Feature/graph manager #38

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Merged

pablogs9 merged 24 commits into foxy from feature/graph_manager

Nov 26, 2020

.github/ISSUE_TEMPLATE/bug_report.md

-Original file line number
+Diff line change
@@ -0,0 +1,30 @@
+    ---
+    name: Bug report
+    about: Create a report to help us improve
+    title: ''
+    labels: ''
+    assignees: ''
+    ---
+    **Describe the bug**
+    A clear and concise description of what the bug is.
+    **To Reproduce**
+    Steps to reproduce the behaviour:
+. Clone repo '...'
+. Add these lines '...'
+. Run the script '....'
+. See error
+    Code or shell commands ready to be copy-pasted are welcome.
+    **Expected behaviour**
+    A clear and concise description of what you expected to happen.
+    **System information (please complete the following information):**
+     - OS: [e.g. WIndows 10, Ubuntu 16.04, ...]
+     - ROS 2 [e.g. Dashing, Foxy, ...]
+     - Version [e.g. commit hash, tag, ...]
+    **Additional context**
+    Add any other context about the problem here.

.github/workflows/ci.yml

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+Diff line change
@@ -0,0 +1,26 @@
+    name: CI micro-ROS Agent
+    on:
+        pull_request:
+          branches:
+            - '**'
+    jobs:
+        microros_agent_ci:
+            runs-on: ubuntu-20.04
+            container: ros:foxy
+            steps:
+            - uses: actions/checkout@v2
+              with:
+                path: src/micro_ros_agent
+            - name: Download dependencies
+              run: |
+                git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Agent src/microxrcedds_agent
+            - name: Build
+              run:  |
+                . /opt/ros/foxy/setup.sh
+                colcon build

micro_ros_agent/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -23,19 +23,74 @@ project(micro_ros_agent LANGUAGES CXX) @@
     find_package(ament_cmake REQUIRED)
     find_package(microxrcedds_agent REQUIRED)
+    find_package(rosidl_cmake REQUIRED)
+    find_package(fastcdr REQUIRED)
+    find_package(fastrtps REQUIRED)
+    find_package(fastrtps_cmake_module REQUIRED)
+    find_package(rmw_dds_common REQUIRED)
+    find_package(rmw REQUIRED)
+    find_package(rcutils REQUIRED)
+    find_package(rmw_fastrtps_shared_cpp REQUIRED)
+    find_package(ament_lint_auto REQUIRED)
+    find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
+    find_package(rosidl_runtime_cpp REQUIRED)
+    find_package(rosidl_typesupport_cpp REQUIRED)
+    find_package(ament_cmake_gtest REQUIRED)
+    find_package(micro_ros_msgs REQUIRED)
+    add_executable(${PROJECT_NAME}
+      src/main.cpp
+      src/agent/Agent.cpp
+      src/agent/graph_manager/graph_manager.cpp
+      src/agent/graph_manager/graph_typesupport.cpp
+      src/agent/utils/demangle.cpp
+      )
-    add_executable(${PROJECT_NAME} src/main.cpp)
+    target_include_directories(${PROJECT_NAME}
+      PRIVATE
+        include
+      )
+    ament_target_dependencies(${PROJECT_NAME}
+      rosidl_typesupport_fastrtps_cpp
+      rosidl_runtime_cpp
+      rosidl_typesupport_cpp
+      fastcdr
+      fastrtps
+      rmw_dds_common
+      rmw
+      rmw_fastrtps_shared_cpp
+      micro_ros_msgs
+      )
     target_link_libraries(${PROJECT_NAME}
+      microxrcedds_agent
+      fastcdr
+      fastrtps
+      $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
+      $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
+      )
+    target_compile_options(${PROJECT_NAME}
       PRIVATE
-        microxrcedds_agent
-        $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
-        $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
+        $<$<C_COMPILER_ID:GNU>:-Wall>
+        $<$<C_COMPILER_ID:GNU>:-Wextra>
+        $<$<C_COMPILER_ID:GNU>:-pedantic>
+      )
+    set_target_properties(${PROJECT_NAME} PROPERTIES
+      CXX_STANDARD
+      CXX_STANDARD_REQUIRED
+        YES
       )
     set_target_properties(${PROJECT_NAME} PROPERTIES
       CXX_STANDARD
       CXX_STANDARD_REQUIRED
         YES
       )
@@ Expand Down @@

micro_ros_agent/include/agent/Agent.hpp

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+Diff line change
@@ -0,0 +1,49 @@
+    // Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+    //
+    // 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 _UROS_AGENT_AGENT_HPP
+    #define _UROS_AGENT_AGENT_HPP
+    #include <uxr/agent/AgentInstance.hpp>
+    #include <uxr/agent/middleware/Middleware.hpp>
+    #include <uxr/agent/middleware/utils/Callbacks.hpp>
+    #include <agent/graph_manager/graph_manager.hpp>
+    // TODO(jamoralp): class Documentation
+    namespace uros {
+    namespace agent {
+    class Agent
+    {
+    public:
+        Agent();
+        ~Agent() = default;
+        bool create(
+                int argc,
+                char** argv);
+        void run();
+    private:
+        eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
+        std::unique_ptr<graph_manager::GraphManager> graph_manager_;
+    };
+    }  // namespace agent
+    }  // namespace uros
+    #endif  // _UROS_AGENT_AGENT_HPP

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