Refactor/events/v1

.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

@@ -2,16 +2,9 @@
   "name": "capabilities2 jazzy base",
   "dockerFile": "Dockerfile",
   "remoteUser": "ubuntu",
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}"
-  },
   "runArgs": [
-    "--privileged",
     "--network=host"
   ],
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/colcon_ws/${localWorkspaceFolderBasename},type=bind",
-  "workspaceFolder": "/home/ubuntu/colcon_ws",
-  "mounts": [
-    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/ubuntu/.bash_history,type=bind"
-  ]
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/colcon_ws/src/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/home/ubuntu/colcon_ws"
 }

TODO.md

@@ -8,7 +8,12 @@
 - [x] BUG: escape db function variables
 - [ ] close or change communication to launch proxy so that it can't be accessed from ros network
 - [ ] 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
 
@@ -17,3 +22,14 @@
 - [ ] implement provider definition handling in runner
 - [ ] 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/package.xml

@@ -1,25 +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_events/.clang-format

@@ -0,0 +1,64 @@
+
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}

capabilities2_events/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.16)
+project(capabilities2_events)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(capabilities2_msgs REQUIRED)
+
+# uuid
+find_package(PkgConfig)
+pkg_check_modules(UUID REQUIRED uuid)
+
+include_directories(include ${UUID_INCLUDE_DIRS})
+
+# build library
+add_library(${PROJECT_NAME} SHARED
+  src/uuid_generator.cpp
+)
+
+target_link_libraries(${PROJECT_NAME} ${UUID_LIBRARIES})
+
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+  capabilities2_msgs
+  UUID
+)
+
+# install headers
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+# install library
+install(TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+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