diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 7b0a0406f55e61fe06bf97ea1e1f2c18abbeade7..415fbf1b23145dde3e71b5924cc9e29d62d227e2 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -10,6 +10,10 @@ RUN apt update -q \
libboost-all-dev \
xauth \
ros-${ROS_DISTRO}-example-interfaces \
+ mesa-utils \
+ x11-apps \
+ ros-jazzy-rqt-graph \
+ gdb-multiarch \
&& apt clean \
&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index b0cf01ca48c700124e9b27534e56f752a5db5d2f..ec1841bb827533ae3c8f63627f6d6b5d3f7af608 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -38,7 +38,9 @@
//"mounts": ["src=/home/leolol/Code/dyknow-ros-2,dst=/root/ros2_ws,type=bind"],
"mounts": [],
"runArgs": [
- "--net=host"
+ "--net=host",
+ "-e=DISPLAY=192.168.1.224:0",
+ "-v=/tmp/.X11-unix:/tmp/.X11-unix"
]
}
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index f18101c280745ea7a705c185ed2475b8002b72f8..8389a9a7ff5939f1e6fcb7bbba406e8c19cf6fbb 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -12,13 +12,22 @@
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
- "miDebuggerServerAddress": "localhost:3001",
- "miDebuggerPath": "/usr/bin/gdb",
+ "miDebuggerPath": "/usr/bin/gdb-multiarch",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
+ },
+ {
+ "description": "Ignore controlling terminal errors",
+ "text": "set inferior-tty /dev/null",
+ "ignoreFailures": true
+ },
+ {
+ "description": "Disable SVE register fetching",
+ "text": "set debug target-async 0",
+ "ignoreFailures": true
}
],
"preLaunchTask": "build"
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..4dfa18ae46c7f58a93cfb2177407c0aead6ad60f
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Leo Jarhede
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
\ No newline at end of file
diff --git a/someCommands.bash b/someCommands.bash
index 7edd137239561dedb8368e48fcc55894288b2560..560c420d6f82000612ff33d3a1ec47a27de934ce 100644
--- a/someCommands.bash
+++ b/someCommands.bash
@@ -1,10 +1,38 @@
#Create the echo transformation
-ros2 service call /add_transformation dyknow_interfaces/srv/AddTransformation "{transformations: [{label: 'echo', type: 'node', source_package: 'dyknow_echo', source_plugin: "echo::EchoComp", params: [], out_ports: [], in_ports: [], tags: [], cost: 0, environment: 0}], envid: 0}"
+ros2 service call /add_transformation dyknow_interfaces/srv/AddTransformation "{transformations: [{label: 'echo', type: 'node', source_package: 'dyknow_echo', source_plugin: "echo::EchoComp", params: [], out_ports: ['/1'], in_ports: ['_1'], tags: [], cost: 0, environment: 0}], envid: 0}"
#Instanciate the echo computeUnit (create componet)
-ros2 service call /spawn dyknow_interfaces/srv/Spawn "{name: 'echoNode', type: 'echo', protect: true, envid: 0}"
+ros2 service call /spawn dyknow_interfaces/srv/Spawn "{name: 'echoNode', type: 'echo', protect: false, envid: 0}"
#Check the current model
-ros2 service call /get_model dyknow_interfaces/srv/GetConfiguration {}\
+ros2 service call /get_model dyknow_interfaces/srv/GetConfiguration {}\
+
+
+apt update && apt install -y mesa-utils x11-apps ros-jazzy-rqt-grap gdb-multiarch
+apt update && apt install -y ros-jazzy-rqt-grap
+rqt_graph
+
+ros2 service call /echoNode/set_config dyknow_interfaces/srv/Configure "{config: {in_names:['in'], in_channels: ['_1'], out_names: ['out'], out_channels: ['/1'] manager: ''}}"
+
+ros2 service call /configure dyknow_interfaces/srv/ManagerConfigure "{config: {in_names:['in'], in_channels: ['_1'], out_names: ['out'], out_channels: ['/1'] manager: ''}}"
+
+ros2 service call /destroy dyknow_interfaces/srv/Destroy "{name: echoNode, envid: 0}"
+
+ros2 service call /ComponentManager/_container/unload_node composition_interfaces/srv/UnloadNode "{unique_id: 1}"
+
+
+
+ros2 service call /add_transformation dyknow_interfaces/srv/AddTransformation "{transformations: [{label: 'echo0', type: 'node', source_package: 'dyknow_echo', source_plugin: "echo::EchoComp", params: [], out_ports: ['/1'], in_ports: ['_1'], tags: [{port: '/1', tag: 'out1'}, {port: '_1', tag: 'in1'}], cost: 0, environment: 0}], envid: 0}"
+
+ros2 service call /add_transformation dyknow_interfaces/srv/AddTransformation "{transformations: [{label: 'echo1', type: 'node', source_package: 'dyknow_echo', source_plugin: "echo::EchoComp", params: [], out_ports: ['/1'], in_ports: ['_1'], tags: [{port: '/1', tag: 'out2'}, {port: '_1', tag: 'out1'}], cost: 0, environment: 0}], envid: 0}"
+
+ros2 service call /add_target dyknow_interfaces/srv/AddTarget "{ targets: [{label: 'echo1', port: 0 , topic: 'theout', environment: 0}], envid: 0 }"
+
+ros2 service call /spawn dyknow_interfaces/srv/Spawn "{name: 'echoNode0', type: 'echo0', protect: false, envid: 0}"
+
+ros2 service call /spawn dyknow_interfaces/srv/Spawn "{name: 'echoNode1', type: 'echo1', protect: false, envid: 0}"
+
+
+ros2 service call /add_target dyknow_interfaces/srv/AddTarget "{ targets: [{label '', port: _ , topic: '', environment: 0}] envid: 0 }"
\ No newline at end of file
diff --git a/src/dyknow_echo/CMakeLists.txt b/src/dyknow_echo/CMakeLists.txt
index 1c6d19cc7206ee3c29bf2806b9ac764ee1157d96..25d31a6178677923fadeb16a1d1649418612e802 100644
--- a/src/dyknow_echo/CMakeLists.txt
+++ b/src/dyknow_echo/CMakeLists.txt
@@ -12,7 +12,6 @@ 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
@@ -38,7 +37,6 @@ 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/package.xml b/src/dyknow_echo/package.xml
index e4e3ae7e0be8bada3529337fe0324747e7a99db9..606d30185271f2bf94bcf788a114bebb8b78dc77 100644
--- a/src/dyknow_echo/package.xml
+++ b/src/dyknow_echo/package.xml
@@ -4,7 +4,7 @@
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="leoja464@student.liu.se">root</maintainer>
- <license>TODO: License declaration</license>
+ <license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
diff --git a/src/dyknow_echo/src/echoComposition.cpp b/src/dyknow_echo/src/echoComposition.cpp
index c1f1fb25ac86f36468154772467ba274cfa4aded..3f47ca91015ee51358ba28a68eb319c840fadfea 100644
--- a/src/dyknow_echo/src/echoComposition.cpp
+++ b/src/dyknow_echo/src/echoComposition.cpp
@@ -1,7 +1,6 @@
#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"
@@ -13,9 +12,9 @@ namespace echo {
for(int i = 0; i < arity; i++) {
node->create_subscription<dyknow_interfaces::msg::Sample, EchoComp>(1000, &EchoComp::callback, this);
}
- node->connectInput("_1", "in");
+ //node->connectInput("_1", "in");
pub = node->create_publisher<dyknow_interfaces::msg::Sample>(1000);
- node->connectOutput("/1", "in");
+ //node->connectOutput("/1", "in");
}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr EchoComp::get_node_base_interface() const
@@ -31,27 +30,27 @@ namespace echo {
copy.test = sample->test;
- // 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");
+ // // 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;
+ // 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";
+ // 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;
- }
+ // if (!client->wait_for_service(std::chrono::seconds(10)))
+ // {
+ // RCLCPP_ERROR(node->get_logger(), "Service %s/load_nodelet not available");
+ // return;
+ // }
- auto result = client->async_send_request(loadComponentService);
+ // //auto result = client->async_send_request(loadComponentService);
pub.publish(copy);
}
diff --git a/src/dyknow_interfaces/package.xml b/src/dyknow_interfaces/package.xml
index 7447859027601bb274257901b273519258913863..f9f87a239eed9c421a59eb2087959aa323e79132 100644
--- a/src/dyknow_interfaces/package.xml
+++ b/src/dyknow_interfaces/package.xml
@@ -5,7 +5,7 @@
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="leoja464@student.liu.se">root</maintainer>
- <license>TODO: License declaration</license>
+ <license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/src/dyknow_manager/CMakeLists.txt b/src/dyknow_manager/CMakeLists.txt
index 5a936cfb8ac2469fddd47ecd91c359b5fbd0a832..55ad4b92b30f39e39b9617d10e0eb6fb520250f9 100644
--- a/src/dyknow_manager/CMakeLists.txt
+++ b/src/dyknow_manager/CMakeLists.txt
@@ -1,6 +1,7 @@
cmake_minimum_required(VERSION 3.8)
project(dyknow_manager)
+set(CMAKE_BUILD_TYPE Debug)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
diff --git a/src/dyknow_manager/include/dyknow_manager/compunit_helper.hpp b/src/dyknow_manager/include/dyknow_manager/compunit_helper.hpp
index caf98d8a11b61db9239644914710308255facb0d..abe3511f9990a0f1f7f2487016562be1d75ef03f 100644
--- a/src/dyknow_manager/include/dyknow_manager/compunit_helper.hpp
+++ b/src/dyknow_manager/include/dyknow_manager/compunit_helper.hpp
@@ -14,6 +14,13 @@
#include "dyknow_nodehandle/node.hpp"
#include "transformation_spec.hpp"
#include <composition_interfaces/srv/load_node.hpp>
+#include <composition_interfaces/srv/unload_node.hpp>
+#include <rcl_interfaces/msg/parameter.hpp>
+#include <rcl_interfaces/msg/parameter_value.hpp>
+#include <rcl_interfaces/msg/parameter_type.hpp>
+#include <dyknow_interfaces/srv/configure.hpp>
+
+
namespace dyknow {
@@ -22,9 +29,9 @@ class CompUnitHelper {
public:
CompUnitHelper() {}
~CompUnitHelper() {}
- static bool spawn(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& node_name, const std::string& source_package, const std::string& source_plugin, std::vector<std::string>& args);
+ static long spawn(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& node_name, const std::string& source_package, const std::string& source_plugin, std::vector<std::string>& args);
static bool 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);
- static bool destroy(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& name);
+ static bool destroy(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& name, const long& unique_id);
};
diff --git a/src/dyknow_manager/include/dyknow_manager/configuration_manager.hpp b/src/dyknow_manager/include/dyknow_manager/configuration_manager.hpp
index 9d92b69528acbf082cbf11d89f0142ef3eabc6ce..2d9abb9d1ea8975581c8efdb28fd8ef5f3920966 100644
--- a/src/dyknow_manager/include/dyknow_manager/configuration_manager.hpp
+++ b/src/dyknow_manager/include/dyknow_manager/configuration_manager.hpp
@@ -79,6 +79,7 @@ public:
void refreshCallback(const std::shared_ptr<dyknow_interfaces::srv::Refresh::Request> req, std::shared_ptr<dyknow_interfaces::srv::Refresh::Response> res);
void repairCallback(const std::shared_ptr<dyknow_interfaces::srv::Repair::Request> req, std::shared_ptr<dyknow_interfaces::srv::Repair::Response> res);
void getValidInputsCallback(const std::shared_ptr<dyknow_interfaces::srv::GetValidInputs::Request> req, std::shared_ptr<dyknow_interfaces::srv::GetValidInputs::Response> res);
+ // getFeasabilityMatix? would be nice for debugging..
void expPopulateCallback(const std::shared_ptr<dyknow_interfaces::srv::ExpPopulate::Request> req, std::shared_ptr<dyknow_interfaces::srv::ExpPopulate::Response> res);
bool apply(Change delta, int environment);
diff --git a/src/dyknow_manager/include/dyknow_manager/environment.hpp b/src/dyknow_manager/include/dyknow_manager/environment.hpp
index a6adf3b96ada3d7872e1d5628a128add67448e4b..ca30588e2c9fe6d69076988e31f93ed9141ef570 100644
--- a/src/dyknow_manager/include/dyknow_manager/environment.hpp
+++ b/src/dyknow_manager/include/dyknow_manager/environment.hpp
@@ -14,12 +14,14 @@ namespace dyknow {
struct ComputationUnit {
std::string name;
std::string type;
+ long unique_id;
ComputationUnit() {}
- ComputationUnit(std::string name, std::string type) {
+ ComputationUnit(std::string name, std::string type, long unique_id) {
this->name = name;
this->type = type;
+ this->unique_id = unique_id;
}
};
diff --git a/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp b/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp
index dc72160a404e02cac2ca3d568b0b4ee0c1f526c3..ceb310a63852ec0a1648f959c994f63c88faaeca 100644
--- a/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp
+++ b/src/dyknow_manager/include/dyknow_manager/feasibility_matrix.hpp
@@ -15,6 +15,52 @@ public:
virtual std::map<Port, std::vector<Port> > generate(std::vector<TransformationSpec> library) = 0;
};
+
+class TagMatrixGenerator : public FeasibilityMatrixGenerator {
+ public:
+ TagMatrixGenerator() : FeasibilityMatrixGenerator() {}
+ virtual ~TagMatrixGenerator() {}
+ virtual std::map<Port, std::vector<Port>> generate(std::vector<TransformationSpec> library) {
+ std::map<Port, std::vector<Port>> result;
+ for(TransformationSpec inSpecification : library) {
+ for(int i = 0; i < inSpecification.inPorts.size(); i++){
+ Port inPort(inSpecification.id, i);
+ result[inPort] = std::vector<Port>();
+
+ // The name of the port as deified in the transformication specification
+ std::string inPortLabel = inSpecification.inPorts[i];
+
+ // Find the correct tag that corresponds with the current port.
+ TransformationTag inTag = getTagFormPort(inSpecification, inPortLabel);
+
+ for (TransformationSpec outSpecification : library){
+ for(int j = 0; j < outSpecification.outPorts.size(); j++){
+ Port outPort(outSpecification.id, j);
+ std::string outPortLabel = outSpecification.outPorts[j];
+
+ TransformationTag outTag = getTagFormPort(outSpecification, outPortLabel);
+
+ if (inTag.second == outTag.second) {
+ result[inPort].push_back(outPort);
+ }
+ }
+ }
+ }
+ }
+ return result;
+ }
+ private:
+ virtual TransformationTag getTagFormPort(TransformationSpec transformationSpecification, std::string portLabel){
+ for (TransformationTag tag : transformationSpecification.tags){
+ if (tag.first == portLabel){
+ return tag;
+
+ }
+ }
+ }
+};
+
+
class RandomMatrixGenerator : public FeasibilityMatrixGenerator {
public:
RandomMatrixGenerator() : FeasibilityMatrixGenerator(), density(0.01) {}
diff --git a/src/dyknow_manager/package.xml b/src/dyknow_manager/package.xml
index 7672d8ba2802753bb10c4fabe662c5c3c5518e93..6a5494a5a7b98292a8d0fe7072c185c1365af052 100644
--- a/src/dyknow_manager/package.xml
+++ b/src/dyknow_manager/package.xml
@@ -5,7 +5,7 @@
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="leoja464@student.liu.se">root</maintainer>
- <license>TODO: License declaration</license>
+ <license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
diff --git a/src/dyknow_manager/src/compunit_helper.cpp b/src/dyknow_manager/src/compunit_helper.cpp
index d3b19faa3ef3e019c91b442df97fa07f65aab743..e1a8fc0f5baa80510f427f572d3b4494a07651cb 100644
--- a/src/dyknow_manager/src/compunit_helper.cpp
+++ b/src/dyknow_manager/src/compunit_helper.cpp
@@ -2,7 +2,7 @@
namespace dyknow {
-bool CompUnitHelper::spawn(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& node_name, const std::string& source_package, const std::string& source_plugin, std::vector<std::string>& args) {
+long CompUnitHelper::spawn(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& node_name, const std::string& source_package, const std::string& source_plugin, std::vector<std::string>& args) {
if(source_package == "") {
RCLCPP_WARN(nh->get_logger(), "Failed to spawn: %s does not provide a package name", node_name.c_str());
return false;
@@ -12,109 +12,99 @@ bool CompUnitHelper::spawn(std::shared_ptr<dyknow::Node> nh, const std::string&
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->node_name = node_name;
loadComponentRequest->package_name = source_package;
loadComponentRequest->plugin_name = source_plugin;
+ // Build the ParameterValue (type 4 means string)
+ rcl_interfaces::msg::ParameterValue param_value;
+ param_value.type = 4;
+ param_value.string_value = node_name;
+
+ // Build the Parameter message and assign its name and value
+ rcl_interfaces::msg::Parameter parameter;
+ parameter.name = "dyknow_name";
+ parameter.value = param_value;
+
+ // Add the parameter to the request
+ loadComponentRequest->parameters.push_back(parameter);
+
+
// OK this technically works but not ideal....
bool isWaiting = true;
- int timeout = 10; // The maximum that we are willing to wait
- int waited = 0;
+ std::shared_ptr<composition_interfaces::srv::LoadNode_Response> response;
using ServiceResponseFuture =
rclcpp::Client<composition_interfaces::srv::LoadNode>::SharedFuture;
- auto response_received_callback = [&nh, &isWaiting](ServiceResponseFuture future) {
- //auto result = future.get();
+ auto response_received_callback = [&nh, &isWaiting, &response](ServiceResponseFuture future) {
+ response = future.get();
isWaiting= false;
};
- auto result = client->async_send_request(loadComponentRequest, response_received_callback);
-
- // while (isWaiting){
- // RCLCPP_INFO(nh->get_logger(), "Waiting for response from component manager, regarding a load_node service call");
- // rclcpp::sleep_for(std::chrono::seconds(1));
-
- // if (waited > timeout){
- // isWaiting= false;
- // result.future.get()->success = false;
- // RCLCPP_WARN(nh->get_logger(), "Timeout");
- // }
- // else{
- // waited++;
- // }
- // }
+ client->async_send_request(loadComponentRequest, response_received_callback);
+ while (isWaiting){
+ RCLCPP_INFO(nh->get_logger(), "Waiting for response from component manager, regarding a load_node service call");
+ rclcpp::sleep_for(std::chrono::seconds(1));
+ }
- // Retrive the response of the load node service
- // TODO, if there is no response from the component manager the dyknow manager will hang
- if (result.future.get()->success)
+ if (response->success)
{
RCLCPP_INFO(nh->get_logger(), "Successfully spawned component %s", node_name.c_str());
- return true;
+ long id = response->unique_id;
+ return id ;
}
else
{
RCLCPP_ERROR(nh->get_logger(), "Unable to call service for %s with source %s", node_name.c_str(), source_package.c_str());
- return false;
+ return 0;
}
-
- 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) {
- 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);
- // });
+ rclcpp::Client<dyknow_interfaces::srv::Configure>::SharedPtr client = nh->create_client<dyknow_interfaces::srv::Configure>(name+"/set_config");
- // 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);
- // });
+ auto configureService = std::make_shared<dyknow_interfaces::srv::Configure::Request>();
+ for (std::pair<std::string, std::string> elem : outputMap) {
+ configureService->config.out_names.push_back(elem.second);
+ configureService->config.out_channels.push_back(elem.first);
+ }
- // configureService.request.config.manager = manager;
+ for (std::pair<std::string, std::string> elem : inputMap) {
+ configureService->config.in_names.push_back(elem.second);
+ configureService->config.in_channels.push_back(elem.first);
+ }
- // 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;
- // }
+ configureService->config.manager = manager;
+
+ auto result = client->async_send_request(configureService);
+
+ if(result.future.get()->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;
}
-bool CompUnitHelper::destroy(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& name) {
- return false;
- // ros::ServiceClient unloadClient = nh.serviceClient<nodelet::NodeletUnload>("/" + manager + "/unload_nodelet");
- // nodelet::NodeletUnload unloadService;
- // // Call unload service
- // unloadService.request.name = name.c_str();
+bool CompUnitHelper::destroy(std::shared_ptr<dyknow::Node> nh, const std::string& manager, const std::string& name, const long& unique_id) {
+ rclcpp::Client<composition_interfaces::srv::UnloadNode>::SharedPtr client = nh->create_client<composition_interfaces::srv::UnloadNode>("ComponentManager/_container/unload_node");
- // 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
+ auto unloadComponentRequest = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
+
+ unloadComponentRequest->unique_id = unique_id;
+ auto result = client->async_send_request(unloadComponentRequest);
+
+ if(!result.future.get()->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;
diff --git a/src/dyknow_manager/src/configuration_planner.cpp b/src/dyknow_manager/src/configuration_planner.cpp
index a7ac8fdd23cd440169b4a8944f07c841e91619c6..7f83a3c601ddadfcd4b3b9ee7945fbc0a91e600b 100644
--- a/src/dyknow_manager/src/configuration_planner.cpp
+++ b/src/dyknow_manager/src/configuration_planner.cpp
@@ -22,9 +22,8 @@ Change ConfigurationPlanner::optimise(std::vector<TargetSpec> targets, Computati
std::vector<TransformationSpec> targetTransforms;
std::vector<int> targetPorts;
- //TargetSpec target;
+ // Find all the target port and transformations combinations that are indicated by targets
for (TargetSpec target : targets) {
- //TransformationSpec spec;
for (TransformationSpec spec : graph.transformations) {
if(target.id == spec.id) {
targetTransforms.push_back(spec);
@@ -219,13 +218,14 @@ 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;
for (Port candidate : candidates) {
+
TransformationSpec candidateSpec = matrix.decode(candidate);
if(candidateSpec.id < 0) { continue; }
-// 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(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;
for (ComputationUnit compUnit : graph.computationUnits) {
if(candidateSpec.label == compUnit.type && find(ancestors.begin(), ancestors.end(), candidateSpec) == ancestors.end()) {
@@ -272,8 +272,11 @@ void ConfigurationPlanner::expandTransformation(ConfigurationNode* nodePtr, Feas
//Port candidate;
for (Port candidate : candidates) {
+
TransformationSpec candidateSpec = matrix.decode(candidate);
-// 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(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) RCLCPP_INFO(nh->get_logger(),"May not reuse: %s (skipping)", candidateSpec.label.c_str());
diff --git a/src/dyknow_manager/src/environment.cpp b/src/dyknow_manager/src/environment.cpp
index 429a03ced8c9e2412c8bdfb99930fe59b0c054fe..f8bde52fd760cc9db3a88454bab0cf52b4e7a9e5 100644
--- a/src/dyknow_manager/src/environment.cpp
+++ b/src/dyknow_manager/src/environment.cpp
@@ -43,9 +43,9 @@ bool Environment::spawn(std::string node_name, std::string type, bool protect) {
for (const auto& param : iter->parameters) {
args.push_back(param.value); //FIXME: The interface currently ignores parameter names and types
}
- RCLCPP_INFO(this->nh->get_logger(), "** %s is now protected **", node_name.c_str());
- if (CompUnitHelper::spawn(nh, componentManagerName, node_name, iter->source_package, iter->source_plugin, args)) {
- ComputationUnit cu(node_name, type);
+ long id = CompUnitHelper::spawn(nh, componentManagerName, node_name, iter->source_package, iter->source_plugin, args);
+ if (id != 0) {
+ ComputationUnit cu(node_name, type, id);
computationUnits.push_back(cu);
subscriptionMap.emplace(node_name, Subscription());
generatorMap.emplace(node_name, Generator());
@@ -60,12 +60,15 @@ bool Environment::spawn(std::string node_name, std::string type, bool protect) {
}
bool Environment::destroy(std::string name) {
- auto iter = std::find_if(computationUnits.begin(), computationUnits.end(), [&name](const ComputationUnit& cu) {
- return cu.name == name;
- });
-
- if (iter != computationUnits.end()) {
- if (CompUnitHelper::destroy(nh, componentManagerName, name)) {
+ // Check if CU instance exists
+ std::vector<ComputationUnit>::iterator iter;
+ for(iter = computationUnits.begin(); iter != computationUnits.end() ; iter++) {
+ if(iter->name.compare(name) == 0) {
+ break;
+ }
+ }
+ if(iter != computationUnits.end()) {
+ if(CompUnitHelper::destroy(nh, componentManagerName, name, iter->unique_id)) {
computationUnits.erase(iter);
subscriptionMap.erase(name);
generatorMap.erase(name);
@@ -112,6 +115,7 @@ bool Environment::addTarget(TargetSpec spec) {
RCLCPP_WARN(this->nh->get_logger(), "Could not find identifier for target %s", spec.label.c_str());
return false;
}
+
} else {
targets.push_back(spec);
this->repair = true;
@@ -159,6 +163,6 @@ std::vector<Port> Environment::getValidInputs(Port source) {
return matrix.getValid(source);
}
-// expPopulate couldbe added here!
+// expPopulate could be added here!
} //namespace
diff --git a/src/dyknow_manager/src/feasibility_matrix.cpp b/src/dyknow_manager/src/feasibility_matrix.cpp
index 741f214dc6d95bacf533054c7e4e6183b427f502..0bf6b5e295912a32f3a2aacb8c80a7dd20c0858f 100644
--- a/src/dyknow_manager/src/feasibility_matrix.cpp
+++ b/src/dyknow_manager/src/feasibility_matrix.cpp
@@ -3,7 +3,8 @@
namespace dyknow {
FeasibilityMatrix::FeasibilityMatrix(std::vector<TransformationSpec> library, double density) {
- RandomMatrixGenerator gen(density);
+ //RandomMatrixGenerator gen(density);
+ TagMatrixGenerator gen; // This is the type of matrix generator that we will be using
this->matrix = gen.generate(library);
this->library = library;
}
diff --git a/src/dyknow_manager/src/manager_componet.cpp b/src/dyknow_manager/src/manager_componet.cpp
index 18357f1c72acf17445429eedc449d5e657562a7f..5ec80375c4cc56887c4d7fa893054e0c971838f2 100644
--- a/src/dyknow_manager/src/manager_componet.cpp
+++ b/src/dyknow_manager/src/manager_componet.cpp
@@ -5,8 +5,6 @@ namespace manager {
ManagerComponet::ManagerComponet(const rclcpp::NodeOptions & options):
node(std::make_shared<dyknow::Node>("manager_componet", options)) {
-
- RCLCPP_INFO(node->get_logger(), "I LIVE, AM I ALIVE, I AM MEEEEE ");
configManPtr = std::shared_ptr<dyknow::ConfigurationManager>(new dyknow::ConfigurationManager(this->node));
}
diff --git a/src/dyknow_nodehandle/include/dyknow_nodehandle/node.hpp b/src/dyknow_nodehandle/include/dyknow_nodehandle/node.hpp
index 8dd22e3f6320afb03f95d2c0987f39edbceec1d6..e7296cbbc5955588b338760e27a0783ec54da79b 100644
--- a/src/dyknow_nodehandle/include/dyknow_nodehandle/node.hpp
+++ b/src/dyknow_nodehandle/include/dyknow_nodehandle/node.hpp
@@ -24,10 +24,13 @@ public:
Node(const std::string & nodeName, const rclcpp::NodeOptions & options) : rclcpp::Node(nodeName, options) , subCount(0), pubCount(0), reconfigCount(0), reconfigCallbackFn(NULL) {
+ this->declare_parameter<std::string>("dyknow_name", "");
+ std::string dyknowName = this->get_parameter("dyknow_name").as_string();
+
configureService = this->create_service<dyknow_interfaces::srv::Configure>(
- nodeName + "/set_config", std::bind(&Node::configureCallback, this, std::placeholders::_1, std::placeholders::_2));
+ dyknowName + "/set_config", std::bind(&Node::configureCallback, this, std::placeholders::_1, std::placeholders::_2));
getConfigService = this->create_service<dyknow_interfaces::srv::GetConfig>(
- nodeName + "/get_config", std::bind(&Node::getConfigCallback, this, std::placeholders::_1, std::placeholders::_2));
+ dyknowName + "/get_config", std::bind(&Node::getConfigCallback, this, std::placeholders::_1, std::placeholders::_2));
analyticsTimer = this->create_wall_timer(
std::chrono::seconds(1), std::bind(&Node::analyticsCallback, this));
analyticsPublisher = this->rclcpp::Node::create_publisher<dyknow_analytics::msg::MonitorSet>("analytics", 10);
diff --git a/src/dyknow_nodehandle/package.xml b/src/dyknow_nodehandle/package.xml
index 90e7e56fd164fa59f6af331a133a4fa9c1e377cb..8d6a43cc8264e82499d16f703b54378042a059ac 100644
--- a/src/dyknow_nodehandle/package.xml
+++ b/src/dyknow_nodehandle/package.xml
@@ -5,7 +5,7 @@
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="leoja464@student.liu.se">root</maintainer>
- <license>TODO: License declaration</license>
+ <license>MIT</license>
<!-- Build tools -->
<buildtool_depend>ament_cmake</buildtool_depend>