Implement UdpSocket for both Syn. & Async modes (Send & Receive functionality)

.gitignore

@@ -0,0 +1,3 @@
+build/
+install/
+log/

CONTRIBUTING.md

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LICENSE

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README.md

@@ -1,8 +1,17 @@
 # transport_drivers
+
 A set of ROS2 drivers for transport-layer protocols. Currently utilizes Boost::ASIO for most transport-layer functionality.
 
-## udp_driver
-A package which contains a templated C++ class (which inherits from `rclcpp::Node`) which encapsulates basic receiving (and soon sending) of UDP network data.
+## Supported Drivers:
 
-## serial_driver
-A package which contains a templated C++ class (which inherits from `rclcpp::Node`) which encapsulates basic receiving (and soon sending) of serial data.
+* **UDP Driver**
+    * Tracking PR: https://github.com/ros-drivers/transport_drivers/pull/31
+    * Implemented `IoContext` (The main I/O Context that can be configured as single or multi thread with async task execution support)
+    * Implemented `UdpSocket` (The UDP socket functionality that working in blocking and non-blocking (Async with task execution) modes)
+    * Implemented `UdpDriver` Facade (Facade design pattern implementation that acts as a sender and receiver UDP socket pair container)
+    * Implemented `ROS2` and `raw` buffer message converters for Int, UInt and Float variants in std_msgs namespace.
+    * Implemented `UdpDriverNode` example and its test.
+    * Implemented IoContext, UdpSocket and UdpDriver tests.
+
+* **Serial Driver**
+A package which contains a templated C++ class (which inherits from rclcpp::Node) which encapsulates basic receiving (and soon sending) of serial data.

udp_driver/CMakeLists.txt

@@ -1,62 +1,94 @@
 # Copyright 2018 Apex.AI, Inc.
-# Co-developed by Tier IV, Inc. and Apex.AI, Inc.
-#
 # 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
+#     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.
+
+# Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+# Maintained by LeoDrive, 2021
+
 cmake_minimum_required(VERSION 3.5)
 
 project(udp_driver)
 
+# Consider passing `-DCMAKE_BUILD_TYPE=Debug` option to cmake to export Debug symbols.
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
+
 ## dependencies
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system)
+find_package(Boost REQUIRED COMPONENTS system thread)
 if(Boost_FOUND)
-    include_directories(${Boost_INCLUDE_DIRS})
-    link_directories(${Boost_LIBRARY_DIRS})
+  include_directories(${Boost_INCLUDE_DIRS})
+  link_directories(${Boost_LIBRARY_DIRS})
 endif()
 
 include_directories(include)
 
+ament_export_include_directories(include)
+ament_auto_find_build_dependencies()
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/io_context.cpp
+  src/udp_socket.cpp
+  src/udp_driver.cpp
+  src/msg_converters/std_msgs.cpp
+  examples/udp_driver_node.cpp)
+ament_target_dependencies(${PROJECT_NAME}
+  "rclcpp"
+  "std_msgs"
+  "Boost")
+
+target_compile_options(${PROJECT_NAME} PUBLIC "-O0" PRIVATE -Wno-sign-conversion -Wno-conversion)
+target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
+
 install(
-    DIRECTORY include/
-    DESTINATION include
+  DIRECTORY include
+  DESTINATION include
 )
-ament_export_include_directories(include)
 
 if(BUILD_TESTING)
-    find_package(std_msgs REQUIRED)
-    set(TEST_LIB "${PROJECT_NAME}_test")
-    add_library(${TEST_LIB} SHARED test/test_driver.hpp test/test_driver.cpp)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
 
-    ament_target_dependencies(${TEST_LIB} "rclcpp" "std_msgs")
-    target_include_directories(${TEST_LIB} PRIVATE include)
-    target_link_libraries(${TEST_LIB} ${Boost_LIBRARIES})
+  set(TEST_FILES
+    test_io_context.cpp
+    test_udp_socket.cpp
+    test_udp_data.cpp
+    test_udp_driver.cpp
+    test_udp_driver_node.cpp)
+
+  foreach(file ${TEST_FILES})
+    get_filename_component(name "${file}" NAME_WE)
+    set(TEST_UDP_DRIVER_EXE ${name})
 
-    # Unit tests
-    find_package(ament_cmake_gtest REQUIRED)
-    set(TEST_UDP_DRIVER_EXE test_udp_driver)
     ament_add_gtest(${TEST_UDP_DRIVER_EXE}
-            test/gtest_main.cpp
-            test/test_udp_driver.cpp)
-    ament_target_dependencies(${TEST_UDP_DRIVER_EXE}  "Boost")
-    target_include_directories(${TEST_UDP_DRIVER_EXE} PRIVATE include)
-    target_link_libraries(${TEST_UDP_DRIVER_EXE} ${TEST_LIB})
+      test/gtest_main.cpp
+      test/${name}.cpp)
+    ament_target_dependencies(${TEST_UDP_DRIVER_EXE}
+      rclcpp
+      std_msgs
+      Boost)
 
-    find_package(ament_lint_auto REQUIRED)
-    ament_lint_auto_find_test_dependencies()
+    target_include_directories(${TEST_UDP_DRIVER_EXE} PRIVATE include)
+    target_link_libraries(${TEST_UDP_DRIVER_EXE} ${PROJECT_NAME})
+  endforeach()
 endif()
 
-ament_package(
-    CONFIG_EXTRAS_POST "udp_driver-extras.cmake"
-)
+ament_package()