feat: add autoware_version_manager package

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>

autoware_version_manager/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_version_manager)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+set(NODE_NAME ${PROJECT_NAME}_node)
+set(EXEC_NAME ${PROJECT_NAME}_exe)
+
+ament_auto_add_library(${NODE_NAME}
+  src/include/autoware_version_manager_core.hpp
+  src/include/parse_version.hpp
+  src/include/version_types.hpp
+  src/autoware_version_manager_core.cpp
+  src/parse_version.cpp)
+
+rclcpp_components_register_node(${NODE_NAME}
+  PLUGIN "autoware_version_manager::AutowareVersionManagerNode"
+  EXECUTABLE ${EXEC_NAME})
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  data)

autoware_version_manager/README.md

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+# autoware_version_manager

autoware_version_manager/data/version-autoware.yaml

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+# Autoware version (CalVer with YYYY.MINOR.MICRO)
+
+year: 2023
+minor: 7
+micro: 0

autoware_version_manager/data/version-component-interface.yaml

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+# Autoware component interface version (SemVer)
+
+major: 1
+minor: 0
+patch: 0

autoware_version_manager/launch/autoware_version_manager.launch.xml

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+<?xml version="1.0"?>
+<launch>
+  <arg name="path_version_autoware" default="$(find-pkg-share autoware_version_manager)/data/version-autoware.yaml"/>
+  <arg name="path_version_component_interface" default="$(find-pkg-share autoware_version_manager)/data/version-component-interface.yaml"/>
+
+
+  <node pkg="autoware_version_manager" exec="autoware_version_manager_exe" name="autoware_version_manager" output="screen">
+    <param name="path_version_autoware" value="$(var path_version_autoware)"/>
+    <param name="path_version_component_interface" value="$(var path_version_component_interface)"/>
+  </node>
+</launch>

autoware_version_manager/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>autoware_version_manager</name>
+  <version>0.0.0</version>
+  <description>The autoware_version_manager package</description>
+
+  <maintainer email="mfc@leodrive.ai">M. Fatih Cırıt</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="mfc@leodrive.ai">M. Fatih Cırıt</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_system_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>yaml_cpp_vendor</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autoware_version_manager/src/autoware_version_manager_core.cpp

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+// Copyright 2023 The Autoware Foundation
+//
+// 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 "include/autoware_version_manager_core.hpp"
+
+#include "include/parse_version.hpp"
+#include "include/version_types.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace autoware_version_manager
+{
+
+AutowareVersionManagerNode::AutowareVersionManagerNode(const rclcpp::NodeOptions & node_options)
+: rclcpp::Node("autoware_version_manager_node", node_options)
+{
+  const std::filesystem::path path_version_autoware =
+    declare_parameter<std::string>("path_version_autoware");
+  const std::filesystem::path path_version_component_interface =
+    declare_parameter<std::string>("path_version_component_interface");
+
+  try {
+    version_autoware_ = parse_version::parse_autoware_version(path_version_autoware);
+    version_component_interface_ =
+      parse_version::parse_interface_version(path_version_component_interface);
+  } catch (const std::exception & e) {
+    RCLCPP_ERROR(get_logger(), "Failed to parse version: %s", e.what());
+    exit(EXIT_FAILURE);
+  }
+
+  // print
+  RCLCPP_INFO(
+    get_logger(), "Autoware version: %d.%d.%d", version_autoware_.year, version_autoware_.minor,
+    version_autoware_.micro);
+  RCLCPP_INFO(
+    get_logger(), "Component interface version: %d.%d.%d", version_component_interface_.major,
+    version_component_interface_.minor, version_component_interface_.patch);
+}
+
+}  // namespace autoware_version_manager
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware_version_manager::AutowareVersionManagerNode)

autoware_version_manager/src/include/autoware_version_manager_core.hpp

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+// Copyright 2023 The Autoware Foundation
+//
+// 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_VERSION_MANAGER_CORE_HPP_
+#define AUTOWARE_VERSION_MANAGER_CORE_HPP_
+
+#include "version_types.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_system_msgs/srv/get_version.hpp>
+
+namespace autoware_version_manager
+{
+class AutowareVersionManagerNode : public rclcpp::Node
+{
+public:
+  explicit AutowareVersionManagerNode(const rclcpp::NodeOptions & node_options);
+
+private:
+  VersionAutoware version_autoware_;
+  VersionInterface version_component_interface_;
+};
+
+}  // namespace autoware_version_manager
+
+#endif  // AUTOWARE_VERSION_MANAGER_CORE_HPP_

autoware_version_manager/src/include/parse_version.hpp

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+// Copyright 2023 The Autoware Foundation
+//
+// 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 PARSE_VERSION_HPP_
+#define PARSE_VERSION_HPP_
+
+#include "version_types.hpp"
+
+#include <yaml-cpp/yaml.h>
+
+#include <filesystem>
+
+namespace autoware_version_manager
+{
+namespace parse_version
+{
+
+VersionAutoware parse_autoware_version(const YAML::Node & yaml_node);
+VersionAutoware parse_autoware_version(const std::filesystem::path & path);
+
+VersionInterface parse_interface_version(const YAML::Node & yaml_node);
+VersionInterface parse_interface_version(const std::filesystem::path & path);
+
+}  // namespace parse_version
+}  // namespace autoware_version_manager
+
+#endif  // PARSE_VERSION_HPP_

autoware_version_manager/src/include/version_types.hpp

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+// Copyright 2023 The Autoware Foundation
+//
+// 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 VERSION_TYPES_HPP_
+#define VERSION_TYPES_HPP_
+
+namespace autoware_version_manager
+{
+// Autoware version (CalVer with YYYY.MINOR.MICRO)
+// https://calver.org/#scheme
+struct VersionAutoware
+{
+  int year;   // year of release
+  int minor;  // increments for non-breaking changes
+  int micro;  // increments for bug fixes or patches
+};
+
+// Autoware component interface version (SemVer)
+// https://semver.org/
+struct VersionInterface
+{
+  int major;  // increments for breaking changes
+  int minor;  // increments for non-breaking changes
+  int patch;  // increments for bug fixes or patches
+};
+
+}  // namespace autoware_version_manager
+
+#endif  // VERSION_TYPES_HPP_

autoware_version_manager/src/parse_version.cpp

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+// Copyright 2023 The Autoware Foundation
+//
+// 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 "include/parse_version.hpp"
+
+#include "include/version_types.hpp"
+
+#include <yaml-cpp/yaml.h>
+
+#include <filesystem>
+
+namespace autoware_version_manager
+{
+namespace parse_version
+{
+
+VersionAutoware parse_autoware_version(const YAML::Node & yaml_node)
+{
+  VersionAutoware version;
+  version.year = yaml_node["year"].as<int>();
+  version.minor = yaml_node["minor"].as<int>();
+  version.micro = yaml_node["micro"].as<int>();
+  return version;
+}
+
+VersionAutoware parse_autoware_version(const std::filesystem::path & path)
+{
+  YAML::Node yaml_node = YAML::LoadFile(path.string());
+  return parse_autoware_version(yaml_node);
+}
+
+VersionInterface parse_interface_version(const YAML::Node & yaml_node)
+{
+  VersionInterface version;
+  version.major = yaml_node["major"].as<int>();
+  version.minor = yaml_node["minor"].as<int>();
+  version.patch = yaml_node["patch"].as<int>();
+  return version;
+}
+
+VersionInterface parse_interface_version(const std::filesystem::path & path)
+{
+  YAML::Node yaml_node = YAML::LoadFile(path.string());
+  return parse_interface_version(yaml_node);
+}
+
+}  // namespace parse_version
+}  // namespace autoware_version_manager