Merge pull request #46 from CoreSenseEU/cs_core_base_1

Cs core base 1

Author: fmrico

cs4home_core/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.8)
 project(cs4home_core)
 
+set(CMAKE_BUILD_TYPE debug)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -20,6 +22,7 @@ set(dependencies
 include_directories(include)
 
 add_library(${PROJECT_NAME} SHARED
+  src/cs4home_core/Master.cpp
   src/cs4home_core/CognitiveModule.cpp
   src/cs4home_core/Afferent.cpp
   src/cs4home_core/Efferent.cpp

cs4home_core/include/cs4home_core/Afferent.hpp

@@ -12,11 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #ifndef CS4HOME_CORE__AFFERENT_HPP_
 #define CS4HOME_CORE__AFFERENT_HPP_
 
-#include "rclcpp/macros.hpp"
+#include <memory>
+#include <vector>
+#include <string>
+
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/macros.hpp"
 
 namespace cs4home_core
 {
@@ -32,6 +38,11 @@ class Afferent
 
 protected:
   rclcpp_lifecycle::LifecycleNode::SharedPtr parent_;
+
+  std::vector<std::shared_ptr<rclcpp::GenericSubscription>> subs_;
+
+private:
+  bool create_subscriber(const std::string & topic, const std::string & type);
 };
 
 }  // namespace cs4home_core

cs4home_core/include/cs4home_core/CognitiveModule.hpp

@@ -12,14 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #ifndef CS4HOME_CORE__COGNITIVEMODULE_HPP_
 #define CS4HOME_CORE__COGNITIVEMODULE_HPP_
 
+#include <dlfcn.h>
+
+#include <tuple>
+#include <string>
+
 #include "cs4home_core/Afferent.hpp"
 #include "cs4home_core/Core.hpp"
 #include "cs4home_core/Coupling.hpp"
 #include "cs4home_core/Efferent.hpp"
 #include "cs4home_core/Meta.hpp"
+
 #include "rclcpp/macros.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -31,7 +38,8 @@ class CognitiveModule : public rclcpp_lifecycle::LifecycleNode
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CognitiveModule)
-  using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+  using CallbackReturnT =
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
   explicit CognitiveModule(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
@@ -48,6 +56,16 @@ class CognitiveModule : public rclcpp_lifecycle::LifecycleNode
   Core::SharedPtr core_;
   Meta::SharedPtr meta_;
   Coupling::SharedPtr coupling_;
+
+  std::string core_name_;
+  std::string afferent_name_;
+  std::string efferent_name_;
+  std::string meta_name_;
+  std::string coupling_name_;
+
+  template<class T>
+  std::tuple<typename T::SharedPtr, std::string> load_component(
+    const std::string & name, rclcpp_lifecycle::LifecycleNode::SharedPtr parent);
 };
 
 }  // namespace cs4home_core

cs4home_core/include/cs4home_core/Core.hpp

@@ -12,11 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #ifndef CS4HOME_CORE__CORE_HPP_
 #define CS4HOME_CORE__CORE_HPP_
 
-#include "rclcpp/macros.hpp"
+#include <memory>
+
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/macros.hpp"
 
 namespace cs4home_core
 {

cs4home_core/include/cs4home_core/Coupling.hpp

@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #ifndef CS4HOME_CORE__COUPLING_HPP_
 #define CS4HOME_CORE__COUPLING_HPP_
 
-#include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/macros.hpp"
 
 namespace cs4home_core
 {

cs4home_core/include/cs4home_core/Efferent.hpp

@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #ifndef CS4HOME_CORE__EFFERENT_HPP_
 #define CS4HOME_CORE__EFFERENT_HPP_
 
-#include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/macros.hpp"
 
 namespace cs4home_core
 {

cs4home_core/include/cs4home_core/Master.hpp

@@ -0,0 +1,60 @@
+// Copyright 2024 Intelligent Robotics Lab
+//
+// 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 CS4HOME_CORE__MASTER_HPP_
+#define CS4HOME_CORE__MASTER_HPP_
+
+#include <map>
+#include <string>
+
+#include "cs4home_core/CognitiveModule.hpp"
+
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/macros.hpp"
+
+namespace cs4home_core
+{
+
+class Master : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(Master)
+  using CallbackReturnT =
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+  explicit Master(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
+  CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);
+  CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);
+  CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state);
+  CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state);
+  CallbackReturnT on_shutdown(const rclcpp_lifecycle::State & state);
+  CallbackReturnT on_error(const rclcpp_lifecycle::State & state);
+
+protected:
+  std::map<std::string, cs4home_core::CognitiveModule::SharedPtr> cog_modules_;
+};
+
+}  // namespace cs4home_core
+
+#endif  // CS4HOME_CORE__MASTER_HPP_
+
+// #include "rclcpp_components/register_node_macro.hpp"
+//
+// // Register the component with class_loader.
+// // This acts as a sort of entry point, allowing the component to be discoverable when its library
+// // is being loaded into a running process.
+// RCLCPP_COMPONENTS_REGISTER_NODE(cs4home_core::Master)

cs4home_core/include/cs4home_core/Meta.hpp

@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #ifndef CS4HOME_CORE__META_HPP_
 #define CS4HOME_CORE__META_HPP_
 
-#include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/macros.hpp"
 
 namespace cs4home_core
 {

cs4home_core/include/cs4home_core/macros.hpp

@@ -0,0 +1,35 @@
+// Copyright 2024 Intelligent Robotics Lab
+//
+// 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 CS4HOME_CORE__MACROS_HPP_
+#define CS4HOME_CORE__MACROS_HPP_
+
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/macros.hpp"
+
+namespace cs4home_core
+{
+
+#define CS_REGISTER_COMPONENT(class_name) \
+  extern "C" class_name::SharedPtr create_instance( \
+    rclcpp_lifecycle::LifecycleNode::SharedPtr parent) \
+  { \
+    return class_name::make_shared(parent); \
+  }
+
+}  // namespace cs4home_core
+
+#endif  // CS4HOME_CORE__MACROS_HPP_

cs4home_core/package.xml

@@ -14,6 +14,8 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>vision_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>