From 040eef64419d8467f5238a15d439b853d2dd9cb0 Mon Sep 17 00:00:00 2001
From: leolol <leoja464@student.liu.se>
Date: Thu, 30 Jan 2025 22:05:31 +0100
Subject: [PATCH] it compiled (somehow)
---
src/dyknow_echo/CMakeLists.txt | 2 +
.../include/dyknow_echo/echoComposition.hpp | 1 -
src/dyknow_echo/src/echoComposition.cpp | 51 ++---
src/dyknow_manager/CMakeLists.txt | 5 +-
.../dyknow_manager/feasibility_matrix.hpp | 1 +
.../dyknow_manager/manager_componet.hpp | 1 -
src/dyknow_manager/src/compunit_helper.cpp | 151 +++++++-------
src/dyknow_manager/src/configuration_node.cpp | 10 +-
.../src/configuration_planner.cpp | 195 +++++++++---------
src/dyknow_manager/src/feasibility_matrix.cpp | 10 +-
src/dyknow_manager/src/manager_componet.cpp | 6 +-
src/dyknow_manager/src/target_spec.cpp | 6 +-
12 files changed, 215 insertions(+), 224 deletions(-)
diff --git a/src/dyknow_echo/CMakeLists.txt b/src/dyknow_echo/CMakeLists.txt
index 25d31a6..1c6d19c 100644
--- a/src/dyknow_echo/CMakeLists.txt
+++ b/src/dyknow_echo/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(rclcpp_components REQUIRED)
find_package(dyknow_nodehandle REQUIRED)
find_package(dyknow_analytics REQUIRED)
find_package(composition_interfaces REQUIRED)
+find_package(example_interfaces REQUIRED)
# include_directories(
# include
@@ -37,6 +38,7 @@ ament_target_dependencies(dyknow_echo_component
dyknow_nodehandle
dyknow_analytics
composition_interfaces
+ example_interfaces
)
# rclcpp_components_register_node(dyknow_echo_component
diff --git a/src/dyknow_echo/include/dyknow_echo/echoComposition.hpp b/src/dyknow_echo/include/dyknow_echo/echoComposition.hpp
index 845c9ab..8ddf821 100644
--- a/src/dyknow_echo/include/dyknow_echo/echoComposition.hpp
+++ b/src/dyknow_echo/include/dyknow_echo/echoComposition.hpp
@@ -13,7 +13,6 @@ class EchoComp {
EchoComp(const rclcpp::NodeOptions & options);
void callback(std::shared_ptr<dyknow_interfaces::msg::Sample>& sample);
-
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() const;
private:
diff --git a/src/dyknow_echo/src/echoComposition.cpp b/src/dyknow_echo/src/echoComposition.cpp
index 5af9000..5707c36 100644
--- a/src/dyknow_echo/src/echoComposition.cpp
+++ b/src/dyknow_echo/src/echoComposition.cpp
@@ -1,6 +1,8 @@
#include "dyknow_echo/echoComposition.hpp"
#include <rclcpp_components/register_node_macro.hpp>
#include <composition_interfaces/srv/load_node.hpp>
+#include "example_interfaces/srv/add_two_ints.hpp"
+
namespace echo {
@@ -13,7 +15,7 @@ namespace echo {
}
node->connectInput("_1", "in");
pub = node->create_publisher<dyknow_interfaces::msg::Sample>(1000);
- node->connectOutput("/1", "out");
+ node->connectOutput("/1", "in");
}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr EchoComp::get_node_base_interface() const
@@ -27,44 +29,31 @@ namespace echo {
//copy.header = sample->header;
//copy.valid_time = sample->valid_time;
copy.test = sample->test;
- RCLCPP_INFO(node->get_logger(), "I LIVE, AM I ALIVE, I AM MEEEEE ");
-
- rclcpp::Client<composition_interfaces::srv::LoadNode>::SharedPtr client = node->create_client<composition_interfaces::srv::LoadNode>("load_node");
- auto loadComponentService = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
- loadComponentService->plugin_name = "AAAAAAA";
-
- // Wait for the service to be available
- if (!client->wait_for_service(std::chrono::seconds(10))) // fun segmentation fault after this timer is up
+ // if the client is incorectly defined here then we will get a segmentation fault, on top of that if the service is not available then we just crash
+ // ros2 service call /ComponentManager/_container/load_node composition_interfaces/srv/LoadNode "{ package_name: "nav2_planner", plugin_name: "nav2_planner::PlannerServer", parameters: [ {name: "global_costmap.global_costmap.resolution", value: { type: 3, double_value: "1.23"}}]}"
+ // ros2 service call /ComponentManager/_container/load_node composition_interfaces/srv/LoadNode "{ package_name: "dyknow_echo", plugin_name: "echo::EchoComp", parameters: []}"
+ rclcpp::Client<composition_interfaces::srv::LoadNode>::SharedPtr client = node->create_client<composition_interfaces::srv::LoadNode>("ComponentManager/_container/load_node");
+ //rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client = node->create_client<example_interfaces::srv::AddTwoInts>("add_two_ints");
+
+ auto loadComponentService = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
+ //auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
+ // request->a = 1;
+ // request->b = 2;
+
+ loadComponentService->package_name = "dyknow_echo";
+ loadComponentService->plugin_name = "echo::EchoComp";
+
+ if (!client->wait_for_service(std::chrono::seconds(10)))
{
RCLCPP_ERROR(node->get_logger(), "Service %s/load_nodelet not available");
return;
}
- RCLCPP_INFO(node->get_logger(), "");
+ RCLCPP_INFO(node->get_logger(), "AAAAAAAAA");
- // Call the service
- try
- {
- auto result = client->async_send_request(loadComponentService);
- if (rclcpp::spin_until_future_complete(this->node, result) ==
- rclcpp::FutureReturnCode::SUCCESS)
- {
- RCLCPP_INFO(this->node->get_logger(), "Successfully spawned nodelet");
- return;
- }
- else
- {
- RCLCPP_ERROR(this->node->get_logger(), "Unable to call service for with source ");
- return;
- }
- }
- catch (const std::exception &e)
- {
- RCLCPP_ERROR(this->node->get_logger(), "Exception while calling service: %s", e.what());
- return;
- }
+ auto result = client->async_send_request(loadComponentService);
pub.publish(copy);
}
diff --git a/src/dyknow_manager/CMakeLists.txt b/src/dyknow_manager/CMakeLists.txt
index 91df589..5a936cf 100644
--- a/src/dyknow_manager/CMakeLists.txt
+++ b/src/dyknow_manager/CMakeLists.txt
@@ -22,7 +22,10 @@ add_library(${PROJECT_NAME} SHARED
src/environment.cpp
src/change.cpp
src/compunit_helper.cpp
-
+ src/configuration_planner.cpp
+ src/feasibility_matrix.cpp
+ src/configuration_node.cpp
+ src/target_spec.cpp
) # this should be all the source files that are requierd for compiling the lib
diff --git a/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp b/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp
index 383d4f4..dc72160 100644
--- a/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp
+++ b/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp
@@ -3,6 +3,7 @@
#include <rclcpp/rclcpp.hpp>
#include "transformation_spec.hpp"
+#include <climits>
namespace dyknow {
diff --git a/src/dyknow_manager/include/dyknow_manager/manager_componet.hpp b/src/dyknow_manager/include/dyknow_manager/manager_componet.hpp
index f336019..d2bb1b8 100644
--- a/src/dyknow_manager/include/dyknow_manager/manager_componet.hpp
+++ b/src/dyknow_manager/include/dyknow_manager/manager_componet.hpp
@@ -18,7 +18,6 @@ class ManagerComponet {
private:
std::shared_ptr<dyknow::Node> node;
std::shared_ptr<dyknow::ConfigurationManager> configManPtr;
-
};
} //namespace manager
diff --git a/src/dyknow_manager/src/compunit_helper.cpp b/src/dyknow_manager/src/compunit_helper.cpp
index 11bf653..d04f311 100644
--- a/src/dyknow_manager/src/compunit_helper.cpp
+++ b/src/dyknow_manager/src/compunit_helper.cpp
@@ -8,89 +8,86 @@ bool CompUnitHelper::spawn(std::shared_ptr<dyknow::Node> nh, const std::string&
return false;
}
-
- // ros2 run rclcpp_components component_container
- // ros2 service call /ComponentManager/_container/load_node composition_interfaces/srv/LoadNode "{ package_name: "nav2_planner", plugin_name: "nav2_planner::PlannerServer", parameters: [ {name: "global_costmap.global_costmap.resolution", value: { type: 3, double_value: "1.23"}}]}"
- // above is the special sause that we will use to make this work, we need to at this point call a service from a component that we can use to lanuch another component
-
- rclcpp::Client<composition_interfaces::srv::LoadNode>::SharedPtr client = nh->create_client<composition_interfaces::srv::LoadNode>("load_node");
-
- //composition_interfaces::srv::LoadNode loadComponentService;
- auto loadComponentService = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
-
- loadComponentService->plugin_name = name;
- //loadComponentService.request.type = source;
- //loadComponentService.request.my_argv = args;
-
- if (client.call(loadNodeletService))
- {
- RCLCPP_INFO(nh->get_logger(), "Successfully spawned nodelet %s", name.c_str());
- return true;
- }
- else
- {
- RCLCPP_ERROR(nh->get_logger(), "Unable to call service for %s with source %s", name.c_str(), source.c_str());
- return false;
- }
+ rclcpp::Client<composition_interfaces::srv::LoadNode>::SharedPtr client = nh->create_client<composition_interfaces::srv::LoadNode>("ComponentManager/_container/load_node");
+
+ auto loadComponentRequest = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
+
+ loadComponentRequest->plugin_name = name;
+ //loadComponentRequest.request.type = source;
+ //loadComponentRequest.request.my_argv = args;
+
+ // if (client->async_send_request(loadComponentRequest))
+ // {
+ // RCLCPP_INFO(nh->get_logger(), "Successfully spawned nodelet %s", name.c_str());
+ // return true;
+ // }
+ // else
+ // {
+ // RCLCPP_ERROR(nh->get_logger(), "Unable to call service for %s with source %s", name.c_str(), source.c_str());
+ // return false;
+ // }
+ return false;
}
bool CompUnitHelper::configure(std::shared_ptr<dyknow::Node> nh, const std::string& manager, std::string name, std::map<std::string, std::string> inputMap, std::map<std::string, std::string> outputMap) {
- ros::ServiceClient client = nh.serviceClient<dyknow_nodehandle::Configure>("/"+name+"/set_config");
- dyknow_nodehandle::Configure configureService;
-
- //std::pair<std::string, std::string> elem;
- for_each(outputMap.begin(), outputMap.end(), [&configureService](std::pair<std::string, std::string> elem) {
- configureService.request.config.out_names.push_back(elem.second);
- configureService.request.config.out_channels.push_back(elem.first);
- });
-
- for_each(inputMap.begin(), inputMap.end(), [&configureService](std::pair<std::string, std::string> elem) {
- configureService.request.config.in_names.push_back(elem.second);
- configureService.request.config.in_channels.push_back(elem.first);
- });
-
- configureService.request.config.manager = manager;
-
- if (client.call(configureService))
- {
- if(!configureService.response.success) {
- RCLCPP_ERROR(nh->get_logger(), "Failed to configure nodelet %s", name.c_str());
- }
- else {
- RCLCPP_INFO(nh->get_logger(), "Successfully configured nodelet %s", name.c_str());
- }
- return true;
- }
- else
- {
- RCLCPP_ERROR(nh->get_logger(), "Unable to configure nodelet %s", name.c_str());
- return false;
- }
+ return false;
+ // ros::ServiceClient client = nh.serviceClient<dyknow_nodehandle::Configure>("/"+name+"/set_config");
+ // dyknow_nodehandle::Configure configureService;
+
+ // //std::pair<std::string, std::string> elem;
+ // for_each(outputMap.begin(), outputMap.end(), [&configureService](std::pair<std::string, std::string> elem) {
+ // configureService.request.config.out_names.push_back(elem.second);
+ // configureService.request.config.out_channels.push_back(elem.first);
+ // });
+
+ // for_each(inputMap.begin(), inputMap.end(), [&configureService](std::pair<std::string, std::string> elem) {
+ // configureService.request.config.in_names.push_back(elem.second);
+ // configureService.request.config.in_channels.push_back(elem.first);
+ // });
+
+ // configureService.request.config.manager = manager;
+
+ // if (client.call(configureService))
+ // {
+ // if(!configureService.response.success) {
+ // RCLCPP_ERROR(nh->get_logger(), "Failed to configure nodelet %s", name.c_str());
+ // }
+ // else {
+ // RCLCPP_INFO(nh->get_logger(), "Successfully configured nodelet %s", name.c_str());
+ // }
+ // return true;
+ // }
+ // else
+ // {
+ // RCLCPP_ERROR(nh->get_logger(), "Unable to configure nodelet %s", name.c_str());
+ // return false;
+ // }
}
bool CompUnitHelper::destroy(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& name) {
- ros::ServiceClient unloadClient = nh.serviceClient<nodelet::NodeletUnload>("/" + manager + "/unload_nodelet");
- nodelet::NodeletUnload unloadService;
-
- // Call unload service
- unloadService.request.name = name.c_str();
-
- if (unloadClient.call(unloadService))
- {
- if(!unloadService.response.success) {
- RCLCPP_ERROR(nh->get_logger(), "Unable to unload nodelet %s: failure while unloading", name.c_str());
- return false;
- }
- else {
- RCLCPP_INFO(nh->get_logger(), "Successfully unloaded nodelet %s", name.c_str());
- return true;
- }
- }
- else
- {
- RCLCPP_ERROR(nh->get_logger(), "Unable to unload nodelet %s: service unavailable", name.c_str());
- return false;
- }
+ return false;
+ // ros::ServiceClient unloadClient = nh.serviceClient<nodelet::NodeletUnload>("/" + manager + "/unload_nodelet");
+ // nodelet::NodeletUnload unloadService;
+
+ // // Call unload service
+ // unloadService.request.name = name.c_str();
+
+ // if (unloadClient.call(unloadService))
+ // {
+ // if(!unloadService.response.success) {
+ // RCLCPP_ERROR(nh->get_logger(), "Unable to unload nodelet %s: failure while unloading", name.c_str());
+ // return false;
+ // }
+ // else {
+ // RCLCPP_INFO(nh->get_logger(), "Successfully unloaded nodelet %s", name.c_str());
+ // return true;
+ // }
+ // }
+ // else
+ // {
+ // RCLCPP_ERROR(nh->get_logger(), "Unable to unload nodelet %s: service unavailable", name.c_str());
+ // return false;
+ // }
}
} //namespace
diff --git a/src/dyknow_manager/src/configuration_node.cpp b/src/dyknow_manager/src/configuration_node.cpp
index 9d674c1..caa7b15 100644
--- a/src/dyknow_manager/src/configuration_node.cpp
+++ b/src/dyknow_manager/src/configuration_node.cpp
@@ -1,4 +1,4 @@
-#include "configuration_node.hpp"
+#include "dyknow_manager/configuration_node.hpp"
namespace dyknow {
@@ -23,10 +23,10 @@ ConfigurationNode::ConfigurationNode(ConfigurationNode* parentPtr, Transformatio
}
ConfigurationNode::~ConfigurationNode() {
- std::pair<int, std::vector<ConfigurationNode*> > pair;
- BOOST_FOREACH(pair, optionMap) {
- ConfigurationNode* node;
- BOOST_FOREACH(node, pair.second) {
+ //std::pair<int, std::vector<ConfigurationNode*> > pair;
+ for(std::pair<int, std::vector<ConfigurationNode*> > pair : optionMap) {
+ //ConfigurationNode* node;
+ for (ConfigurationNode* node : pair.second) {
delete node;
}
}
diff --git a/src/dyknow_manager/src/configuration_planner.cpp b/src/dyknow_manager/src/configuration_planner.cpp
index 1f650ef..2cfcead 100644
--- a/src/dyknow_manager/src/configuration_planner.cpp
+++ b/src/dyknow_manager/src/configuration_planner.cpp
@@ -1,4 +1,4 @@
-#include "configuration_planner.hpp"
+#include "dyknow_manager/configuration_planner.hpp"
namespace dyknow {
@@ -22,15 +22,15 @@ Change ConfigurationPlanner::optimise(std::vector<TargetSpec> targets, Computati
std::vector<TransformationSpec> targetTransforms;
std::vector<int> targetPorts;
- TargetSpec target;
- BOOST_FOREACH(target, targets) {
- TransformationSpec spec;
- BOOST_FOREACH(spec, graph.transformations) {
+ //TargetSpec target;
+ for (TargetSpec target : targets) {
+ //TransformationSpec spec;
+ for (TransformationSpec spec : graph.transformations) {
if(target.id == spec.id) {
targetTransforms.push_back(spec);
targetPorts.push_back(target.port);
futurePublisherMap[concat(spec.label, "/"+to_string(target.port+1))] = target.topic;
- ROS_ERROR("Setting target: %s", concat(spec.label, "/"+(target.port+1)).c_str());
+ RCLCPP_INFO(nh->get_logger(), "Setting target: %s", concat(spec.label, "/"+(target.port+1)).c_str());
break;
}
}
@@ -48,19 +48,19 @@ Change ConfigurationPlanner::optimise(std::vector<TargetSpec> targets, Computati
// Check for new options for the target
expandTransformation(root, matrix, queue, i, std::vector<TransformationSpec>(), targetCandidates, update);
- if(verbosity >= 9) ROS_INFO("Added target %s/%i (arity: %lu)", targetTransforms[i].label.c_str(), targetPorts[i]+1, targetTransforms[i].inPorts.size());
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Added target %s/%i (arity: %lu)", targetTransforms[i].label.c_str(), targetPorts[i]+1, targetTransforms[i].inPorts.size());
}
int depth = 1;
int range = queue.size();
- if(verbosity >= 3) ROS_INFO("Entering depth: %i", depth);
- while(expansionCount < MAX_EXPANSIONS && (ros::Time::now() - startTime).toSec() < MAX_TIME_SEC && !queue.empty()) {
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"Entering depth: %i", depth);
+ while(expansionCount < MAX_EXPANSIONS && (nh->now() - startTime).seconds() < MAX_TIME_SEC && !queue.empty()) {
if(range == 0) {
- depthExpansionTime.push_back(ros::Time::now()-startTime);
+ depthExpansionTime.push_back(nh->now()-startTime);
depthExpansionIndex.push_back(expansionCount-1);
depth++;
range = queue.size();
- if(verbosity >= 3) ROS_INFO("Entering depth %i", depth);
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"Entering depth %i", depth);
}
ConfigurationNode* node = queue.front();
@@ -68,7 +68,7 @@ Change ConfigurationPlanner::optimise(std::vector<TargetSpec> targets, Computati
range--;
std::queue<ConfigurationNode*> expansion = expand(node, graph, matrix, verbosity);
- if(verbosity >= 9) ROS_INFO("Adding %lu elements to the queue", expansion.size());
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Adding %lu elements to the queue", expansion.size());
while(!expansion.empty()) {
queue.push(expansion.front());
expansion.pop();
@@ -76,94 +76,94 @@ Change ConfigurationPlanner::optimise(std::vector<TargetSpec> targets, Computati
}
// Performance reporting
- if(verbosity >= 2) ROS_INFO("Done (%i expansions at %f sec)", expansionCount, (ros::Time::now()-startTime).toSec());
+ if(verbosity >= 2) RCLCPP_INFO(nh->get_logger(),"Done (%i expansions at %f sec)", expansionCount, (nh->now()-startTime).seconds());
if(verbosity >= 2) {
if(root->cost <= ConfigurationNode::MAX_COST) {
- ROS_INFO("Found total solution: %f", root->cost);
- ROS_INFO("---Score change---");
+ RCLCPP_INFO(nh->get_logger(),"Found total solution: %f", root->cost);
+ RCLCPP_INFO(nh->get_logger(),"---Score change---");
for(int index = 0 ; index < costIndex.size(); index++) {
- ROS_INFO("%i:\t%f\t [%f sec]", costIndex[index], costChange[index], costTime[index].toSec());
+ RCLCPP_INFO(nh->get_logger(),"%i:\t%f\t [%f sec]", costIndex[index], costChange[index], costTime[index].seconds());
}
- ROS_INFO("------------------");
+ RCLCPP_INFO(nh->get_logger(),"------------------");
}
else {
- ROS_INFO("No total solution found");
+ RCLCPP_INFO(nh->get_logger(),"No total solution found");
}
- ROS_INFO("------Target scores------");
- std::pair<int, ConfigurationNode*> bestElem;
- BOOST_FOREACH(bestElem, root->bestMap) {
- ROS_INFO("%i:\t%f", bestElem.first+1, bestElem.second->cost);
+ RCLCPP_INFO(nh->get_logger(),"------Target scores------");
+ // std::pair<int, ConfigurationNode*> bestElem;
+ for (std::pair<int, ConfigurationNode*> bestElem : root->bestMap) {
+ RCLCPP_INFO(nh->get_logger(),"%i:\t%f", bestElem.first+1, bestElem.second->cost);
}
- ROS_INFO("----------------------------");
+ RCLCPP_INFO(nh->get_logger(),"----------------------------");
- ROS_INFO("------Expansion depths------");
+ RCLCPP_INFO(nh->get_logger(),"------Expansion depths------");
for(int index = 0 ; index < depthExpansionIndex.size(); index++) {
- ROS_INFO("%i:\t%i\t [%f sec]", index, depthExpansionIndex[index], depthExpansionTime[index].toSec());
+ RCLCPP_INFO(nh->get_logger(),"%i:\t%i\t [%f sec]", index, depthExpansionIndex[index], depthExpansionTime[index].seconds());
}
- ROS_INFO("----------------------------");
+ RCLCPP_INFO(nh->get_logger(),"----------------------------");
}
root->print();
// Post-processing to remove duplicate subtrees
- ros::Time postProcessStartTime = ros::Time::now();
+ rclcpp::Time postProcessStartTime = nh->now();
generateIndex(root, verbosity);
- ros::Time postProcessEndTime = ros::Time::now();
+ rclcpp::Time postProcessEndTime = nh->now();
root->print();
// Convert resulting tree into delta
- ros::Time changeGenStartTime = ros::Time::now();
+ rclcpp::Time changeGenStartTime = nh->now();
Change delta;
- std::pair<int, ConfigurationNode*> bestElem;
- BOOST_FOREACH(bestElem, root->bestMap) {
+ //std::pair<int, ConfigurationNode*> bestElem;
+ for (std::pair<int, ConfigurationNode*> bestElem : root->bestMap) {
generateChange(delta, bestElem.second, createUniqueName("stream"), graph, verbosity);
}
- ros::Time changeGenEndTime = ros::Time::now();
+ rclcpp::Time changeGenEndTime = nh->now();
// Eliminate CUs if they are unused and unprotected
- ros::Time gcStartTime = ros::Time::now();
+ rclcpp::Time gcStartTime = nh->now();
// garbageCollect(delta, graph, verbosity);
- if(verbosity >= 2) ROS_INFO("Constructed delta of size %i", delta.size());
- ros::Time gcEndTime = ros::Time::now();
+ if(verbosity >= 2) RCLCPP_INFO(nh->get_logger(),"Constructed delta of size %i", delta.size());
+ rclcpp::Time gcEndTime = nh->now();
if(verbosity >= 2) {
- ROS_INFO("---Method performance---");
- ros::Duration expandTime;
+ RCLCPP_INFO(nh->get_logger(),"---Method performance---");
+ rclcpp::Duration expandTime = rclcpp::Duration::from_seconds(0.0);
for(int index = 0; index < expandTimes.size(); index++ ) {
expandTime += expandTimes[index];
}
- ROS_INFO("Expansion:\t\t%f sec", expandTimes.size() > 0 ? expandTime.toSec() / (double)expandTimes.size() : 0.0);
+ RCLCPP_INFO(nh->get_logger(),"Expansion:\t\t%f sec", expandTimes.size() > 0 ? expandTime.seconds() / (double)expandTimes.size() : 0.0);
- ros::Duration expandCUTime;
+ rclcpp::Duration expandCUTime = rclcpp::Duration::from_seconds(0.0);
for(int index = 0; index < expandCUTimes.size(); index++ ) {
expandCUTime += expandCUTimes[index];
}
- ROS_INFO("\tCU expansion:\t%f sec", expandCUTimes.size() > 0 ? expandCUTime.toSec() / (double)expandCUTimes.size() : 0.0);
+ RCLCPP_INFO(nh->get_logger(),"\tCU expansion:\t%f sec", expandCUTimes.size() > 0 ? expandCUTime.seconds() / (double)expandCUTimes.size() : 0.0);
- ros::Duration expandTFTime;
+ rclcpp::Duration expandTFTime = rclcpp::Duration::from_seconds(0.0);
for(int index = 0; index < expandTFTimes.size(); index++ ) {
expandTFTime += expandTFTimes[index];
}
- ROS_INFO("\tTF expansion:\t%f sec", expandTFTimes.size() > 0 ? expandTFTime.toSec() / (double)expandTFTimes.size() : 0.0);
+ RCLCPP_INFO(nh->get_logger(),"\tTF expansion:\t%f sec", expandTFTimes.size() > 0 ? expandTFTime.seconds() / (double)expandTFTimes.size() : 0.0);
- ros::Duration updateTime;
+ rclcpp::Duration updateTime = rclcpp::Duration::from_seconds(0.0);
for(int index = 0; index < updateTimes.size(); index++ ) {
updateTime += updateTimes[index];
}
- ROS_INFO("\tUpdate:\t\t%f sec", updateTimes.size() > 0 ? updateTime.toSec() / (double)updateTimes.size() : 0.0);
+ RCLCPP_INFO(nh->get_logger(),"\tUpdate:\t\t%f sec", updateTimes.size() > 0 ? updateTime.seconds() / (double)updateTimes.size() : 0.0);
- ros::Duration postProcessTime = postProcessEndTime - postProcessStartTime;
- ROS_INFO("Post-process:\t\t%f sec", postProcessTime.toSec());
+ rclcpp::Duration postProcessTime = postProcessEndTime - postProcessStartTime;
+ RCLCPP_INFO(nh->get_logger(),"Post-process:\t\t%f sec", postProcessTime.seconds());
- ros::Duration generateChangeTime = changeGenEndTime - changeGenStartTime;
- ROS_INFO("Change generation:\t%f sec", generateChangeTime.toSec());
+ rclcpp::Duration generateChangeTime = changeGenEndTime - changeGenStartTime;
+ RCLCPP_INFO(nh->get_logger(),"Change generation:\t%f sec", generateChangeTime.seconds());
- ros::Duration garbageCollectTime = gcEndTime - gcStartTime;
- ROS_INFO("Garbage collection:\t%f sec", garbageCollectTime.toSec());
+ rclcpp::Duration garbageCollectTime = gcEndTime - gcStartTime;
+ RCLCPP_INFO(nh->get_logger(),"Garbage collection:\t%f sec", garbageCollectTime.seconds());
- ROS_INFO("----------------------------");
+ RCLCPP_INFO(nh->get_logger(),"----------------------------");
}
// Clean and return result
@@ -176,7 +176,7 @@ Change ConfigurationPlanner::optimise(std::vector<TargetSpec> targets, Computati
}
std::queue<ConfigurationNode*> ConfigurationPlanner::expand(ConfigurationNode* nodePtr, ComputationGraph& graph, FeasibilityMatrix& matrix, unsigned int verbosity) {
- ros::Time expandStart = ros::Time::now();
+ rclcpp::Time expandStart = nh->now();
std::queue<ConfigurationNode*> result;
int arity = nodePtr->type.inPorts.size();
bool update = false;
@@ -188,11 +188,11 @@ std::queue<ConfigurationNode*> ConfigurationPlanner::expand(ConfigurationNode* n
// Iterate over arguments
for(int i = 0 ; i < arity ; i++) {
std::vector<Port> candidates = matrix.getValid(Port(nodePtr->type.id, i));
- ros::Time expandCUStart = ros::Time::now();
+ rclcpp::Time expandCUStart = nh->now();
expandCompUnit(nodePtr, graph, matrix, result, i, ancestors, candidates, update, verbosity);
- ros::Time expandTFStart = ros::Time::now();
+ rclcpp::Time expandTFStart = nh->now();
expandTransformation(nodePtr, matrix, result, i, ancestors, candidates, update, verbosity);
- ros::Time expandFinish = ros::Time::now();
+ rclcpp::Time expandFinish = nh->now();
expandCUTimes.push_back(expandTFStart - expandCUStart);
expandTFTimes.push_back(expandFinish - expandTFStart);
@@ -200,15 +200,15 @@ std::queue<ConfigurationNode*> ConfigurationPlanner::expand(ConfigurationNode* n
// Only update when needed
if(update) {
- ros::Time updateStart = ros::Time::now();
+ rclcpp::Time updateStart = nh->now();
this->update(nodePtr, matrix);
- ros::Time updateFinish = ros::Time::now();
+ rclcpp::Time updateFinish = nh->now();
updateTimes.push_back(updateFinish - updateStart);
}
- if(verbosity >= 9) ROS_INFO("Expansion count: %i", expansionCount);
- ros::Time expandFinish = ros::Time::now();
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Expansion count: %i", expansionCount);
+ rclcpp::Time expandFinish = nh->now();
expandTimes.push_back(expandFinish - expandStart); //TODO: Move timers
return result;
}
@@ -219,17 +219,17 @@ void ConfigurationPlanner::expandCompUnit(ConfigurationNode* nodePtr, Computatio
// Consider using computation units
double bestCost = nodePtr->hasBest(index) ? nodePtr->bestMap[index]->cost : ConfigurationNode::MAX_COST + 1;
- Port candidate;
- BOOST_FOREACH(candidate, candidates) {
+ // Port candidate;
+ for (Port candidate : candidates) {
TransformationSpec candidateSpec = matrix.decode(candidate);
if(candidateSpec.id < 0) { continue; }
-// if(verbosity >= 9) ROS_INFO("Considering (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
+// if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Considering (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
ComputationUnit compUnit;
- BOOST_FOREACH(compUnit, graph.computationUnits) {
+ for (ComputationUnit compUnit : graph.computationUnits) {
if(candidateSpec.label == compUnit.type && find(ancestors.begin(), ancestors.end(), candidateSpec) == ancestors.end()) {
- if(verbosity >= 9) { ROS_INFO("Found matching computation unit %s for transformation %s with port /%i", compUnit.name.c_str(), candidateSpec.label.c_str(), candidate.second+1); }
+ if(verbosity >= 9) { RCLCPP_INFO(nh->get_logger(),"Found matching computation unit %s for transformation %s with port /%i", compUnit.name.c_str(), candidateSpec.label.c_str(), candidate.second+1); }
TransformationSpec spec;
@@ -247,7 +247,7 @@ void ConfigurationPlanner::expandCompUnit(ConfigurationNode* nodePtr, Computatio
expansionCount++;
int optionArity = spec.inPorts.size();
nodePtr->addOption(option, index);
- if(verbosity >= 9) ROS_INFO("Using (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Using (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
if(optionArity > 0) {
queue.push(option);
}
@@ -270,13 +270,13 @@ void ConfigurationPlanner::expandTransformation(ConfigurationNode* nodePtr, Feas
// Consider using a new instance
double bestCost = nodePtr->hasBest(index) ? nodePtr->bestMap[index]->cost : ConfigurationNode::MAX_COST + 1;
- Port candidate;
- BOOST_FOREACH(candidate, candidates) {
+ //Port candidate;
+ for (Port candidate : candidates) {
TransformationSpec candidateSpec = matrix.decode(candidate);
-// if(verbosity >= 9) ROS_INFO("Considering (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
+// if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Considering (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
if(find(ancestors.begin(), ancestors.end(), candidateSpec) != ancestors.end()) {
// Not allowed to reuse this transformation along this path
- if(verbosity >= 3) ROS_INFO("May not reuse: %s (skipping)", candidateSpec.label.c_str());
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"May not reuse: %s (skipping)", candidateSpec.label.c_str());
continue;
}
@@ -288,7 +288,7 @@ void ConfigurationPlanner::expandTransformation(ConfigurationNode* nodePtr, Feas
expansionCount++;
int optionArity = candidateSpec.inPorts.size();
nodePtr->addOption(option, index);
- if(verbosity >= 9) ROS_INFO("Using (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Using (%s, /%i | arity: %lu) as input for (%s, _%i | arity: %lu)", candidateSpec.label.c_str(), candidate.second, candidateSpec.inPorts.size(), nodePtr->type.label.c_str(), index, nodePtr->type.inPorts.size());
if(optionArity > 0) {
queue.push(option);
}
@@ -310,16 +310,16 @@ void ConfigurationPlanner::update(ConfigurationNode* nodePtr, FeasibilityMatrix&
for(int i = 0 ; i < arity ; i++) {
std::vector<ConfigurationNode*> options;
if(nodePtr->hasOptions(i)) { options = nodePtr->optionMap[i]; }
- ConfigurationNode* option;
- BOOST_FOREACH(option, options) {
+ //ConfigurationNode* option;
+ for (ConfigurationNode* option : options) {
double newCost = option->cost;
double best = nodePtr->hasBest(i) ? nodePtr->bestMap[i]->cost : ConfigurationNode::MAX_COST+1;
if(newCost < best) {
nodePtr->bestMap[i] = option;
- if(verbosity >= 9) ROS_INFO("New best (%s): %f < %f", option->type.label.c_str(), newCost, best);
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"New best (%s): %f < %f", option->type.label.c_str(), newCost, best);
}
else {
- if(verbosity >= 9) ROS_INFO("Old best (%s): %f is not better than %f", option->type.label.c_str(), newCost, best);
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Old best (%s): %f is not better than %f", option->type.label.c_str(), newCost, best);
}
}
@@ -331,7 +331,7 @@ void ConfigurationPlanner::update(ConfigurationNode* nodePtr, FeasibilityMatrix&
cost = ConfigurationNode::MAX_COST+1;
}
}
- if(verbosity >= 9) ROS_INFO("New cost (%s): %f", nodePtr->type.label.c_str(), cost);
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"New cost (%s): %f", nodePtr->type.label.c_str(), cost);
if(cascade) {
nodePtr->cost = cost;
@@ -339,11 +339,11 @@ void ConfigurationPlanner::update(ConfigurationNode* nodePtr, FeasibilityMatrix&
}
if(nodePtr->parentPtr == NULL && prevBest != nodePtr->cost) {
- if(verbosity >= 9) ROS_INFO("***** Found solution with cost %f *****", nodePtr->cost);
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"***** Found solution with cost %f *****", nodePtr->cost);
prevBest = nodePtr->cost;
costChange.push_back(nodePtr->cost);
costIndex.push_back(expansionCount);
- costTime.push_back(ros::Time::now() - startTime);
+ costTime.push_back(nh->now() - startTime);
}
}
@@ -351,7 +351,7 @@ void ConfigurationPlanner::generateChange(Change& change, ConfigurationNode* nod
// Futures are placeholders that cannot be configured
if(nodePtr->isFuture()) {
- if(verbosity >= 9) ROS_INFO("Skipping future %s", nodePtr->type.source.c_str() );
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Skipping future %s", nodePtr->type.source.c_str() );
return;
}
@@ -388,7 +388,7 @@ void ConfigurationPlanner::generateChange(Change& change, ConfigurationNode* nod
else {
std::string key = nodePtr->type.type == NODELET ? nodePtr->type.label : nodePtr->type.source;
futurePublisherMap[concat(key, outPort)] = outStream;
- if(verbosity >= 9) ROS_INFO("Setting future: %s => %s", concat(key, outPort).c_str(), outStream.c_str());
+ if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Setting future: %s => %s", concat(key, outPort).c_str(), outStream.c_str());
out[outPort] = outStream;
}
@@ -397,7 +397,7 @@ void ConfigurationPlanner::generateChange(Change& change, ConfigurationNode* nod
std::map<std::string, std::string> in;
if(!futureNode) {
std::pair<int, ConfigurationNode*> bestElem;
- BOOST_FOREACH(bestElem, nodePtr->bestMap) {
+ for(std::pair<int, ConfigurationNode*> bestElem : nodePtr->bestMap) {
std::string inPort = "_" + to_string(bestElem.first+1);
if(bestElem.second->type.type == NODELET) {
// Create a new stream unless a target overrides it
@@ -421,15 +421,15 @@ void ConfigurationPlanner::generateChange(Change& change, ConfigurationNode* nod
// }
// else {
// futurePublisherMap[concat(bestElem.second->type.source, outPort)] = streamName;
-// if(verbosity >= 9) ROS_INFO("Setting future: %s => %s", concat(bestElem.second->type.source, outPort).c_str(), streamName.c_str());
+// if(verbosity >= 9) RCLCPP_INFO(nh->get_logger(),"Setting future: %s => %s", concat(bestElem.second->type.source, outPort).c_str(), streamName.c_str());
// }
- if(verbosity >= 3) ROS_INFO("Using future stream %s for port %s of CU %s", streamName.c_str(), inPort.c_str(), name.c_str());
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"Using future stream %s for port %s of CU %s", streamName.c_str(), inPort.c_str(), name.c_str());
}
else {
// Acquire stream name from known graph
std::string cuName = bestElem.second->type.label;
std::pair<std::string, std::string> pair;
- BOOST_FOREACH(pair, graph.generatorMap[cuName]) {
+ for ( std::pair<std::string, std::string> pair : graph.generatorMap[cuName]) {
std::string bestOutPort = "/" + to_string(bestElem.second->outPort+1);
if(pair.first.compare(bestOutPort) == 0) {
streamName = pair.second;
@@ -451,17 +451,17 @@ void ConfigurationPlanner::generateChange(Change& change, ConfigurationNode* nod
change.add(configureCmdPtr);
if(verbosity >= 3) {
- std::pair<std::string, std::string> pair;
- BOOST_FOREACH(pair, in) {
- ROS_INFO("Setting %s incoming:\t%s (%s)", name.c_str(), pair.second.c_str(), pair.first.c_str());
+ // std::pair<std::string, std::string> pair;
+ for (std::pair<std::string, std::string> pair : in) {
+ RCLCPP_INFO(nh->get_logger(),"Setting %s incoming:\t%s (%s)", name.c_str(), pair.second.c_str(), pair.first.c_str());
}
- BOOST_FOREACH(pair, out) {
- ROS_INFO("Setting %s outgoing:\t%s (%s)", name.c_str(), pair.second.c_str(), pair.first.c_str());
+ for (std::pair<std::string, std::string> pair : out) {
+ RCLCPP_INFO(nh->get_logger(),"Setting %s outgoing:\t%s (%s)", name.c_str(), pair.second.c_str(), pair.first.c_str());
}
}
if(nodePtr->type.type == COMPUNIT) {
- if(verbosity >= 3) ROS_INFO("Protecting CU %s", name.c_str());
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"Protecting CU %s", name.c_str());
protections.push_back(name);
}
}
@@ -470,7 +470,7 @@ void ConfigurationPlanner::garbageCollect(Change& change, ComputationGraph& grap
for(int i = 0; i < graph.computationUnits.size(); i++) {
if(find(protections.begin(), protections.end(), graph.computationUnits[i].name) == protections.end()) {
// Allowed to remove this CU
- if(verbosity >= 3) ROS_INFO("Marking CU %s for unloading", graph.computationUnits[i].name.c_str());
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"Marking CU %s for unloading", graph.computationUnits[i].name.c_str());
DestroyCommand* destroyCmdPtr = new DestroyCommand(graph.computationUnits[i].name);
change.add(destroyCmdPtr);
@@ -480,11 +480,11 @@ void ConfigurationPlanner::garbageCollect(Change& change, ComputationGraph& grap
void ConfigurationPlanner::generateIndex(ConfigurationNode* nodePtr, unsigned int verbosity) {
- std::pair<int, ConfigurationNode*> bestCandidate;
- BOOST_FOREACH(bestCandidate, nodePtr->bestMap) {
+ // std::pair<int, ConfigurationNode*> bestCandidate;
+ for (std::pair<int, ConfigurationNode*> bestCandidate : nodePtr->bestMap) {
if(nodePtr->isRoot() && bestCandidate.second->cost > ConfigurationNode::MAX_COST) {
// Exclude invalid subtrees
- ROS_WARN("No solution for target %s at root port %i; skipping", bestCandidate.second->type.label.c_str(), bestCandidate.first);
+ RCLCPP_WARN(nh->get_logger(), "No solution for target %s at root port %i; skipping", bestCandidate.second->type.label.c_str(), bestCandidate.first);
continue;
}
@@ -496,7 +496,7 @@ void ConfigurationPlanner::generateIndex(ConfigurationNode* nodePtr, unsigned in
if(portIndex.count(portLabel) == 0) {
// Index this key to guard for duplication
portIndex[portLabel] = bestCandidate.second;
- if(verbosity >=9) ROS_INFO("Guarding %s for duplication", portLabel.c_str());
+ if(verbosity >=9) RCLCPP_INFO(nh->get_logger(),"Guarding %s for duplication", portLabel.c_str());
// Recursively apply subtree removal
generateIndex(bestCandidate.second, verbosity);
@@ -504,7 +504,7 @@ void ConfigurationPlanner::generateIndex(ConfigurationNode* nodePtr, unsigned in
else {
// Found a duplicate subtree; replace with future CU
- if(verbosity >= 3) ROS_INFO("Swapping duplicate tree with root %s for future", portLabel.c_str());
+ if(verbosity >= 3) RCLCPP_INFO(nh->get_logger(),"Swapping duplicate tree with root %s for future", portLabel.c_str());
// int outPort = bestCandidate.second->outPort;
TransformationSpec spec = bestCandidate.second->type;
spec.type = COMPUNIT;
@@ -533,7 +533,7 @@ std::string ConfigurationPlanner::createUniqueName(std::string base) {
// Empty base strings are not allowed
if(base == "") {
- ROS_WARN("Empty base strings are not allowed for unique names");
+ RCLCPP_WARN(nh->get_logger(), "Empty base strings are not allowed for unique names");
base = "reserved";
}
@@ -543,7 +543,8 @@ std::string ConfigurationPlanner::createUniqueName(std::string base) {
}
// Append label with dyknow_ and prepend it with the unique identifier
- std::string suffix = boost::lexical_cast<std::string>((int)uniqueNameMap[base]);
+ //std::string suffix = boost::lexical_cast<std::string>((int)uniqueNameMap[base]);
+ std::string suffix = std::to_string(static_cast<int>(uniqueNameMap[base]));
uniqueNameMap[base]++;
return ("/dyknow/" + base + "_" + suffix);
}
diff --git a/src/dyknow_manager/src/feasibility_matrix.cpp b/src/dyknow_manager/src/feasibility_matrix.cpp
index 83fec11..3ebaac6 100644
--- a/src/dyknow_manager/src/feasibility_matrix.cpp
+++ b/src/dyknow_manager/src/feasibility_matrix.cpp
@@ -1,4 +1,4 @@
-#include "feasibility_matrix.hpp"
+#include "dyknow_manager/feasibility_matrix.hpp"
namespace dyknow {
@@ -14,13 +14,13 @@ std::vector<Port> FeasibilityMatrix::getValid(Port input) {
TransformationSpec FeasibilityMatrix::decode(Port port) {
TransformationSpec spec;
- BOOST_FOREACH(spec, library) {
+ for (TransformationSpec spec : library) {
if(spec.id == port.first) {
return spec;
}
}
- ROS_WARN("Unable to decode port (%i, %i)", port.first, port.second);
+ //RCLCPP_WARN(nh->get_logger(), "Unable to decode port (%i, %i)", port.first, port.second);
return spec;
}
@@ -33,8 +33,8 @@ void FeasibilityMatrix::invalidate(std::string transformation) {
return;
}
}
-
- ROS_WARN("Unknown transformation %s marked for invalidation; ignoring", transformation.c_str());
+ // nh is not avaliable here =(
+ //RCLCPP_WARN(nh->get_logger(), "Unknown transformation %s marked for invalidation; ignoring", transformation.c_str());
}
} // namespace
diff --git a/src/dyknow_manager/src/manager_componet.cpp b/src/dyknow_manager/src/manager_componet.cpp
index 297db62..18357f1 100644
--- a/src/dyknow_manager/src/manager_componet.cpp
+++ b/src/dyknow_manager/src/manager_componet.cpp
@@ -6,14 +6,14 @@ namespace manager {
ManagerComponet::ManagerComponet(const rclcpp::NodeOptions & options):
node(std::make_shared<dyknow::Node>("manager_componet", options)) {
- std::shared_ptr<dyknow::ConfigurationManager> configManPtr = std::shared_ptr<dyknow::ConfigurationManager>(new dyknow::ConfigurationManager(node));
+ RCLCPP_INFO(node->get_logger(), "I LIVE, AM I ALIVE, I AM MEEEEE ");
+ configManPtr = std::shared_ptr<dyknow::ConfigurationManager>(new dyknow::ConfigurationManager(this->node));
}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr ManagerComponet::get_node_base_interface() const
{
return this->node->get_node_base_interface();
- }
-
+ }
}
RCLCPP_COMPONENTS_REGISTER_NODE(manager::ManagerComponet)
\ No newline at end of file
diff --git a/src/dyknow_manager/src/target_spec.cpp b/src/dyknow_manager/src/target_spec.cpp
index 7924737..7f96fad 100644
--- a/src/dyknow_manager/src/target_spec.cpp
+++ b/src/dyknow_manager/src/target_spec.cpp
@@ -1,12 +1,12 @@
-#include "target_spec.hpp"
+#include "dyknow_manager/target_spec.hpp"
namespace dyknow {
-TargetSpec TargetFactory::create(int id, std::string label, int port, std::string topic) {
+TargetSpec create(int id, std::string label, int port, std::string topic) {
return TargetSpec(id, label, port, topic);
}
-TargetSpec TargetFactory::create(dyknow_manager::Target target) {
+TargetSpec create(dyknow_interfaces::msg::Target target) {
TargetSpec spec;
spec.label = target.label;
spec.port = target.port;
--
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