feat(autoware_node): add AutowareNode base class

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>

common/autoware_control_center/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(autoware_control_center)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+autoware_package()
+
+ament_auto_add_executable(${PROJECT_NAME} src/autoware_control_center_node.cpp
+        src/autoware_control_center.cpp)
+#target_link_libraries(${PROJECT_NAME})
+
+#if (BUILD_TESTING)
+#    find_package(ament_lint_auto REQUIRED)
+#    ament_lint_auto_find_test_dependencies()
+#    ament_add_ros_isolated_gtest(test_autoware_control_center test/test_autoware_control_center.cpp)
+#    target_link_libraries(test_autoware_control_center ${PROJECT_NAME})
+#endif ()
+
+ament_auto_package()

common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp

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+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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 AUTOWARE_CONTROL_CENTER__AUTOWARE_CONTROL_CENTER_HPP_
+#define AUTOWARE_CONTROL_CENTER__AUTOWARE_CONTROL_CENTER_HPP_
+
+#include "autoware_control_center/visibility_control.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "autoware_control_center_msgs/msg/autoware_control_center_json.hpp"
+
+namespace autoware_control_center
+{
+
+class AutowareControlCenter : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  AutowareControlCenter(const rclcpp::NodeOptions & options);
+
+private:
+  using AutowareControlCenterJson = autoware_control_center_msgs::msg::AutowareControlCenterJson;
+  rclcpp::Subscription<AutowareControlCenterJson>::SharedPtr sub_global_;
+
+  void callback_acc_json_global(const AutowareControlCenterJson::ConstSharedPtr & msg);
+};
+
+}  // namespace autoware_control_center
+
+#endif  // AUTOWARE_CONTROL_CENTER__AUTOWARE_CONTROL_CENTER_HPP_

common/autoware_control_center/include/autoware_control_center/visibility_control.hpp

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+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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 AUTOWARE_CONTROL_CENTER__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE_CONTROL_CENTER__VISIBILITY_CONTROL_HPP_
+
+#include "rcutils/visibility_control_macros.h"
+
+#ifdef AUTOWARE_CONTROL_CENTER_BUILDING_DLL
+#define AUTOWARE_CONTROL_CENTER_PUBLIC RCUTILS_EXPORT
+#else
+#define AUTOWARE_CONTROL_CENTER_PUBLIC RCUTILS_IMPORT
+#endif  // !AUTOWARE_CONTROL_CENTER_BUILDING_DLL
+#define AUTOWARE_CONTROL_CENTER_LOCAL RCUTILS_LOCAL
+
+#endif  // AUTOWARE_CONTROL_CENTER__VISIBILITY_CONTROL_HPP_

common/autoware_control_center/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_control_center</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mfc@leodrive.ai">M. Fatih Cırıt</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_control_center_msgs</depend>
+  <depend>bond</depend>
+  <depend>bondcpp</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>nlohmann-json-dev</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rcutils</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_control_center/src/autoware_control_center.cpp

@@ -0,0 +1,34 @@
+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
+
+#include "autoware_control_center/autoware_control_center.hpp"
+
+namespace autoware_control_center
+{
+AutowareControlCenter::AutowareControlCenter(const rclcpp::NodeOptions & options)
+: LifecycleNode("autoware_control_center", options)
+{
+  // log info
+  RCLCPP_INFO(get_logger(), "AutowareControlCenter is initialized");
+}
+
+void AutowareControlCenter::callback_acc_json_global(
+  const autoware_control_center_msgs::msg::AutowareControlCenterJson::ConstSharedPtr & msg)
+{
+  // log message
+  RCLCPP_INFO(get_logger(), "AutowareControlCenterJson received %s", msg->json_message.c_str());
+}
+
+}  // namespace autoware_control_center

common/autoware_control_center/src/autoware_control_center_node.cpp

@@ -0,0 +1,36 @@
+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
+
+#include "autoware_control_center/autoware_control_center.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto autoware_control_center =
+    std::make_shared<autoware_control_center::AutowareControlCenter>(rclcpp::NodeOptions());
+  rclcpp::executors::MultiThreadedExecutor exec;
+  exec.add_node(autoware_control_center->get_node_base_interface());
+  exec.spin();
+  rclcpp::shutdown();
+
+  return 0;
+}
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware_control_center::AutowareControlCenter)

common/autoware_control_center/test/test_autoware_control_center.cpp

@@ -0,0 +1,16 @@
+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
+
+#include "test_autoware_control_center.hpp"

common/autoware_control_center/test/test_autoware_control_center.hpp

@@ -0,0 +1,23 @@
+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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 TEST_AUTOWARE_CONTROL_CENTER_HPP_
+#define TEST_AUTOWARE_CONTROL_CENTER_HPP_
+
+class test_autoware_control_center
+{
+};
+
+#endif  // TEST_AUTOWARE_CONTROL_CENTER_HPP_

common/autoware_control_center_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_control_center_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+set(msg_dependencies
+  unique_identifier_msgs)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/StatusRegistration.msg"
+  "srv/AutowareNodeRegister.srv"
+  DEPENDENCIES ${msg_dependencies}
+  ADD_LINTER_TESTS)
+
+ament_auto_package()

common/autoware_control_center_msgs/README.md

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+# autoware_msgs
+
+Before contributing, review [the message guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/message-guidelines/).

common/autoware_control_center_msgs/msg/StatusRegistration.msg

@@ -0,0 +1,6 @@
+# Status States
+uint8 FAILURE=0
+uint8 SUCCESS=1
+
+# Status
+uint8 status

common/autoware_control_center_msgs/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_control_center_msgs</name>
+  <version>1.0.0</version>
+  <description>autoware_control_center_msgs package.</description>
+  <maintainer email="mfc@leodrive.ai">M. Fatih Cırıt</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rosidl_default_generators</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_control_center_msgs/srv/AutowareNodeRegister.srv

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+# Request
+
+## Name of the registering AutowareNode
+string name_node
+
+---
+
+# Response
+
+## Status
+autoware_control_center_msgs/StatusRegistration status
+
+## UUID
+unique_identifier_msgs/UUID uuid_node
+
+## Response Log
+string log_response

common/autoware_node/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(autoware_node)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} src/autoware_node.cpp)
+
+if (BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+    ament_add_ros_isolated_gtest(test_autoware_node test/test_autoware_node.cpp)
+    target_link_libraries(test_autoware_node ${PROJECT_NAME})
+endif ()
+
+ament_auto_package()

common/autoware_node/include/autoware_node/autoware_node.hpp

@@ -0,0 +1,42 @@
+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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 AUTOWARE_NODE__AUTOWARE_NODE_HPP_
+#define AUTOWARE_NODE__AUTOWARE_NODE_HPP_
+
+#include "autoware_node/visibility_control.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
+
+namespace autoware_node
+{
+
+class AutowareNode : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  AUTOWARE_NODE_PUBLIC
+  AutowareNode(
+    const std::string & node_name, const std::string & ns = "",
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
+  rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
+
+  rclcpp::Client<autoware_control_center_msgs::srv::AutowareNodeRegister>::SharedPtr cli_register_;
+};
+
+}  // namespace autoware_node
+
+#endif  // AUTOWARE_NODE__AUTOWARE_NODE_HPP_

common/autoware_node/include/autoware_node/visibility_control.hpp

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+// Copyright 2022 The Autoware Contributors
+// SPDX-License-Identifier: Apache-2.0
+//
+// 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 AUTOWARE_NODE__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE_NODE__VISIBILITY_CONTROL_HPP_
+
+#include "rcutils/visibility_control_macros.h"
+#ifdef AUTOWARE_NODE_BUILDING_DLL
+#define AUTOWARE_NODE_PUBLIC RCUTILS_EXPORT
+#else
+#define AUTOWARE_NODE_PUBLIC RCUTILS_IMPORT
+#endif  // !AUTOWARE_NODE_BUILDING_DLL
+#define AUTOWARE_NODE_LOCAL RCUTILS_LOCAL
+
+#endif  // AUTOWARE_NODE__VISIBILITY_CONTROL_HPP_