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update README.md

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Roman Andrianov 2023-02-09 01:31:50 +08:00
parent 9f27ad0af3
commit 1177140a0c
6 changed files with 382 additions and 19 deletions
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36
env_manager/CMakeLists.txt
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@ -31,7 +31,6 @@ find_package(rcutils REQUIRED)
find_package(glog 0.4.0 REQUIRED)
find_package(Lua 5.3 REQUIRED)
add_library(env_manager STATIC
src/component_manager/component_manager.cpp
src/config/config_file_resolver.cpp
@ -102,14 +101,33 @@ install(
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_cppcheck_FOUND TRUE)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
set(ament_cmake_flake8_FOUND TRUE)
set(ament_cmake_uncrustify_FOUND TRUE)
set(ament_cmake_pep257_FOUND TRUE)
set(ament_cmake_lint_cmake_FOUND TRUE)
set(ament_cmake_xmllint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
#include_directories(test)
#ament_add_gtest(env_manager_test test/general.cpp)
#target_link_libraries(env_manager_test env_manager lua glog)
#set(TEST_TEST_FILES_DIR ${CMAKE_CURRENT_SOURCE_DIR}/test_files)
#set(TEST_LAUNCH_DIR ${CMAKE_CURRENT_SOURCE_DIR}/test_launch_files)
#install(DIRECTORY
# ${TEST_TEST_FILES_DIR}
# DESTINATION share/${PROJECT_NAME}
#)
endif()
ament_export_include_directories(

202
env_manager/LICENSE Normal file
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@ -0,0 +1,202 @@
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
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149
env_manager/README.md
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@ -0,0 +1,149 @@
## Environment Manager
Environment Manager is a package that allow you to create custom environments based on *component*, switch between different environments, synchronization of different environments with each other.
![](docs/assets/env_manager.png)
### Getting Started
To get a local copy up and running follow these simple example steps.
#### Prerequisites
```bash
# install glog
apt-get install libgoogle-glog-dev
#install lua
wget http://www.lua.org/ftp/lua-5.3.1.tar.gz
tar zxf lua-5.3.1.tar.gz
make -C lua-5.3.1 linux && make -C lua-5.3.1 install
```
### Config
Configuration is done by lua.
```lua
-- require configuration table
ENV_MANAGER = {
-- dictionary of environments
environments = {
-- environment to upload with manager
example_environment = {
-- namespace in which all components will be
namespace = "<namespace_name>",
-- dictionary of components needed to upload for current environment
components = {
-- node match one of node in ENV_MANAGER.nodes
example_node = {
-- example libpub_component.so
lib = "<library_name>"
-- name of class which implement example_node logic
class = "<class_name>"
}
},
},
},
-- dictionary of nodes, that will be created by env_manager
nodes = {
-- node for initialization by env_manger
example_node = {
-- node name
name = "<node_name>",
-- one node can produce only one topic/service
type = "<Publisher|Subscriber|Service|Client>",
-- example "std_msgs/String",
msg_type = "<msg_type>",
},
},
}
-- return configuration table
return ENV_MANAGER
```
You can safely use all the feature of `lua` to write configuration.
### Usage
Create component library.
```c++
#include "component_manager/publisher_component.hpp"
#include <chrono>
#include <iostream>
#include <memory>
#include <utility>
#include "rclcpp/rclcpp.hpp"
#include <std_msgs/msg/string.hpp>
namespace pub_component
{
using namespace std::chrono_literals;
class Publisher: public env_manager::component_manager::PublisherComponent<std_msgs::msg::String>
{
public:
explicit Publisher(const rclcpp::NodeOptions &options)
: env_manager::component_manager::PublisherComponent<std_msgs::msg::String>(options)
{
timer_ = create_wall_timer(1s, std::bind(&Publisher::on_timer, this));
}
protected:
void on_timer()
{
auto msg = std::make_unique<std_msgs::msg::String>();
msg->data = "Hello World!";
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str());
std::flush(std::cout);
this->populate_publication(*msg.get());
}
private:
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace pub_component
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(pub_component::Publisher)
```
```cmake
add_library(pub_component SHARED
src/pub_component.cpp)
target_compile_definitions(pub_component
PRIVATE "COMPOSITION_BUILDING_DLL")
ament_target_dependencies(pub_component
"rclcpp"
"env_manager"
"rclcpp_components"
"std_msgs")
rclcpp_components_register_nodes(pub_component "pub_component::Publisher")
set(node_plugins "${node_plugins}pub_component::Publisher;$<TARGET_FILE:pub_component>\n")
```
Add component_library to your configuration file.
```lua
ENV_MANAGER = {
environments = {
example_environment = {
namespace = "<namespace_name>",
components = {
example_node = {
lib = "libpub_component.so"
class = "pub_component::Publisher"
}
},
},
},
nodes = {
example_node = {
name = "<node_name>",
type = "Publisher",
msg_type = "std_msgs/String",
},
},
}
return ENV_MANAGER
```
Start env_manager
```bash
cd ${WS_DIR} && .install/setup.bash
./install/env_manager/lib/env_manager/main
```
### License
Distributed under the Apache 2.0 License. See LICENSE for more information.

6
env_manager/config/config.lua
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@ -7,13 +7,13 @@ include "environments/simulator.lua"
include "environments/ground_true.lua"
-- env_manager configuration
env_manager = {
ENV_MANAGER = {
environments = {
SIMULATOR, GROUND_TRUE
},
nodes = NODES
}
check_nodes(env_manager)
check_nodes(ENV_MANAGER)
return env_manager
return ENV_MANAGER

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8
env_manager/include/config/lua_file_resolver.hpp
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@ -1,13 +1,7 @@
#ifndef ENV_MANAGER_CONFIG_LUA_FILE_RESOLVER_H_
#define ENV_MANAGER_CONFIG_LUA_FILE_RESOLVER_H_
extern "C" {
#include <lua.h>
#include <lauxlib.h>
#include <lualib.h>
}
#include "lua.hpp"
#include <map>
#include <memory>
#include <string>