Merge pull request #41 from micro-ROS/dev

Merges current dev to master

Author: norro

.github/workflows/lint.yaml

@@ -0,0 +1,45 @@
+name: Lint system modes
+on:
+  pull_request:
+
+jobs:
+  ament_xmllint:
+    name: ament_xmllint
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@0.0.25
+    - uses: ros-tooling/action-ros2-lint@0.0.6
+      with:
+        linter: xmllint
+        package-name: system_modes system_modes_examples
+
+  ament_lint_cpp:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, cpplint, uncrustify]
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@0.0.25
+    - uses: ros-tooling/action-ros2-lint@0.0.6
+      with:
+        linter: ${{ matrix.linter }}
+        package-name: system_modes system_modes_examples
+
+  ament_lint_py:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [flake8, pep257]
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@0.0.25
+    - uses: ros-tooling/action-ros2-lint@0.0.6
+      with:
+        linter: ${{ matrix.linter }}
+        package-name: system_modes system_modes_examples

.github/workflows/test.yaml

@@ -0,0 +1,22 @@
+name: Test system modes
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  build_and_test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-18.04]
+    steps:
+      - uses: ros-tooling/setup-ros@0.0.25
+      - uses: ros-tooling/action-ros-ci@0.0.15
+        with:
+          package-name: system_modes system_modes_examples
+          target-ros2-distro: foxy
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

system_modes/CMakeLists.txt

@@ -25,7 +25,6 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
-find_package(Boost 1.58 COMPONENTS program_options REQUIRED)
 
 # generate service
 rosidl_generate_interfaces(${PROJECT_NAME}
@@ -52,8 +51,6 @@ ament_target_dependencies(mode
   "lifecycle_msgs"
   "rosidl_typesupport_cpp"
   "std_msgs"
-  "Boost"
-  "Boost_PROGRAM_OPTIONS"
   "builtin_interfaces"
 )
 #rosidl_target_interfaces(mode

system_modes/changelog.rst

@@ -2,7 +2,13 @@
 Changelog for package system_modes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.3 (2020-02-13)
+0.3.0 (2020-07-23)
+-----------
+* removed boost dependencies (was: program options)
+* changed mode service specifications (less redundancy)
+* https://github.com/micro-ROS/system_modes/issues/24
+
+0.2.3 (2020-07-23)
 -----------
 * improved StateAndMode struct
 * testing

system_modes/include/system_modes/mode_manager.hpp

@@ -40,7 +40,7 @@ namespace system_modes
 class ModeManager : public rclcpp::Node
 {
 public:
-  explicit ModeManager(const std::string & model_path);
+  ModeManager();
   ModeManager(const ModeManager &) = delete;
 
   std::shared_ptr<ModeInference> inference();
@@ -65,26 +65,30 @@ class ModeManager : public rclcpp::Node
 
   // Mode service callbacks
   virtual void on_change_mode(
-    const std::shared_ptr<rmw_request_id_t>,
+    const std::string &,
     const std::shared_ptr<system_modes::srv::ChangeMode::Request>,
     std::shared_ptr<system_modes::srv::ChangeMode::Response>);
   virtual void on_get_mode(
-    const std::shared_ptr<rmw_request_id_t>,
-    const std::shared_ptr<system_modes::srv::GetMode::Request>,
+    const std::string &,
     std::shared_ptr<system_modes::srv::GetMode::Response>);
   virtual void on_get_available_modes(
-    const std::shared_ptr<rmw_request_id_t>,
-    const std::shared_ptr<system_modes::srv::GetAvailableModes::Request>,
+    const std::string &,
     std::shared_ptr<system_modes::srv::GetAvailableModes::Response>);
 
   virtual bool change_state(
-    const std::string & node,
+    const std::string &,
     unsigned int,
     bool transitive = true);
-  virtual bool change_mode(const std::string & node, const std::string & mode);
+  virtual bool change_mode(
+    const std::string &,
+    const std::string &);
 
-  virtual void change_part_state(const std::string & node, unsigned int);
-  virtual void change_part_mode(const std::string & node, const std::string & mode);
+  virtual void change_part_state(
+    const std::string &,
+    unsigned int);
+  virtual void change_part_mode(
+    const std::string &,
+    const std::string &);
 
 private:
   std::shared_ptr<ModeInference> mode_inference_;

system_modes/include/system_modes/mode_monitor.hpp

@@ -37,7 +37,7 @@ namespace system_modes
 class ModeMonitor : public rclcpp::Node
 {
 public:
-  ModeMonitor(const std::string & model_path, unsigned int rate, bool verbose, bool clear);
+  ModeMonitor();
   ModeMonitor(const ModeMonitor &) = delete;
 
   std::shared_ptr<ModeInference> inference();

system_modes/launch/mode_manager.launch.py

@@ -21,15 +21,12 @@
 
 
 def generate_launch_description():
-    launch.actions.DeclareLaunchArgument('modelfile', description='Path to modelfile')
-
-    node = launch_ros.actions.Node(
-        package='system_modes',
-        node_executable='mode_manager',
-        parameters=[{'modelfile': launch.substitutions.LaunchConfiguration('modelfile')}],
-        output='screen')
-
-    description = launch.LaunchDescription()
-    description.add_action(node)
-
-    return description
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            'modelfile',
+            description='Path to modelfile'),
+        launch_ros.actions.Node(
+            package='system_modes',
+            executable='mode_manager',
+            parameters=[{'modelfile': launch.substitutions.LaunchConfiguration('modelfile')}],
+            output='screen')])

system_modes/launch/mode_monitor.launch.py

@@ -15,21 +15,34 @@
 
 import launch
 import launch.actions
-import launch.substitutions
 
 import launch_ros.actions
 
 
 def generate_launch_description():
-    launch.actions.DeclareLaunchArgument('modelfile', description='Path to modelfile')
-
-    node = launch_ros.actions.Node(
-        package='system_modes',
-        node_executable='mode_monitor',
-        parameters=[{'modelfile': launch.substitutions.LaunchConfiguration('modelfile')}],
-        output='screen')
-
-    description = launch.LaunchDescription()
-    description.add_action(node)
-
-    return description
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            'modelfile',
+            description='Path to modelfile'),
+        launch.actions.DeclareLaunchArgument(
+            'debug',
+            default_value='false',
+            description='Debug'),
+        launch.actions.DeclareLaunchArgument(
+            'verbose',
+            default_value='false',
+            description='Print mode parametrization'),
+        launch.actions.DeclareLaunchArgument(
+            'rate',
+            default_value='1000',
+            description='Monitor refresh rate in ms'),
+        launch_ros.actions.Node(
+            package='system_modes',
+            executable='mode_monitor',
+            parameters=[{
+                'modelfile': launch.substitutions.LaunchConfiguration('modelfile'),
+                'debug': launch.substitutions.LaunchConfiguration('debug'),
+                'verbose': launch.substitutions.LaunchConfiguration('verbose'),
+                'rate': launch.substitutions.LaunchConfiguration('rate')
+                }],
+            output='screen')])

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>0.2.3</version>
+  <version>0.3.0</version>
   <description>Model-based distributed configuration handling.</description>
   <maintainer email="arne.nordmann@bosch.com">Arne Nordmann</maintainer>
   <license>Apache License 2.0</license>
@@ -14,7 +14,6 @@
   <depend>std_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>rosidl_default_generators</depend>
-  <depend>libboost-program-options-dev</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>

system_modes/src/mode_manager_node.cpp

@@ -18,8 +18,6 @@
 #include <lifecycle_msgs/msg/state.hpp>
 #include <lifecycle_msgs/msg/transition_event.hpp>
 
-#include <boost/program_options.hpp>
-
 #include <chrono>
 #include <memory>
 #include <string>
@@ -46,47 +44,12 @@ using system_modes::msg::ModeEvent;
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::TransitionEvent;
 
-using boost::program_options::value;
-using boost::program_options::variables_map;
-using boost::program_options::command_line_parser;
-using boost::program_options::options_description;
-using boost::program_options::positional_options_description;
-
 using rcl_interfaces::msg::ParameterType;
 using rcl_interfaces::msg::ParameterEvent;
 
 string modelfile, loglevel;
-options_description options("Allowed options");
-
 shared_ptr<ModeManager> manager;
 
-bool parseOptions(int argc, char * argv[])
-{
-  options.add_options()("help", "Help message and options")(
-    "modelfile", value<string>(&modelfile),
-    "Path to yaml model file")(
-    "__log_level", value<string>(&loglevel),
-    "ROS2 log level")(
-    "ros-args", value<vector<string>>()->multitoken(), "ROS args")(
-    "params-file", value<vector<string>>()->multitoken(), "ROS params file");
-
-  positional_options_description positional_options;
-  positional_options.add("modelfile", 1);
-
-  variables_map map;
-  store(
-    command_line_parser(argc, argv)
-    .options(options)
-    .positional(positional_options)
-    .run(), map);
-  notify(map);
-
-  if (map.count("help")) {
-    return true;
-  }
-  return false;
-}
-
 void transition_callback(
   const TransitionEvent::SharedPtr msg,
   const string & node_name)
@@ -147,26 +110,10 @@ int main(int argc, char * argv[])
 {
   using namespace std::placeholders;
 
-  // Handle commandline arguments.
-  try {
-    if (parseOptions(argc, argv)) {
-      cout << "Usage: mode_manager MODELFILE" << std::endl;
-      cout << options;
-      cout << "Or specify the MODELFILE by ROS parameter 'modelfile'." << std::endl << std::endl;
-      return EXIT_SUCCESS;
-    }
-  } catch (const std::exception & e) {
-    cerr << "Error parsing command line: " << e.what() << std::endl;
-    cout << "Usage: mode_manager [MODELFILE]" << std::endl;
-    cout << options;
-    cout << "Or specify the MODELFILE by ROS parameter 'modelfile'." << std::endl << std::endl;
-    return EXIT_FAILURE;
-  }
-
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
   rclcpp::init(argc, argv);
 
-  manager = std::make_shared<ModeManager>(modelfile);
+  manager = std::make_shared<ModeManager>();
 
   vector<shared_ptr<rclcpp::Subscription<TransitionEvent>>>
   state_sub_;