Merge pull request #232 from husarion/ros2-manager-plugins

ROS 2 manager plugins

panther/panther_hardware.repos

@@ -11,3 +11,7 @@ repositories:
     type: git
     url: https://github.com/husarion/husarion_controllers
     version: main
+  behaviortree_ros2:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.ROS2
+    version: ce923e19c12d28f4734a41b1442c123f2d4a41d2

panther_lights/test/test_image_animation.cpp

@@ -70,7 +70,7 @@ class TestImageAnimation : public testing::Test
   ~TestImageAnimation();
 
 protected:
-  std::string test_image_path = "/tmp/test_image.png";
+  std::string test_image_path = testing::TempDir() + "/test_image.png";
   std::unique_ptr<ImageAnimationWrapper> animation_;
 };
 

panther_manager/CMakeLists.txt

@@ -0,0 +1,130 @@
+cmake_minimum_required(VERSION 3.8)
+project(panther_manager)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(PACKAGE_INCLUDE_DEPENDS
+    ament_cmake
+    rclcpp
+    rclcpp_action
+    ament_index_cpp
+    behaviortree_cpp
+    std_srvs
+    panther_msgs
+    libssh
+    yaml-cpp
+    behaviortree_ros2
+    panther_utils)
+
+foreach(Dependency IN ITEMS ${PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+include_directories(include)
+
+add_library(call_set_bool_service_node SHARED
+            plugins/action/call_set_bool_service_node.cpp)
+list(APPEND plugin_libs call_set_bool_service_node)
+
+add_library(call_trigger_service_node SHARED
+            plugins/action/call_trigger_service_node.cpp)
+list(APPEND plugin_libs call_trigger_service_node)
+
+add_library(call_set_led_animation_service_node SHARED
+            plugins/action/call_set_led_animation_service_node.cpp)
+list(APPEND plugin_libs call_set_led_animation_service_node)
+
+add_library(signal_shutdown_node SHARED plugins/action/signal_shutdown_node.cpp)
+list(APPEND plugin_libs signal_shutdown_node)
+
+add_library(shutdown_single_host_node SHARED
+            plugins/action/shutdown_single_host_node.cpp)
+target_link_libraries(shutdown_single_host_node ssh)
+list(APPEND plugin_libs shutdown_single_host_node)
+
+add_library(shutdown_hosts_from_file_node SHARED
+            plugins/action/shutdown_hosts_from_file_node.cpp)
+target_link_libraries(shutdown_hosts_from_file_node ssh yaml-cpp)
+list(APPEND plugin_libs shutdown_hosts_from_file_node)
+
+add_library(tick_after_timeout_node SHARED
+            plugins/decorator/tick_after_timeout_node.cpp)
+list(APPEND plugin_libs tick_after_timeout_node)
+
+foreach(bt_node ${plugin_libs})
+  target_compile_definitions(${bt_node} PRIVATE BT_PLUGIN_EXPORT)
+  ament_target_dependencies(${bt_node} ${PACKAGE_INCLUDE_DEPENDS})
+endforeach()
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+
+  add_library(${PROJECT_NAME}_test_plugin_utils
+              test/plugins/src/plugin_test_utils.cpp)
+  target_include_directories(${PROJECT_NAME}_test_plugin_utils
+                             PUBLIC test/plugins/include)
+
+  target_link_libraries(
+    ${PROJECT_NAME}_test_plugin_utils
+    call_set_bool_service_node
+    call_trigger_service_node
+    call_set_led_animation_service_node
+    signal_shutdown_node
+    shutdown_single_host_node
+    shutdown_hosts_from_file_node
+    tick_after_timeout_node)
+
+  ament_target_dependencies(${PROJECT_NAME}_test_plugin_utils
+                            ${PACKAGE_INCLUDE_DEPENDS})
+
+  ament_add_gtest(${PROJECT_NAME}_test_call_set_bool_service_node
+                  test/plugins/test_call_set_bool_service_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_call_set_bool_service_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_call_trigger_service_node
+                  test/plugins/test_call_trigger_service_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_call_trigger_service_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_call_set_led_animation_service_node
+                  test/plugins/test_call_set_led_animation_service_node.cpp)
+  list(APPEND plugin_tests
+       ${PROJECT_NAME}_test_call_set_led_animation_service_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_signal_shutdown_node
+                  test/plugins/test_signal_shutdown_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_signal_shutdown_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_shutdown_single_host_node
+                  test/plugins/test_shutdown_single_host_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_shutdown_single_host_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_shutdown_hosts_from_file_node
+                  test/plugins/test_shutdown_hosts_from_file_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_shutdown_hosts_from_file_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_tick_after_timeout_node
+                  test/plugins/test_tick_after_timeout_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_tick_after_timeout_node)
+
+  ament_add_gtest(${PROJECT_NAME}_test_shutdown_host
+                  test/plugins/test_shutdown_host.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_shutdown_host)
+
+  ament_add_gtest(${PROJECT_NAME}_test_shutdown_hosts_node
+                  test/plugins/test_shutdown_hosts_node.cpp)
+  list(APPEND plugin_tests ${PROJECT_NAME}_test_shutdown_hosts_node)
+
+  foreach(bt_node_test ${plugin_tests})
+    target_link_libraries(${bt_node_test} ${PROJECT_NAME}_test_plugin_utils)
+    ament_target_dependencies(${bt_node_test} ${PACKAGE_INCLUDE_DEPENDS})
+  endforeach()
+endif()
+
+install(TARGETS DESTINATION lib/${PROJECT_NAME})
+
+ament_export_include_directories(include)
+ament_export_dependencies(${PACKAGE_INCLUDE_DEPENDS})
+
+ament_package()

panther_manager/README.md

@@ -0,0 +1,7 @@
+# Testing
+
+For testing you have to copy authenticate ssh key on the localhost:
+
+```bash
+ssh-copy-id -f husarion@localhost
+```

panther_manager/include/panther_manager/plugins/action/call_set_bool_service_node.hpp

@@ -0,0 +1,48 @@
+// Copyright 2024 Husarion sp. z o.o.
+//
+// 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 PANTHER_MANAGER_CALL_SET_BOOL_SERVICE_NODE_HPP_
+#define PANTHER_MANAGER_CALL_SET_BOOL_SERVICE_NODE_HPP_
+
+#include <string>
+
+#include <behaviortree_ros2/bt_service_node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <std_srvs/srv/set_bool.hpp>
+
+namespace panther_manager
+{
+
+class CallSetBoolService : public BT::RosServiceNode<std_srvs::srv::SetBool>
+{
+public:
+  CallSetBoolService(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params)
+  : BT::RosServiceNode<std_srvs::srv::SetBool>(name, conf, params)
+  {
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({BT::InputPort<bool>("data", "true / false value")});
+  }
+
+  virtual bool setRequest(typename Request::SharedPtr & request) override;
+  virtual BT::NodeStatus onResponseReceived(const typename Response::SharedPtr & response) override;
+};
+
+}  // namespace panther_manager
+
+#endif  // PANTHER_MANAGER_CALL_SET_BOOL_SERVICE_NODE_HPP_

panther_manager/include/panther_manager/plugins/action/call_set_led_animation_service_node.hpp

@@ -0,0 +1,52 @@
+// Copyright 2024 Husarion sp. z o.o.
+//
+// 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 PANTHER_MANAGER_CALL_SET_LED_ANIMATION_SERVICE_NODE_HPP_
+#define PANTHER_MANAGER_CALL_SET_LED_ANIMATION_SERVICE_NODE_HPP_
+
+#include <string>
+
+#include <behaviortree_ros2/bt_service_node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <panther_msgs/srv/set_led_animation.hpp>
+
+namespace panther_manager
+{
+
+class CallSetLedAnimationService : public BT::RosServiceNode<panther_msgs::srv::SetLEDAnimation>
+{
+public:
+  CallSetLedAnimationService(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params)
+  : BT::RosServiceNode<panther_msgs::srv::SetLEDAnimation>(name, conf, params)
+  {
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({
+      BT::InputPort<unsigned>("id", "animation ID"),
+      BT::InputPort<std::string>("param", "optional parameter"),
+      BT::InputPort<bool>("repeating", "indicates if animation should repeat"),
+    });
+  }
+
+  virtual bool setRequest(typename Request::SharedPtr & request) override;
+  virtual BT::NodeStatus onResponseReceived(const typename Response::SharedPtr & response) override;
+};
+
+}  // namespace panther_manager
+
+#endif  // PANTHER_MANAGER_CALL_SET_LED_ANIMATION_SERVICE_NODE_HPP_

panther_manager/include/panther_manager/plugins/action/call_trigger_service_node.hpp

@@ -0,0 +1,45 @@
+// Copyright 2024 Husarion sp. z o.o.
+//
+// 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 PANTHER_MANAGER_CALL_TRIGGER_SERVICE_NODE_HPP_
+#define PANTHER_MANAGER_CALL_TRIGGER_SERVICE_NODE_HPP_
+
+#include <string>
+
+#include <behaviortree_ros2/bt_service_node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <std_srvs/srv/trigger.hpp>
+
+namespace panther_manager
+{
+
+class CallTriggerService : public BT::RosServiceNode<std_srvs::srv::Trigger>
+{
+public:
+  CallTriggerService(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params)
+  : BT::RosServiceNode<std_srvs::srv::Trigger>(name, conf, params)
+  {
+  }
+
+  static BT::PortsList providedPorts() { return providedBasicPorts({}); }
+
+  virtual bool setRequest(typename Request::SharedPtr & /*request*/) override;
+  virtual BT::NodeStatus onResponseReceived(const typename Response::SharedPtr & response) override;
+};
+
+}  // namespace panther_manager
+
+#endif  // PANTHER_MANAGER_CALL_SET_BOOL_SERVICE_NODE_HPP_

panther_manager/include/panther_manager/plugins/action/shutdown_hosts_from_file_node.hpp

@@ -0,0 +1,54 @@
+// Copyright 2024 Husarion sp. z o.o.
+//
+// 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 PANTHER_MANAGER_SHUTDOWN_HOST_FROM_FILE_NODE_HPP_
+#define PANTHER_MANAGER_SHUTDOWN_HOST_FROM_FILE_NODE_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <behaviortree_cpp/basic_types.h>
+#include <yaml-cpp/yaml.h>
+
+#include <panther_manager/plugins/shutdown_host.hpp>
+#include <panther_manager/plugins/shutdown_hosts_node.hpp>
+#include <panther_utils/yaml_utils.hpp>
+
+namespace panther_manager
+{
+
+class ShutdownHostsFromFile : public ShutdownHosts
+{
+public:
+  ShutdownHostsFromFile(const std::string & name, const BT::NodeConfig & conf)
+  : ShutdownHosts(name, conf)
+  {
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return {
+      BT::InputPort<std::string>(
+        "shutdown_hosts_file", "global path to YAML file with hosts to shutdown"),
+    };
+  }
+
+private:
+  bool UpdateHosts(std::vector<std::shared_ptr<ShutdownHost>> & hosts) override;
+};
+
+}  // namespace panther_manager
+
+#endif  // PANTHER_MANAGER_SHUTDOWN_HOST_FROM_FILE_NODE_HPP_