Develop

.devcontainer/Dockerfile

@@ -27,4 +27,6 @@ RUN rosdep update
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
 
 # make sure folders exist
-RUN mkdir -p ~/colcon_ws/src
+WORKDIR /home/ubuntu/colcon_ws/src
+
+RUN git clone https://github.com/CollaborativeRoboticsLab/capabilities2_test_suite.git

.devcontainer/devcontainer.json

@@ -1,17 +1,10 @@
 {
-  "name": "jazzy base",
+  "name": "capabilities2 jazzy base",
   "dockerFile": "Dockerfile",
   "remoteUser": "ubuntu",
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}"
-  },
   "runArgs": [
-    "--privileged",
     "--network=host"
   ],
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/colcon_ws/src/${localWorkspaceFolderBasename},type=bind",
-  "workspaceFolder": "/home/ubuntu/colcon_ws",
-  "mounts": [
-    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/ubuntu/.bash_history,type=bind"
-  ]
+  "workspaceFolder": "/home/ubuntu/colcon_ws"
 }

.devcontainer/humble/Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:humble
+
+# Add vscode user with same UID and GID as your host system
+# (modified from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+# ubuntu now has a 1000 user ubuntu
+ARG USERNAME=ubuntu
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+
+RUN apt-get update && apt-get upgrade -y \
+    && apt-get install -y \
+    sudo \
+    git \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Switch from root to user
+USER $USERNAME
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+# make sure folders exist
+RUN mkdir -p ~/colcon_ws/src

.devcontainer/humble/devcontainer.json

@@ -0,0 +1,17 @@
+{
+  "name": "humble base",
+  "dockerFile": "Dockerfile",
+  "remoteUser": "ubuntu",
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/colcon_ws/src/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/home/ubuntu/colcon_ws",
+  "mounts": [
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/ubuntu/.bash_history,type=bind"
+  ]
+}

AUTHORS

@@ -1,4 +1,4 @@
 Michael Pritchard
 Thomas Muller-dardelin
 Kalana Rathnayake
-Buddhi Gamage
+Buddhi Gamage

TODO.md

@@ -4,14 +4,32 @@
 
 - [x] names need to be in package/name format everywhere
 - [x] better docs
-- [ ] BUG: escape db function variables
+- [x] BUG: handle "'" in db queries
+- [x] BUG: escape db function variables
 - [ ] close or change communication to launch proxy so that it can't be accessed from ros network
-- [ ] BUG: handle "'" in db queries
+- [ ] BUG: fix issue with connecting to services and actions started using launch proxy
+- [ ] Launch proxy does not work, maybe remove and note as future work, or suggest alternatives
+- [x] add descriptions to packages with TODO in package.xml
+- [ ] standardise trigger prototype
+- [x] bump cmake min version to 3.16
+- [ ] check thread safety for runner execution threads
+- [ ] add note on threaded execution in base trigger function
 
 ## Features
 
+- [x] try using ros package to find exports automatically
+- [x] improve the event system
 - [ ] implement provider definition handling in runner
-- [ ] try using ros package to find exports automatically
-- [ ] improve the event system
 - [ ] move to established db handler lib
 - [ ] better bt runner impl
+- [ ] db traits: identifiable, modifiable, soft_deleteable, header, remappable, predicateable
+
+## Refactoring
+
+- [x] remove fan out project work
+- [x] merge various system runners into base runner package
+- [ ] custom logger needs to be removed
+- [ ] events should be incorporated as core function
+- [ ] server, runner base, api have event
+- [ ] increment package versions
+- [ ] interfaces and providers for cap caps

capabilities2/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.16)
 project(capabilities2)
 find_package(ament_cmake REQUIRED)
 ament_package()

capabilities2/package.xml

@@ -1,24 +1,25 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>capabilities2</name>
-  <version>0.0.1</version>
+  <version>0.2.0</version>
   <description>
-    meta-package for the capabilities2 interface
+    meta-package for the capabilities2 framework
   </description>
 
   <maintainer email="michael.pritchard@canberra.edu.au">Michael Pritchard</maintainer>
-  <maintainer email="mppritchard3@hotmail.com">mik-p</maintainer>
+  <maintainer email="kalana.ratnayakemudiyanselage@canberra.edu.au">Kalana Ratnayake</maintainer>
 
   <author email="michael.pritchard@canberra.edu.au">Michael Pritchard</author>
+  <author email="kalana.ratnayakemudiyanselage@canberra.edu.au">Kalana Ratnayake</author>
 
   <license>MIT</license>
 
-  <url type="repository">https://github.com/AIResearchLab/capabilities2</url>
+  <url type="repository">https://github.com/CollaborativeRoboticsLab/capabilities2</url>
 
   <exec_depend>capabilities2_msgs</exec_depend>
-  <exec_depend>capabilities2_server</exec_depend>
+  <exec_depend>capabilities2_events</exec_depend>
   <exec_depend>capabilities2_runner</exec_depend>
-  <exec_depend>capabilities2_launch_proxy</exec_depend>
+  <exec_depend>capabilities2_server</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

capabilities2_runner_audio/CMakeLists.txt → capabilities2_events/CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.8)
-project(capabilities2_runner_audio)
+cmake_minimum_required(VERSION 3.16)
+project(capabilities2_events)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -13,50 +13,42 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(hri_audio_msgs REQUIRED)
 find_package(capabilities2_msgs REQUIRED)
-find_package(capabilities2_runner REQUIRED)
+
+# uuid
 find_package(PkgConfig)
-pkg_check_modules(TINYXML2 tinyxml2 REQUIRED)
+pkg_check_modules(UUID REQUIRED uuid)
 
-include_directories(include
-${TINYXML2_INCLUDE_DIRS}
-)
+include_directories(include ${UUID_INCLUDE_DIRS})
 
+# build library
 add_library(${PROJECT_NAME} SHARED
-  src/audio_runners.cpp
+  src/uuid_generator.cpp
 )
 
-target_link_libraries(${PROJECT_NAME}
-  ${TINYXML2_LIBRARIES}
-)
+target_link_libraries(${PROJECT_NAME} ${UUID_LIBRARIES})
 
 ament_target_dependencies(${PROJECT_NAME}
   rclcpp
-  rclcpp_action
-  pluginlib
-  hri_audio_msgs
   capabilities2_msgs
-  capabilities2_runner
-  TINYXML2
+  UUID
 )
 
-pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)
+# install headers
+install(DIRECTORY include/
+  DESTINATION include
+)
 
+# install library
 install(TARGETS ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
-install(DIRECTORY include/
-  DESTINATION include
-)
-
 ament_export_include_directories(include)
+ament_export_dependencies(rclcpp capabilities2_msgs)
 ament_export_libraries(${PROJECT_NAME})
 
 ament_package()

capabilities2_events/include/capabilities2_events/event_base.hpp

@@ -0,0 +1,132 @@
+#pragma once
+
+#include <stdexcept>
+#include <string>
+#include <functional>
+
+#include <rclcpp/rclcpp.hpp>
+#include <capabilities2_events/event_parameters.hpp>
+#include <capabilities2_msgs/msg/capability.hpp>
+#include <capabilities2_msgs/msg/capability_event.hpp>
+#include <capabilities2_msgs/msg/capability_event_code.hpp>
+
+namespace capabilities2_events
+{
+/**
+ * @brief event exception
+ *
+ * Base class for event exceptions
+ *
+ */
+struct event_exception : public std::runtime_error
+{
+  using std::runtime_error::runtime_error;
+
+  event_exception(const std::string& what) : std::runtime_error(what)
+  {
+  }
+
+  virtual const char* what() const noexcept override
+  {
+    return std::runtime_error::what();
+  }
+};
+
+/**
+ * @brief event base class
+ *
+ * Represents an event in the capabilities framework.
+ * An event can be triggered to notify other components
+ * about changes in running capability (runners) states.
+ */
+class EventBase
+{
+public:
+  typedef std::string capability_str_t;
+  typedef capabilities2_events::EventParameters parameter_t;
+  typedef std::string access_id_t;
+  typedef std::string target_instance_id_t;
+  typedef std::function<void(const access_id_t&, const capability_str_t&, const target_instance_id_t&, parameter_t)> event_callback_t;
+
+public:
+  EventBase()
+  {
+  }
+
+  ~EventBase() = default;
+
+  /**
+   * @brief emit an event
+   *
+   * an event emission uses a parameterised callback
+   * which lets loosely-coupled capabilities propogate state changes
+   * when a source capability emits an event to a target capability
+   *
+   * @param connection_id connection identifier (format: "bond_id/trigger_id")
+   * @param event_code type of event being emitted
+   * @param source source capability emitting the event
+   * @param target target capability receiving the event
+   * @param callback function to trigger target capability with (capability, parameters, bond_id, target_instance_id)
+   */
+  virtual void emit(const std::string& connection_id, const uint8_t& event_code,
+                    const capabilities2_msgs::msg::Capability& source,
+                    const capabilities2_msgs::msg::Capability& target, event_callback_t callback)
+  {
+    // extract bond_id from connection_id (format: "bond_id/instance_id/target_instance_id")
+    size_t first_pos = connection_id.find('/');
+
+    std::string bond_id = (first_pos != std::string::npos) ? connection_id.substr(0, first_pos) : connection_id;
+
+    // do callback with bond_id for access control
+    if (callback)
+    {
+      callback(bond_id, target.capability, target.instance_id, capabilities2_events::EventParameters(target));
+    }
+  }
+
+  /**
+   * @brief on server ready event
+   *
+   * @param msg
+   */
+  virtual void on_server_ready(const std::string& msg) = 0;
+
+  /**
+   * @brief on process launched event
+   *
+   * @param pid
+   */
+  virtual void on_process_launched(const std::string& pid) = 0;
+
+  /**
+   * @brief on process terminated event
+   *
+   * @param pid
+   */
+  virtual void on_process_terminated(const std::string& pid) = 0;
+
+  /**
+   * @brief on triggered event from server
+   *
+   * @param trigger_id
+   */
+  virtual void on_triggered(const std::string& trigger_id) = 0;
+
+  /**
+   * @brief on connected event from server
+   *
+   * @param source
+   * @param target
+   */
+  virtual void on_connected(const std::string& source, const std::string& target) = 0;
+
+  /**
+   * @brief on disconnected event from server
+   *
+   * @param source
+   * @param target
+   */
+  virtual void on_disconnected(const std::string& source, const std::string& target) = 0;
+};
+
+}  // namespace capabilities2_events