feat: add autoware_node and autoware_test node (#113)

Signed-off-by: M. Fatih Cırıt <[email protected]>

common/autoware_node/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_node)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} src/node.cpp)
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE TEST_FILES test/*.cpp)
+
+  foreach(TEST_FILE ${TEST_FILES})
+    # Get the test name without directory and extension
+    get_filename_component(TEST_NAME ${TEST_FILE} NAME_WE)
+
+    # Add each test separately
+    ament_add_ros_isolated_gtest(${TEST_NAME} ${TEST_FILE} TIMEOUT 10)
+    target_include_directories(${TEST_NAME} PRIVATE src/include)
+    target_link_libraries(${TEST_NAME} ${PROJECT_NAME})
+    ament_target_dependencies(${TEST_NAME}
+      rclcpp
+      rclcpp_lifecycle)
+  endforeach()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE)

common/autoware_node/README.md

@@ -0,0 +1,23 @@
+# Autoware Node
+
+## Abbreviations
+
+- **AN:** Autoware Node
+
+## Overview
+
+AN is an `autoware.core` package designed to provide a base class for all future nodes in the
+system.
+It also inherits all lifecycle control capabilities of the base
+class [LifecycleNode](https://docs.ros2.org/latest/api/rclcpp_lifecycle/classrclcpp__lifecycle_1_1LifecycleNode.html)
+
+## Usage
+
+Check the [autoware_test_node](../../demos/autoware_test_node/README.md) package for an example of how to use `autoware::Node`.
+
+## Design
+
+### Lifecycle
+
+AN inherits from ROS 2 [rclcpp_lifecycle::LifecycleNode](https://design.ros2.org/articles/node_lifecycle.html) and has
+all the basic functions of it.

common/autoware_node/include/autoware/node/node.hpp

@@ -0,0 +1,41 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__NODE__NODE_HPP_
+#define AUTOWARE__NODE__NODE_HPP_
+
+#include "autoware/node/visibility_control.hpp"
+
+#include <rclcpp_lifecycle/lifecycle_node.hpp>
+
+#include <string>
+
+namespace autoware::node
+{
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+class Node : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  AUTOWARE_NODE_PUBLIC
+  explicit Node(
+    const std::string & node_name, const std::string & ns = "",
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
+protected:
+  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
+};
+}  // namespace autoware::node
+
+#endif  // AUTOWARE__NODE__NODE_HPP_

common/autoware_node/include/autoware/node/visibility_control.hpp

@@ -0,0 +1,26 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__NODE__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE__NODE__VISIBILITY_CONTROL_HPP_
+
+#include "rcutils/visibility_control_macros.h"
+#ifdef AUTOWARE_NODE_BUILDING_DLL
+#define AUTOWARE_NODE_PUBLIC RCUTILS_EXPORT
+#else
+#define AUTOWARE_NODE_PUBLIC RCUTILS_IMPORT
+#endif  // !AUTOWARE_NODE_BUILDING_DLL
+#define AUTOWARE_NODE_LOCAL RCUTILS_LOCAL
+
+#endif  // AUTOWARE__NODE__VISIBILITY_CONTROL_HPP_

common/autoware_node/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_node</name>
+  <version>0.0.0</version>
+  <description>Autoware Node is an Autoware.Core package designed to provide a base class for all nodes in the system.</description>
+  <maintainer email="[email protected]">M. Fatih Cırıt</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>rclcpp_lifecycle</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_node/src/node.cpp

@@ -0,0 +1,38 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <autoware/node/node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <string>
+
+namespace autoware::node
+{
+Node::Node(
+  const std::string & node_name, const std::string & ns, const rclcpp::NodeOptions & options)
+: LifecycleNode(node_name, ns, options)
+{
+  RCLCPP_DEBUG(
+    get_logger(), "Node %s constructor was called.",
+    get_node_base_interface()->get_fully_qualified_name());
+}
+
+CallbackReturn Node::on_shutdown(const rclcpp_lifecycle::State & state)
+{
+  RCLCPP_DEBUG(
+    get_logger(), "Node %s shutdown was called with state %s.",
+    get_node_base_interface()->get_fully_qualified_name(), state.label().c_str());
+  return CallbackReturn::SUCCESS;
+}
+}  // namespace autoware::node

common/autoware_node/test/test_an_init_shutdown.cpp

@@ -0,0 +1,60 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <autoware/node/node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <lifecycle_msgs/msg/state.hpp>
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+class AutowareNodeInitShutdown : public ::testing::Test
+{
+public:
+  void SetUp() override { rclcpp::init(0, nullptr); }
+
+  void TearDown() override { rclcpp::shutdown(); }
+
+  rclcpp::NodeOptions node_options_an_;
+};
+
+TEST_F(AutowareNodeInitShutdown, NodeInitShutdown)
+{
+  autoware::node::Node::SharedPtr autoware_node =
+    std::make_shared<autoware::node::Node>("test_node", "test_ns", node_options_an_);
+
+  auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  executor->add_node(autoware_node->get_node_base_interface());
+
+  std::thread thread_spin = std::thread([&executor]() { executor->spin(); });
+
+  ASSERT_EQ(
+    autoware_node->get_current_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+
+  auto state = autoware_node->shutdown();
+
+  ASSERT_EQ(state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
+
+  // wait until executor is spinning
+  while (!executor->is_spinning()) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  executor->cancel();  // make sure cancel is called after spin
+  if (thread_spin.joinable()) {
+    thread_spin.join();
+  }
+}

demos/autoware_test_node/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_test_node)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/test_node.cpp)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::test_node::TestNode"
+  EXECUTABLE ${PROJECT_NAME}_node)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch)

demos/autoware_test_node/README.md

@@ -0,0 +1,53 @@
+# autoware_test_node
+
+This package contains a simple example of how to use `autoware::Node`.
+
+## Usage
+
+```bash
+ros2 launch autoware_test_node autoware_test_node.launch.xml
+```
+
+### Lifecycle control
+
+Information on Lifecycle nodes can be found [here](https://design.ros2.org/articles/node_lifecycle.html).
+
+Output a list of nodes with lifecycle:
+
+```console
+$ ros2 lifecycle nodes
+/test_ns1/test_node1
+```
+
+Get the current state of a node:
+
+```console
+$ ros2 lifecycle get /test_ns1/test_node1
+unconfigured [1]
+```
+
+List the available transitions for the node:
+
+```console
+$ ros2 lifecycle list /test_ns1/test_node1
+- configure [1]
+ Start: unconfigured
+ Goal: configuring
+- shutdown [5]
+ Start: unconfigured
+ Goal: shuttingdown
+```
+
+Shutdown the node:
+
+```console
+$ ros2 lifecycle set /test_ns1/test_node1 shutdown
+Transitioning successful
+```
+
+```console
+$ ros2 lifecycle get /test_ns1/test_node1
+finalized [4]
+```
+
+The node will remain alive in the `finalized` state until it is killed by the user.

demos/autoware_test_node/launch/autoware_test_node.launch.xml

@@ -0,0 +1,3 @@
+<launch>
+  <node pkg="autoware_test_node" exec="autoware_test_node_node" name="test_node1" namespace="test_ns1"/>
+</launch>

demos/autoware_test_node/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_test_node</name>
+  <version>0.0.0</version>
+  <description>Test package for Autoware Node.</description>
+  <maintainer email="[email protected]">M. Fatih Cırıt</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_node</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

demos/autoware_test_node/src/include/test_node.hpp

@@ -0,0 +1,32 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TEST_NODE_HPP_
+#define TEST_NODE_HPP_
+
+#include <autoware/node/node.hpp>
+#include <rclcpp_lifecycle/lifecycle_node.hpp>
+
+namespace autoware::test_node
+{
+
+class TestNode : public autoware::node::Node
+{
+public:
+  explicit TestNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+};
+
+}  // namespace autoware::test_node
+
+#endif  // TEST_NODE_HPP_