ros-lite release 2019-03-27

.gitignore

@@ -0,0 +1,10 @@
+**/config/generated/
+**/include/generated/
+*~
+
+Makefile
+cmake_install.cmake
+/CMakeCache.txt
+CMakeFiles/
+
+*.a

CMakeLists.txt

@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.6)
+
+project(ros_lite)
+
+add_definitions("-std=c++11")
+
+include_directories(
+        ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/roslite/config/posix/include
+)
+
+add_subdirectory(source/appl/roslite)
+add_subdirectory(source/appl/ros_src)
+
+foreach(cluster_id RANGE 1 2)
+    add_executable(
+            cluster-${cluster_id}
+            ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/ros_src/generated/init_threads.cpp
+            ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/roslite/src/generated/init.cpp
+    )
+    target_include_directories(
+            cluster-${cluster_id}
+            PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/roslite/include
+    )
+    target_compile_definitions(
+            cluster-${cluster_id}
+            PUBLIC ROSLITE_TARGET_CLUSTER_ID=${cluster_id}
+    )
+    target_link_libraries(
+            cluster-${cluster_id}
+            ros_node-${cluster_id}
+            roslite-${cluster_id}
+            pthread
+    )
+endforeach(cluster_id)
+
+include(${CMAKE_CURRENT_SOURCE_DIR}/source/appl/ros_bridge/generated/ros_bridge_generated.cmake)
+
+add_executable(
+        ros_bridge
+        ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/ros_bridge/ros_bridge.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/ros_bridge/generated/ros_bridge_generated.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/source/appl/ros_src/generated/init_threads.cpp
+)
+target_include_directories(
+        ros_bridge
+        PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/source/appl
+        PRIVATE ${ros_INCLUDE_DIRS}
+)
+target_compile_definitions(
+        ros_bridge
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=0
+)
+target_link_libraries(
+        ros_bridge
+        roslite-0
+        pthread
+        ${ros_LIBRARIES}
+)

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2019, azu-lab
+Copyright (c) 2019, Azumi Laboratory, Graduate School of Science and Engineering, Saitama University.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

requirements.txt

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+colorful==0.4.4
+Jinja2==2.10
+MarkupSafe==1.1.0
+PyYAML==3.13

source/appl/ros_bridge/generated/ros_bridge_generated.cmake

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+# [note] Auto-generated file
+# [note] 2019-03-20T08:43:51Z
+# [note] based on source/appl/ros_src/map/roslite_map_two_listenres.map
+
+find_package(roscpp)
+list(APPEND ros_LIBRARIES ${roscpp_LIBRARIES})
+
+find_package(std_msgs)
+list(APPEND ros_INCLUDE_DIRS ${std_msgs_INCLUDE_DIRS})
+list(APPEND ros_LIBRARIES ${std_msgs_LIBRARIES})

source/appl/ros_bridge/generated/ros_bridge_generated.cpp

@@ -0,0 +1,48 @@
+// [note] Auto-generated file
+// [note] 2019-03-20T08:43:51Z
+// [note] based on source/appl/ros_src/map/roslite_map_two_listenres.map
+
+#include <ros/ros.h>
+#include <roslite/include/ros/ros.h>
+#include "../ros_bridge.h"
+
+#include <std_msgs/String.h>
+#include <roslite/include/std_msgs/String.h>
+ros::Publisher ros_pub__chatter;
+roslite::Subscriber roslite_sub__chatter;
+void roslite__chatter_Callback(const roslite_std_msgs::String::ConstPtr& roslite_msg) {
+    ros_pub__chatter.publish(roslite_msg->ToRosMsgPtr());
+}
+
+
+#include <std_msgs/String.h>
+#include <roslite/include/std_msgs/String.h>
+roslite::Publisher roslite_pub__chatter;
+ros::Subscriber ros_sub__chatter;
+void ros__chatter_Callback(const ros::MessageEvent<std_msgs::String const>& ros_msg) {
+    if (ros_msg.getPublisherName() == ROS_BRIDGE_NODE_NAME_FULL_PATH) {
+        // Ignore message from myself.
+        return;
+    }
+    roslite_pub__chatter.publish(*roslite_std_msgs::String::FromRosMsgPtr(ros_msg.getMessage()));
+}
+
+
+int rosl_bridge_generated_main(ros::NodeHandle ros_nh, roslite::NodeHandle roslite_nh)
+{
+    roslite_sub__chatter = roslite_nh.subscribe("/chatter", 10, roslite__chatter_Callback);
+    ros_pub__chatter = ros_nh.advertise<std_msgs::String>("/chatter", 10);
+
+    ros_sub__chatter = ros_nh.subscribe("/chatter", 10, ros__chatter_Callback);
+    roslite_pub__chatter = roslite_nh.advertise<roslite_std_msgs::String>("/chatter", 10);
+
+    while (ros::ok() && roslite::ok()) {
+        ros::spinOnce();
+        roslite::spinOnce();
+        roslite_thread_delay(1);
+    }
+
+    ros_pub__chatter.shutdown();
+
+    ros_sub__chatter.shutdown();
+}

source/appl/ros_bridge/ros_bridge.cpp

@@ -0,0 +1,23 @@
+#include <ros/ros.h>
+#include <roslite/include/ros/ros.h>
+#include "ros_bridge.h"
+
+int rosl_bridge_generated_main(ros::NodeHandle ros_nh, roslite::NodeHandle roslite_nh);
+
+void ros_bridge_main()
+{
+    char *argv = (char *)"ros_bridge";
+    int argc = 1;
+
+    ros::init(argc, &argv, ROS_BRIDGE_NODE_NAME);
+    roslite::init(argc, &argv, "/ros_bridge");
+
+    ros::NodeHandle ros_nh;
+    roslite::NodeHandle roslite_nh;
+
+    rosl_bridge_generated_main(ros_nh, roslite_nh);
+
+    ros::shutdown();
+
+    exit(0);
+}

source/appl/ros_bridge/ros_bridge.h

@@ -0,0 +1,4 @@
+#pragma once
+
+#define ROS_BRIDGE_NODE_NAME "roslite_bridge"
+#define ROS_BRIDGE_NODE_NAME_FULL_PATH "/" ROS_BRIDGE_NODE_NAME

source/appl/ros_src/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.6)
+
+include_directories(
+        ${CMAKE_CURRENT_SOURCE_DIR}/../roslite/include
+        ${CMAKE_CURRENT_SOURCE_DIR}/../roslite/config/posix/include
+)
+
+include(${CMAKE_CURRENT_SOURCE_DIR}/generated/roslite_app.cmake)

source/appl/ros_src/generated/init_threads.cpp

@@ -0,0 +1,75 @@
+// [note] Auto-generated file
+// [note] 2019-03-20T08:43:51Z
+// [note] based on source/appl/ros_src/map/roslite_map_two_listenres.map
+
+
+
+#if ROSLITE_TARGET_CLUSTER_ID == 0
+  #include "roslite/include/ros/init.h"
+  #include "roslite/include/ros/thread.h"
+  #include "roslite/include/ros/debug.h"
+#else
+  #include "ros/init.h"
+  #include "ros/thread.h"
+  #include "ros/debug.h"
+#endif
+
+extern void ros_bridge_main();
+
+extern int talker_main(int argc, char **argv);
+extern int listener_main(int argc, char **argv);
+extern int listener2_main(int argc, char **argv);
+
+static void
+thread_func(uint32_t stacd, uintptr_t exinf)
+{
+    void (*func)() = (void (*)())exinf;
+    func();
+}
+
+static void
+create_thread(uint32_t stack_size, void (*func)())
+{
+    roslite_thread_attr_t attr;
+    roslite_thread_attr_init(&attr);
+    roslite_erid_t tid = roslite_thread_create(&attr, thread_func, (uintptr_t)func);
+    ROSLITE_CHECK_SIMPLE(tid);
+
+    roslite_er_t ret = roslite_thread_start((roslite_id_t)tid, 0);
+    ROSLITE_CHECK_SIMPLE(ret);
+}
+
+extern "C" void 
+create_init_threads(){ 
+
+#if ROSLITE_TARGET_CLUSTER_ID == 0
+#else
+    /* Initialize servers in clusters */
+    // roslite_rpc_client_init();
+    // roslite_async_init();
+
+    /* Synchronize all PE0 of all booted cluster */
+    // roslite_rpc_barrier_all();
+#endif
+
+    roslite_debug_printf("--------- cluster start: cluster_id=%d ---------\n", ROSLITE_TARGET_CLUSTER_ID);
+
+    ROSLITE_NAMESPACE::generated_init();
+
+#if ROSLITE_TARGET_CLUSTER_ID == 0
+    create_thread(1024 * 10, ros_bridge_main);
+#elif ROSLITE_TARGET_CLUSTER_ID == 1
+    ROSLITE_NAMESPACE::createAndStartNodeThread(talker_main);
+#elif ROSLITE_TARGET_CLUSTER_ID == 2
+    ROSLITE_NAMESPACE::createAndStartNodeThread(listener_main);
+#elif ROSLITE_TARGET_CLUSTER_ID == 3
+    ROSLITE_NAMESPACE::createAndStartNodeThread(listener2_main);
+#endif 
+
+#if ROSLITE_TARGET_CLUSTER_ID != 17
+    // TODO
+    // roslite_rpc_barrier_all();  /* Synchronize all PE0 of all booted cluster */
+    roslite_debug_printf("--------- cluster end ---------\n");
+#endif 
+} 
+

source/appl/ros_src/generated/roslite_app.cmake

@@ -0,0 +1,71 @@
+# [note] Auto-generated file
+# [note] 2019-03-20T08:43:51Z
+# [note] based on source/appl/ros_src/map/roslite_map_two_listenres.map
+
+#/****************************************************************************
+ #[ roslite_app.cmake ] - cmake rules for roslite application
+#****************************************************************************/
+
+
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/nodes/talker talker_SOURCE)
+add_library(
+        ros_node-1-talker OBJECT
+        ${talker_SOURCE}
+)
+target_compile_definitions(
+        ros_node-1-talker
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=1
+        PUBLIC talker_MAIN=1
+)
+
+add_library(
+        ros_node-1 STATIC
+        $<TARGET_OBJECTS:ros_node-1-talker>
+)
+
+target_compile_definitions(
+        ros_node-1
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=1
+)
+
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/nodes/listener listener_SOURCE)
+add_library(
+        ros_node-2-listener OBJECT
+        ${listener_SOURCE}
+)
+target_compile_definitions(
+        ros_node-2-listener
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=2
+        PUBLIC listener_MAIN=1
+)
+
+add_library(
+        ros_node-2 STATIC
+        $<TARGET_OBJECTS:ros_node-2-listener>
+)
+
+target_compile_definitions(
+        ros_node-2
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=2
+)
+
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/nodes/listener2 listener2_SOURCE)
+add_library(
+        ros_node-3-listener2 OBJECT
+        ${listener2_SOURCE}
+)
+target_compile_definitions(
+        ros_node-3-listener2
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=3
+        PUBLIC listener2_MAIN=1
+)
+
+add_library(
+        ros_node-3 STATIC
+        $<TARGET_OBJECTS:ros_node-3-listener2>
+)
+
+target_compile_definitions(
+        ros_node-3
+        PUBLIC ROSLITE_TARGET_CLUSTER_ID=3
+)

source/appl/ros_src/map/roslite_map_arrays.map

@@ -0,0 +1,12 @@
+- name: arrays_talker
+  cluster: 1
+  publish: [/chatter]
+  publish_type: ["test::Arrays"]
+  subscribe: []
+  subscribe_type: []
+- name: arrays_listener
+  cluster : 2
+  publish: []
+  publish_type: []
+  subscribe: [/chatter]
+  subscribe_type: ["test::Arrays"]

source/appl/ros_src/map/roslite_map_complex.map

@@ -0,0 +1,30 @@
+- name: comp_talker1
+  cluster: 1
+  publish: [/chatter1]
+  publish_type: ["std_msgs::String"]
+  subscribe: [/chatter6]
+  subscribe_type: ["std_msgs::String"]
+- name: comp_talker2
+  cluster: 1
+  publish: [/chatter2, /chatter3]
+  publish_type: ["std_msgs::String", "std_msgs::String"]
+  subscribe: []
+  subscribe_type: []
+- name: comp_listener1
+  cluster : 2
+  publish: [/chatter4]
+  publish_type: ["std_msgs::String"]
+  subscribe: [/chatter1]
+  subscribe_type: ["std_msgs::String"]
+- name: comp_listener2
+  cluster : 2
+  publish: [/chatter5]
+  publish_type: ["std_msgs::String"]
+  subscribe: [/chatter1, /chatter2]
+  subscribe_type: ["std_msgs::String", "std_msgs::String"]
+- name: comp_ender
+  cluster : 1
+  publish: []
+  publish_type: []
+  subscribe: [/chatter4, /chatter5]
+  subscribe_type: ["std_msgs::String", "std_msgs::String"]

source/appl/ros_src/map/roslite_map_two_listenres.map

@@ -0,0 +1,21 @@
+- name: talker
+  cluster: 1
+  cpu: 0
+  publish: [/chatter]
+  publish_type: ["std_msgs::String"]
+  subscribe: []
+  subscribe_type: []
+- name: listener
+  cluster: 2
+  cpu: 1
+  publish: []
+  publish_type: []
+  subscribe: [/chatter]
+  subscribe_type: ["std_msgs::String"]
+- name: listener2
+  cluster: 3
+  cpu: 2
+  publish: []
+  publish_type: []
+  subscribe: [/chatter]
+  subscribe_type: ["std_msgs::String"]

source/appl/ros_src/msg/std_msgs/String.msg

@@ -0,0 +1,2 @@
+# Copy of std_msgs/String.msg to avoid having tests require a dependency on std_msgs.
+string data