+-----------
+* Error handling and rules feature no longer experimental
+* Fixed bugs in monitor and tests
+
 0.4.1 (2020-10-29)
 -----------
 * Include experimental error handling and rules feature
diff --git a/system_modes_examples/package.xml b/system_modes_examples/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>system_modes_examples</name>
-  <version>0.4.1</version>
+  <version>0.4.2</version>
   <description>
     Simple example system and according launch files for the system_modes
     package.

Original file line number	Diff line number	Diff line change
`@@ -51,6 +51,7 @@ class ModeHandling`
`51`	`51`	`{`
`52`	`52`	`public:`
`53`	`53`	`explicit ModeHandling(const std::string & model_path);`
	`54`	`+ // cppcheck-suppress unknownMacro`
`54`	`55`	`RCLCPP_DISABLE_COPY(ModeHandling)`
`55`	`56`
`56`	`57`	`virtual ~ModeHandling() = default;`
Original file line number	Diff line number	Diff line change
`@@ -40,6 +40,7 @@ class ModeInference`
`40`	`40`	`{`
`41`	`41`	`public:`
`42`	`42`	`explicit ModeInference(const std::string & model_path);`
	`43`	`+ // cppcheck-suppress unknownMacro`
`43`	`44`	`RCLCPP_DISABLE_COPY(ModeInference)`
`44`	`45`
`45`	`46`	`virtual const std::vector<std::string> get_all_parts() const;`