NET Generate ROS Info Update

src/network_systems/.gitignore

@@ -1,5 +1,6 @@
 # autogenerated files
 /lib/cmn_hdrs/ros_info.h
+/launch/ros_info.py
 *.pyc
 
 # PlantUML diagram export directory

src/network_systems/launch/main_launch.py

@@ -1,6 +1,7 @@
 """Launch file that runs all nodes for the network systems ROS package."""
 
 import os
+import sys
 from importlib.util import module_from_spec, spec_from_file_location
 from typing import List, Tuple
 
@@ -12,6 +13,16 @@
 from launch.some_substitutions_type import SomeSubstitutionsType
 from launch.substitutions import LaunchConfiguration
 
+# Deal with Python import paths
+SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(SCRIPT_DIR)
+from ros_info import (  # noqa: E402
+    CACHED_FIB_NODE,
+    CAN_TRANSCEIVER_NODE,
+    MOCK_AIS_NODE,
+    REMOTE_TRANSCEIVER_NODE,
+)
+
 # Local launch arguments and constants
 PACKAGE_NAME = "network_systems"
 NAMESPACE = ""
@@ -87,7 +98,7 @@ def get_cached_fib_description(context: LaunchContext) -> Node:
     Returns:
         Node: The node object that launches the cached_fib_node.
     """
-    node_name = "cached_fib_node"
+    node_name = CACHED_FIB_NODE
     ros_parameters = [
         global_launch_config,
         {"mode": LaunchConfiguration("mode")},
@@ -119,7 +130,7 @@ def get_mock_ais_description(context: LaunchContext) -> Node:
     Returns:
         Node: The node object that launches the mock_ais_node.
     """
-    node_name = "mock_ais_node"
+    node_name = MOCK_AIS_NODE
     ros_parameters = [
         global_launch_config,
         {"mode": LaunchConfiguration("mode")},
@@ -151,7 +162,7 @@ def get_can_transceiver_description(context: LaunchContext) -> Node:
     Returns:
         Node: The node object that launches the can_transceiver_node.
     """
-    node_name = "can_transceiver_node"
+    node_name = CAN_TRANSCEIVER_NODE
     ros_parameters = [
         global_launch_config,
         {"mode": LaunchConfiguration("mode")},
@@ -183,7 +194,7 @@ def get_remote_transceiver_description(context: LaunchContext) -> Node:
     Returns:
         Node: The node object that launches the remote_transceiver_node.
     """
-    node_name = "remote_transceiver_node"
+    node_name = REMOTE_TRANSCEIVER_NODE
     ros_parameters = [
         global_launch_config,
         {"mode": LaunchConfiguration("mode")},

src/network_systems/lib/cmn_hdrs/CMakeLists.txt

@@ -1,8 +1,7 @@
 # Generate ROS info header file
-set(ROS_INFO_FILE ${CMAKE_SOURCE_DIR}/ros_info.txt)
 add_custom_command(
     OUTPUT ${CMAKE_SOURCE_DIR}/lib/cmn_hdrs/ros_info.h
-    COMMAND ${CMAKE_SOURCE_DIR}/scripts/autogen_ros_topics.sh ${ROS_INFO_FILE}
+    COMMAND python3 ${CMAKE_SOURCE_DIR}/scripts/gen_ros_info.py
     DEPENDS ${CMAKE_SOURCE_DIR} ${ROS_INFO_FILE}
 )
 add_custom_target(ros_info_h DEPENDS ${CMAKE_CURRENT_LIST_DIR}/ros_info.h)

src/network_systems/projects/can_transceiver/src/can_transceiver_ros_intf.cpp

@@ -27,7 +27,7 @@ using CAN_FP::CanId;
 class CanTransceiverIntf : public NetNode
 {
 public:
-    CanTransceiverIntf() : NetNode("can_transceiver_node")
+    CanTransceiverIntf() : NetNode(ros_nodes::CAN_TRANSCEIVER)
     {
         this->declare_parameter("enabled", true);
 
@@ -62,8 +62,8 @@ class CanTransceiverIntf : public NetNode
                 throw std::runtime_error(msg);
             }
 
-            ais_pub_       = this->create_publisher<msg::AISShips>(AIS_SHIPS_TOPIC, QUEUE_SIZE);
-            batteries_pub_ = this->create_publisher<msg::Batteries>(BATTERIES_TOPIC, QUEUE_SIZE);
+            ais_pub_       = this->create_publisher<msg::AISShips>(ros_topics::AIS_SHIPS, QUEUE_SIZE);
+            batteries_pub_ = this->create_publisher<msg::Batteries>(ros_topics::BATTERIES, QUEUE_SIZE);
 
             can_trns_->registerCanCbs({
               std::make_pair(
@@ -77,10 +77,10 @@ class CanTransceiverIntf : public NetNode
 
             if (mode == SYSTEM_MODE::DEV) {  // Initialize the CAN Sim Intf
                 mock_ais_sub_ = this->create_subscription<msg::AISShips>(
-                  MOCK_AIS_SHIPS_TOPIC, QUEUE_SIZE,
+                  ros_topics::MOCK_AIS_SHIPS, QUEUE_SIZE,
                   [this](msg::AISShips mock_ais_ships) { subMockAISCb(mock_ais_ships); });
                 mock_gps_sub_ = this->create_subscription<msg::GPS>(
-                  MOCK_GPS_TOPIC, QUEUE_SIZE, [this](msg::GPS mock_gps) { subMockGpsCb(mock_gps); });
+                  ros_topics::MOCK_GPS, QUEUE_SIZE, [this](msg::GPS mock_gps) { subMockGpsCb(mock_gps); });
 
                 // TODO(lross03): register a callback for CanSimToBoatSim
 

src/network_systems/projects/example/src/cached_fib_ros_intf.cpp

@@ -1,5 +1,6 @@
 // Include this module
 #include "cached_fib.h"
+#include "cmn_hdrs/ros_info.h"
 #include "net_node.h"
 // Include ROS headers
 #include <rclcpp/rclcpp.hpp>
@@ -14,7 +15,7 @@ constexpr int INIT_FIB_SIZE = 5;
 class CachedFibNode : public NetNode
 {
 public:
-    explicit CachedFibNode(const std::size_t initSize) : NetNode("cached_fib_node"), c_fib_(initSize)
+    explicit CachedFibNode(const std::size_t initSize) : NetNode(ros_nodes::CACHED_FIB), c_fib_(initSize)
     {
         this->declare_parameter("enabled", false);
         bool enabled = this->get_parameter("enabled").as_bool();

src/network_systems/projects/local_transceiver/src/local_transceiver_ros_intf.cpp

@@ -25,28 +25,30 @@ class LocalTransceiverIntf : public NetNode
      * @param lcl_trns Local Transceiver instance
      */
     explicit LocalTransceiverIntf(std::shared_ptr<LocalTransceiver> lcl_trns)
-    : NetNode("local_transceiver_node"), lcl_trns_(lcl_trns)
+    : NetNode(ros_nodes::LOCAL_TRANSCEIVER), lcl_trns_(lcl_trns)
     {
         static constexpr int  ROS_Q_SIZE     = 5;
         static constexpr auto TIMER_INTERVAL = std::chrono::milliseconds(500);
         timer_ = this->create_wall_timer(TIMER_INTERVAL, std::bind(&LocalTransceiverIntf::pub_cb, this));
-        pub_   = this->create_publisher<custom_interfaces::msg::Path>(GLOBAL_PATH_TOPIC, ROS_Q_SIZE);
+        pub_   = this->create_publisher<custom_interfaces::msg::Path>(ros_topics::GLOBAL_PATH, ROS_Q_SIZE);
 
         // subscriber nodes
         sub_wind_sensor = this->create_subscription<custom_interfaces::msg::WindSensors>(
-          WIND_SENSORS_TOPIC, ROS_Q_SIZE,
+          ros_topics::WIND_SENSORS, ROS_Q_SIZE,
           std::bind(&LocalTransceiverIntf::sub_wind_sensor_cb, this, std::placeholders::_1));
         sub_batteries = this->create_subscription<custom_interfaces::msg::Batteries>(
-          BATTERIES_TOPIC, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_batteries_cb, this, std::placeholders::_1));
+          ros_topics::BATTERIES, ROS_Q_SIZE,
+          std::bind(&LocalTransceiverIntf::sub_batteries_cb, this, std::placeholders::_1));
         sub_data_sensors = this->create_subscription<custom_interfaces::msg::GenericSensors>(
-          DATA_SENSORS_TOPIC, ROS_Q_SIZE,
+          ros_topics::DATA_SENSORS, ROS_Q_SIZE,
           std::bind(&LocalTransceiverIntf::sub_data_sensors_cb, this, std::placeholders::_1));
         sub_ais_ships = this->create_subscription<custom_interfaces::msg::AISShips>(
-          AIS_SHIPS_TOPIC, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_ais_ships_cb, this, std::placeholders::_1));
+          ros_topics::AIS_SHIPS, ROS_Q_SIZE,
+          std::bind(&LocalTransceiverIntf::sub_ais_ships_cb, this, std::placeholders::_1));
         sub_gps = this->create_subscription<custom_interfaces::msg::GPS>(
-          GPS_TOPIC, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_gps_cb, this, std::placeholders::_1));
+          ros_topics::GPS, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_gps_cb, this, std::placeholders::_1));
         sub_local_path_data = this->create_subscription<custom_interfaces::msg::LPathData>(
-          LOCAL_PATH_DATA_TOPIC, ROS_Q_SIZE,
+          ros_topics::LOCAL_PATH, ROS_Q_SIZE,
           std::bind(&LocalTransceiverIntf::sub_local_path_data_cb, this, std::placeholders::_1));
     }
 

src/network_systems/projects/mock_ais/src/mock_ais_ros_intf.cpp

@@ -20,7 +20,7 @@
 class MockAisRosIntf : public NetNode
 {
 public:
-    MockAisRosIntf() : NetNode("mock_ais_node")
+    MockAisRosIntf() : NetNode(ros_nodes::MOCK_AIS)
     {
         static constexpr int ROS_Q_SIZE = 5;
         this->declare_parameter("enabled", false);
@@ -57,15 +57,15 @@ class MockAisRosIntf : public NetNode
             // TODO(): Add ROS parameters so that we can use the MockAis constructor that takes SimShipConfig
             // Optionally use nested parameters: https://answers.ros.org/question/325939/declare-nested-parameter/
             mock_ais_                     = std::make_unique<MockAis>(seed, num_sim_ships, polaris_start_pos);
-            std::string polaris_gps_topic = mode == SYSTEM_MODE::DEV ? MOCK_GPS_TOPIC : GPS_TOPIC;
+            std::string polaris_gps_topic = mode == SYSTEM_MODE::DEV ? ros_topics::MOCK_GPS : ros_topics::GPS;
 
             // The subscriber callback is very simple so it's just the following lambda function
             sub_ = this->create_subscription<custom_interfaces::msg::GPS>(
               polaris_gps_topic, ROS_Q_SIZE, [&mock_ais_ = mock_ais_](custom_interfaces::msg::GPS mock_gps) {
                   mock_ais_->updatePolarisPos({mock_gps.lat_lon.latitude, mock_gps.lat_lon.longitude});
               });
 
-            pub_   = this->create_publisher<custom_interfaces::msg::AISShips>(MOCK_AIS_SHIPS_TOPIC, ROS_Q_SIZE);
+            pub_   = this->create_publisher<custom_interfaces::msg::AISShips>(ros_topics::MOCK_AIS_SHIPS, ROS_Q_SIZE);
             timer_ = this->create_wall_timer(
               std::chrono::milliseconds(publish_rate_ms), std::bind(&MockAisRosIntf::pubShipsCB, this));
         } else {

src/network_systems/projects/remote_transceiver/src/remote_transceiver_ros_intf.cpp

@@ -6,6 +6,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <stdexcept>
 
+#include "cmn_hdrs/ros_info.h"
 #include "cmn_hdrs/shared_constants.h"
 #include "net_node.h"
 #include "remote_transceiver.h"
@@ -18,7 +19,7 @@
 class RemoteTransceiverRosIntf : public NetNode
 {
 public:
-    RemoteTransceiverRosIntf() : NetNode("remote_transceiver_node")
+    RemoteTransceiverRosIntf() : NetNode(ros_nodes::REMOTE_TRANSCEIVER)
     {
         this->declare_parameter("enabled", true);
         enabled_ = this->get_parameter("enabled").as_bool();

src/network_systems/ros_info.yaml

@@ -0,0 +1,20 @@
+ros_topics:
+  AIS_SHIPS: ais_ships
+  BATTERIES: batteries
+  DESIRED_HEADING: desired_heading
+  DATA_SENSORS: data_sensors
+  FILTERED_WIND_SENSOR: filtered_wind_sensor
+  GLOBAL_PATH: global_path
+  GPS: gps
+  LOCAL_PATH: local_path_data
+  MOCK_AIS_SHIPS: mock_ais_ships
+  MOCK_GPS: mock_gps
+  MOCK_WIND_SENSORS: mock_wind_sensor
+  WIND_SENSORS: wind_sensors
+
+ros_nodes:
+  CAN_TRANSCEIVER: can_transceiver_node
+  CACHED_FIB: cached_fib_node
+  LOCAL_TRANSCEIVER: local_transceiver_node
+  MOCK_AIS: mock_ais_node
+  REMOTE_TRANSCEIVER: remote_transceiver_node

src/network_systems/scripts/README.md

@@ -1,12 +1,12 @@
 # Scripts
 
-## Autogen ROS Topics
+## Generate ROS Info
 
 ```shell
-./autogen_ros_topics.sh <input text file>
+python3 gen_ros_info.py
 ```
 
-Given an input text file where each line is the name of a ROS topic, generates a C++ header file matching those names.
+Takes [ros_info.yaml](../ros_info.yaml) and generates a C++ header file and Python file with constants defined within.
 
 ## Sailbot DB
 

src/network_systems/scripts/gen_ros_info.py

@@ -0,0 +1,63 @@
+import os
+
+import yaml
+
+NET_DIR = os.path.join(
+    os.getenv("ROS_WORKSPACE", default="/workspaces/sailbot_workspace"), "src/network_systems"
+)
+ROS_INFO_FILE = os.path.join(NET_DIR, "ros_info.yaml")
+
+GEN_HDR_FILE = os.path.join(NET_DIR, "lib/cmn_hdrs/ros_info.h")
+GEN_FILE_WARN = f"FILE GENERATED BY {__file__} using {ROS_INFO_FILE} - DO NOT EDIT"
+
+GEN_HDR_PREAMBLE = f"""
+// {GEN_FILE_WARN}
+#pragma once
+"""
+GEN_HDR_FILE_TOPICS_START = """
+namespace ros_topics
+{
+"""
+GEN_HDR_FILE_TOPICS_END = "}; // namespace ros_topics\n"
+GEN_HDR_FILE_NODES_START = """
+namespace ros_nodes
+{
+"""
+GEN_HDR_FILE_NODES_END = "}; // namespace ros_nodes\n"
+
+GEN_PYTHON_FILE = os.path.join(NET_DIR, "launch/ros_info.py")
+GEN_PYTHON_PREAMBLE = f"# {GEN_FILE_WARN}\n"
+
+
+def populate_hdr(hdr_file_obj, info_target):
+    for k, v in info_target.items():
+        hdr_file_obj.write(f'static constexpr auto {k} = "{v}";\n')
+
+
+def populate_py_nodes(py_file_obj, info_target):
+    for k, v in info_target.items():
+        py_file_obj.write(f'{k}_NODE = "{v}"\n')
+
+
+def main():
+    with open(ROS_INFO_FILE, "r") as f:
+        info = yaml.safe_load(f)
+
+        with open(GEN_HDR_FILE, "w+") as out_hdr:
+            out_hdr.write(GEN_HDR_PREAMBLE)
+
+            out_hdr.write(GEN_HDR_FILE_TOPICS_START)
+            populate_hdr(out_hdr, info["ros_topics"])
+            out_hdr.write(GEN_HDR_FILE_TOPICS_END)
+
+            out_hdr.write(GEN_HDR_FILE_NODES_START)
+            populate_hdr(out_hdr, info["ros_nodes"])
+            out_hdr.write(GEN_HDR_FILE_NODES_END)
+
+        with open(GEN_PYTHON_FILE, "w+") as out_py:
+            out_py.write(GEN_PYTHON_PREAMBLE)
+            populate_py_nodes(out_py, info["ros_nodes"])
+
+
+if __name__ == "__main__":
+    main()