Feature/u ros agent node

Author: Javier JM. Moreno

uROS_Agent/CMakeLists.txt

@@ -20,6 +20,18 @@ cmake_minimum_required(VERSION 3.5)
 project(uros_agent)
 
 
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
 # Find packages depencences
 find_package(rosidl_cmake REQUIRED)
 find_package(ament_cmake REQUIRED)
@@ -193,11 +205,45 @@ set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
 file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
 
 
+# Only compile uROS agent if rclcpp is found
+find_package(rclcpp QUIET)
+if (rclcpp_FOUND)
+  find_package(microxrcedds_agent_cmake_module REQUIRED)
+  find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
+
+  add_executable(${PROJECT_NAME} src/main.cpp)
+  ament_target_dependencies(
+    ${PROJECT_NAME} 
+    rclcpp
+    microxrcedds_agent
+  )
+
+  # TODO(Javier) Temporal until thread error is solver
+  target_link_libraries(
+    ${PROJECT_NAME}
+    microxrcedds_agent
+  )
+  
+else()
+  message("uROS agent node will be not build")
+endif()
+
+
+
 
 # Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
 ament_package()
 
 
+# Only install if uROS_Agent is comiled
+if (rclcpp_FOUND)
+  install(TARGETS
+    ${PROJECT_NAME}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endif()
+
+
 #Install
 install(
   FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
@@ -209,4 +255,4 @@ install(
 #install(
 #  DIRECTORY cmake resource
 #  DESTINATION share/${PROJECT_NAME}
-#)
+#)

uROS_Agent/package.xml

@@ -14,8 +14,12 @@
 
   <depend>fastcdr</depend>
   <depend>fastrtps</depend>
-  <depend>microxrcedds_agent</depend>
+  <depend>microxrcedds_agent_cmake_module</depend>
   <depend>rosidl_cmake</depend>
+  
+  <build_depend>rclcpp</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

uROS_Agent/src/main.cpp

@@ -0,0 +1,272 @@
+
+// Copyright 2018 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.
+
+#ifdef _WIN32
+#include <uxr/agent/transport/udp/UDPServerWindows.hpp>
+#include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
+#else
+#include <uxr/agent/transport/serial/SerialServerLinux.hpp>
+#include <uxr/agent/transport/udp/UDPServerLinux.hpp>
+#include <uxr/agent/transport/tcp/TCPServerLinux.hpp>
+#include <termios.h>
+#include <fcntl.h>
+#endif //_WIN32
+#include <iostream>
+#include <string>
+#include <limits>
+#include "rclcpp/rclcpp.hpp"
+
+void showHelp()
+{
+    std::cout << "Usage: program <command>" << std::endl;
+    std::cout << "List of commands:" << std::endl;
+    std::cout << "    serial <device_name>" << std::endl;
+    std::cout << "    pseudo-serial" << std::endl;
+    std::cout << "    udp <local_port> [<discovery_port>]" << std::endl;
+    std::cout << "    tcp <local_port> [<discovery_port>]" << std::endl;
+}
+
+void initializationError()
+{
+    std::cout << "Error: Invalid arguments." << std::endl;
+    showHelp();
+    std::exit(EXIT_FAILURE);
+}
+
+uint16_t parsePort(const char* str_port)
+{
+    uint16_t valid_port = 0;
+    try
+    {
+        int port = std::stoi(str_port);
+        if(port > (std::numeric_limits<uint16_t>::max)())
+        {
+            std::cout << "Error: port number '" << port << "out of range." << std::endl;
+            initializationError();
+        }
+        valid_port = uint16_t(port);
+    }
+    catch (const std::invalid_argument& )
+    {
+        initializationError();
+    }
+    return valid_port;
+}
+
+
+class uros_agent : public rclcpp::Node
+{
+public:
+  uros_agent() : Node("uROS_Agent")
+  {
+  }
+
+  ~uros_agent()
+  {
+  }
+
+private:
+
+};
+
+
+int main(int argc, char** argv)
+{
+    bool initialized = false;
+
+#ifndef _WIN32
+    if(argc == 2 && (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0))
+    {
+        showHelp();
+    }
+    else if(argc >= 3 && strcmp(argv[1], "udp") == 0)
+    {
+        std::cout << "UDP agent initialization... ";
+        uint16_t port = parsePort(argv[2]);
+        eprosima::uxr::UDPServer* udp_server = (argc == 4) //discovery port
+                                             ? new eprosima::uxr::UDPServer(port, parsePort(argv[3]))
+                                             : new eprosima::uxr::UDPServer(port);
+        if (udp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if(argc >= 3 && strcmp(argv[1], "tcp") == 0)
+    {
+        std::cout << "TCP agent initialization... ";
+        uint16_t port = parsePort(argv[2]);
+        eprosima::uxr::TCPServer* tcp_server = (argc == 4) //discovery port
+                                             ? new eprosima::uxr::TCPServer(port, parsePort(argv[3]))
+                                             : new eprosima::uxr::TCPServer(port);
+        if (tcp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if(argc == 3 && strcmp(argv[1], "serial") == 0)
+    {
+        std::cout << "Serial agent initialization... ";
+
+        /* Open serial device. */
+        int fd = open(argv[2], O_RDWR | O_NOCTTY);
+        if (0 < fd)
+        {
+            struct termios tty_config;
+            memset(&tty_config, 0, sizeof(tty_config));
+            if (0 == tcgetattr(fd, &tty_config))
+            {
+                /* Setting CONTROL OPTIONS. */
+                tty_config.c_cflag |= CREAD;    // Enable read.
+                tty_config.c_cflag |= CLOCAL;   // Set local mode.
+                tty_config.c_cflag &= ~PARENB;  // Disable parity.
+                tty_config.c_cflag &= ~CSTOPB;  // Set one stop bit.
+                tty_config.c_cflag &= ~CSIZE;   // Mask the character size bits.
+                tty_config.c_cflag |= CS8;      // Set 8 data bits.
+                tty_config.c_cflag &= ~CRTSCTS; // Disable hardware flow control.
+
+                /* Setting LOCAL OPTIONS. */
+                tty_config.c_lflag &= ~ICANON;  // Set non-canonical input.
+                tty_config.c_lflag &= ~ECHO;    // Disable echoing of input characters.
+                tty_config.c_lflag &= ~ECHOE;   // Disable echoing the erase character.
+                tty_config.c_lflag &= ~ISIG;    // Disable SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals.
+
+                /* Setting INPUT OPTIONS. */
+                tty_config.c_iflag &= ~IXON;    // Disable output software flow control.
+                tty_config.c_iflag &= ~IXOFF;   // Disable input software flow control.
+                tty_config.c_iflag &= ~INPCK;   // Disable parity check.
+                tty_config.c_iflag &= ~ISTRIP;  // Disable strip parity bits.
+                tty_config.c_iflag &= ~IGNBRK;  // No ignore break condition.
+                tty_config.c_iflag &= ~IGNCR;   // No ignore carrier return.
+                tty_config.c_iflag &= ~INLCR;   // No map NL to CR.
+                tty_config.c_iflag &= ~ICRNL;   // No map CR to NL.
+
+                /* Setting OUTPUT OPTIONS. */
+                tty_config.c_oflag &= ~OPOST;   // Set raw output.
+
+                /* Setting OUTPUT CHARACTERS. */
+                tty_config.c_cc[VMIN] = 10;
+                tty_config.c_cc[VTIME] = 1;
+
+                /* Setting BAUD RATE. */
+                cfsetispeed(&tty_config, B115200);
+                cfsetospeed(&tty_config, B115200);
+
+                if (0 == tcsetattr(fd, TCSANOW, &tty_config))
+                {
+                    eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0);
+                    if (serial_server->run())
+                    {
+                        initialized = true;
+                    }
+                }
+            }
+        }
+
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if (argc == 2 && strcmp(argv[1], "pseudo-serial") == 0)
+    {
+        std::cout << "Pseudo-Serial initialization... ";
+
+        /* Open pseudo-terminal. */
+        char* dev = NULL;
+        int fd = posix_openpt(O_RDWR | O_NOCTTY);
+        if (-1 != fd)
+        {
+            if (grantpt(fd) == 0 && unlockpt(fd) == 0 && (dev = ptsname(fd)))
+            {
+                struct termios attr;
+                tcgetattr(fd, &attr);
+                cfmakeraw(&attr);
+                tcflush(fd, TCIOFLUSH);
+                tcsetattr(fd, TCSANOW, &attr);
+            }
+        }
+
+        /* Launch server. */
+        eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0x00);
+        if (serial_server->run())
+        {
+            initialized = true;
+        }
+
+        if (initialized)
+        {
+            std::cout << "OK" << std::endl;
+            std::cout << "Device: " << dev << std::endl;
+        }
+        else
+        {
+            std::cout << "ERROR" << std::endl;
+        }
+    }
+    else
+    {
+        initializationError();
+    }
+#else
+    (void) argc;
+    (void) argv;
+
+    std::string server_type = "";
+    std::cout << "Select server type [udp|tcp]: ";
+    std::cin >> server_type;
+
+    if ("udp" == server_type)
+    {
+        uint16_t port = 0;
+        std::cout << "Select port: ";
+        std::cin >> port;
+
+        std::cout << "UDP agent initialization.... ";
+        eprosima::uxr::UDPServer* udp_server = new eprosima::uxr::UDPServer(port);
+        if (udp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if ("tcp" == server_type)
+    {
+        uint16_t port = 0;
+        std::cout << "Select port: ";
+        std::cin >> port;
+
+        std::cout << "UDP agent initialization.... ";
+        eprosima::uxr::TCPServer* tcp_server = new eprosima::uxr::TCPServer(port);
+        if (tcp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else
+    {
+        std::cout << "Error server type" << std::endl;
+    }
+
+#endif
+
+    if(initialized)
+    {
+      rclcpp::init(argc, argv);
+      rclcpp::spin(std::make_shared<uros_agent>());
+      rclcpp::shutdown();
+    }
+
+    return 0;
+}