Release 0.7.0 (ROS2)

.github/workflows/jira-link.yaml

@@ -0,0 +1,22 @@
+name: jira-link
+
+on:
+  pull_request:
+    types: [opened, edited, reopened, synchronize]
+
+jobs:
+  jira-link:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: check pull request title and source branch name
+        run: |
+          echo "Checking pull request with title ${{ github.event.pull_request.title }} from source branch ${{ github.event.pull_request.head.ref }}"
+          if ! [[ "${{ github.event.pull_request.title }}" =~ ^AIRO-[0-9]+[[:space:]].*$ ]] && ! [[ "${{ github.event.pull_request.head.ref }}" =~ ^AIRO-[0-9]+.*$ ]]
+          then
+            echo -e "Please make sure one of the following is true:\n \
+            1. the pull request title starts with 'AIRO-xxxx ', e.g. 'AIRO-1024 My Pull Request'\n \
+            2. the source branch starts with 'AIRO-xxx', e.g. 'AIRO-1024-my-branch'"
+            exit 1
+          else
+            echo "Completed checking"
+          fi

.github/workflows/pre-commit.yaml

@@ -10,4 +10,5 @@ jobs:
             - uses: actions/checkout@v2
             - uses: actions/setup-python@v2
               with:
-                  python-version: 3.7.x
+                  python-version: 3.7.x
+

.gitignore

@@ -1,6 +1,8 @@
 .DS_Store
 *.pyc
 .idea
+.coverage
+test-results/
 *~
 build
 devel

.yamato/sonar.yml

@@ -0,0 +1,17 @@
+name: Sonarqube Standard Scan
+agent:
+    type: Unity::metal::macmini
+    image: package-ci/mac
+    flavor: m1.mac
+variables:
+    SONARQUBE_PROJECT_KEY: ai-robotics-endpoint-ros2
+commands:
+    - curl https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-4.6.2.2472-macosx.zip -o sonar-scanner-macosx.zip -L
+    - unzip sonar-scanner-macosx.zip -d ~/sonar-scanner
+    - ~/sonar-scanner/sonar-scanner-4.6.2.2472-macosx/bin/sonar-scanner -Dsonar.projectKey=$SONARQUBE_PROJECT_KEY -Dsonar.sources=. -Dsonar.host.url=$SONARQUBE_ENDPOINT_URL_PRD -Dsonar.login=$SONARQUBE_TOKEN_PRD
+triggers:
+    cancel_old_ci: true
+    expression: |
+        ((pull_request.target eq "main" OR pull_request.target eq "dev-ros2")
+        AND NOT pull_request.push.changes.all match "**/*.md") OR
+        (push.branch eq "main" OR push.branch eq "dev-ros2")

.yamato/yamato-config.yml

@@ -1,28 +1,32 @@
 name: Endpoint Unit Tests
 agent:
     type: Unity::VM
-    image: robotics/ci-ubuntu20:v0.1.0-795910
+    image: robotics/ci-ros2-galactic-ubuntu20:v0.0.2-916903
     flavor: i1.large
+variables:
+  # Coverage measured as a percentage (out of 100)
+  COVERAGE_EXPECTED: 3.5
 commands:
     # run unit tests and save test results in /home/bokken/build/output/Unity-Technologies/ROS-TCP-Endpoint
     - command: |
-        source /opt/ros/noetic/setup.bash && echo "ROS_DISTRO == $ROS_DISTRO"
-        cd .. && mkdir -p catkin_ws/src && cp -r ./ROS-TCP-Endpoint catkin_ws/src
-        cd catkin_ws && catkin_make && source devel/setup.bash
+        source /opt/ros/galactic/setup.bash && echo "ROS_DISTRO == galactic"
+        cd .. && mkdir -p ros_ws/src && cp -r ./ROS-TCP-Endpoint ros_ws/src
+        cd ros_ws && colcon build && source install/local_setup.bash
         cd src/ROS-TCP-Endpoint
-        python3 -m pytest --cov=. --cov-report xml:../../../ROS-TCP-Endpoint/test-results/coverage.xml --cov-report html:../../../ROS-TCP-Endpoint/test-results/coverage.html test/
+        python3 -m pytest --cov=. --cov-report xml:./test-results/coverage.xml --cov-report html:./test-results/coverage.html test/
     # check the test coverage
     - command: |
         linecoverage=$(head -2 test-results/coverage.xml | grep -Eo 'line-rate="[0-9]+([.][0-9]+)?"' | grep -Eo "[0-9]+([.][0-9]+)?")
         echo "Line coverage: $linecoverage"
-        if (( $(echo "$linecoverage < 0.3" | bc -l) )); then exit 1; fi
+        if (( $(echo "$linecoverage * 100.0 < $COVERAGE_EXPECTED" | bc -l) ));
+        then echo "ERROR: Code Coverage is under threshold of $COVERAGE_EXPECTED%" && exit 1
+        fi
 triggers:
     cancel_old_ci: true
     expression: |
-        (pull_request.target eq "main"  AND
-        NOT pull_request.push.changes.all match "**/*.md") OR
-        (pull_request.target eq "dev" AND
-        NOT pull_request.push.changes.all match "**/*.md")
+        ((pull_request.target eq "main-ros2" OR pull_request.target eq "dev-ros2")
+          AND NOT pull_request.push.changes.all match "**/*.md") OR
+        (push.branch eq "main-ros2" OR push.branch eq "dev-ros2")
 artifacts:
     logs:
         paths:

CHANGELOG.md

@@ -12,6 +12,8 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ### Added
 
+Added Sonarqube scanner
+
 ### Changed
 
 ### Deprecated
@@ -20,6 +22,18 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ### Fixed
 
+
+## [0.7.0] - 2022-02-01
+
+### Added
+
+Added Sonarqube scanner
+
+Send information during hand shaking for ros and package version checks
+
+Send service response as one queue item
+
+
 ## [0.6.0] - 2021-09-30
 
 Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action
@@ -84,4 +98,4 @@ Improving the performance of the read_message in client.py, This is done by rece
 
 Remove outdated handshake references
 
-### Fixed
+### Fixed

launch/endpoint.py

@@ -3,15 +3,13 @@
 
 
 def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='ros_tcp_endpoint',
-            executable='default_server_endpoint',
-            emulate_tty=True,
-            parameters=[
-                {'ROS_IP': '0.0.0.0'},
-                {'ROS_TCP_PORT': 10000},
-            ],
-        ),
-    ])
-
+    return LaunchDescription(
+        [
+            Node(
+                package="ros_tcp_endpoint",
+                executable="default_server_endpoint",
+                emulate_tty=True,
+                parameters=[{"ROS_IP": "0.0.0.0"}, {"ROS_TCP_PORT": 10000}],
+            )
+        ]
+    )

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_tcp_endpoint</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>ROS TCP Endpoint Unity Integration (ROS2 version)
   Acts as the bridge between Unity messages sent via TCP socket and ROS messages.
   </description>

ros_tcp_endpoint/client.py

@@ -148,7 +148,7 @@ def send_ros_service_request(self, srv_id, destination, data):
                 destination, self.tcp_server.ros_services_table.keys()
             )
             self.tcp_server.send_unity_error(error_msg)
-            self.logerr(error_msg)
+            self.tcp_server.logerr(error_msg)
             # TODO: send a response to Unity anyway?
             return
         else:
@@ -165,18 +165,12 @@ def service_call_thread(self, srv_id, destination, data, ros_communicator):
         if not response:
             error_msg = "No response data from service '{}'!".format(destination)
             self.tcp_server.send_unity_error(error_msg)
-            self.logerr(error_msg)
+            self.tcp_server.logerr(error_msg)
             # TODO: send a response to Unity anyway?
             return
 
         self.tcp_server.unity_tcp_sender.send_ros_service_response(srv_id, destination, response)
 
-    def loginfo(self, text):
-        self.tcp_server.get_logger().info(text)
-
-    def logerr(self, text):
-        self.tcp_server.get_logger().error(text)
-
     def run(self):
         """
         Receive a message from Unity and determine where to send it based on the publishers table
@@ -192,7 +186,7 @@ def run(self):
             msg: the ROS msg type as bytes
 
         """
-        self.loginfo("Connection from {}".format(self.incoming_ip))
+        self.tcp_server.loginfo("Connection from {}".format(self.incoming_ip))
         halt_event = threading.Event()
         self.tcp_server.unity_tcp_sender.start_sender(self.conn, halt_event)
         try:
@@ -225,10 +219,10 @@ def run(self):
                         destination, self.tcp_server.publishers_table.keys()
                     )
                     self.tcp_server.send_unity_error(error_msg)
-                    self.logerr(error_msg)
+                    self.tcp_server.logerr(error_msg)
         except IOError as e:
-            self.logerr("Exception: {}".format(e))
+            self.tcp_server.logerr("Exception: {}".format(e))
         finally:
             halt_event.set()
             self.conn.close()
-            self.loginfo("Disconnected from {}".format(self.incoming_ip))
+            self.tcp_server.loginfo("Disconnected from {}".format(self.incoming_ip))

ros_tcp_endpoint/communication.py

@@ -20,6 +20,7 @@ class RosSender(Node):
     """
         Base class for ROS communication where data is sent to the ROS network.
     """
+
     def __init__(self, node_name):
         super().__init__(node_name)
         pass
@@ -32,6 +33,7 @@ class RosReceiver(Node):
     """
         Base class for ROS communication where data is being sent outside of the ROS network.
     """
+
     def __init__(self, node_name):
         super().__init__(node_name)
         pass

ros_tcp_endpoint/default_server_endpoint.py

@@ -7,7 +7,7 @@
 
 def main(args=None):
     rclpy.init(args=args)
-    tcp_server = TcpServer('TCPServer')
+    tcp_server = TcpServer("UnityEndpoint")
 
     tcp_server.start()
 

ros_tcp_endpoint/server.py

@@ -52,15 +52,13 @@ def __init__(self, node_name, buffer_size=1024, connections=10, tcp_ip=None, tcp
         self.declare_parameter("ROS_TCP_PORT", 10000)
 
         if tcp_ip:
-            self.get_logger().log("Using ROS_IP override from constructor: {}".format(tcp_ip))
+            self.loginfo("Using ROS_IP override from constructor: {}".format(tcp_ip))
             self.tcp_ip = tcp_ip
         else:
             self.tcp_ip = self.get_parameter("ROS_IP").get_parameter_value().string_value
 
         if tcp_port:
-            self.get_logger().log(
-                "Using ROS_TCP_PORT override from constructor: {}".format(tcp_port)
-            )
+            self.loginfo("Using ROS_TCP_PORT override from constructor: {}".format(tcp_port))
             self.tcp_port = tcp_port
         else:
             self.tcp_port = self.get_parameter("ROS_TCP_PORT").get_parameter_value().integer_value
@@ -93,7 +91,7 @@ def listen_loop(self):
             Creates and binds sockets using TCP variables then listens for incoming connections.
             For each new connection a client thread will be created to handle communication.
         """
-        self.get_logger().info("Starting server on {}:{}".format(self.tcp_ip, self.tcp_port))
+        self.loginfo("Starting server on {}:{}".format(self.tcp_ip, self.tcp_port))
         tcp_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         tcp_server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         tcp_server.bind((self.tcp_ip, self.tcp_port))
@@ -105,7 +103,7 @@ def listen_loop(self):
                 (conn, (ip, port)) = tcp_server.accept()
                 ClientThread(conn, self, ip, port).start()
             except socket.timeout as err:
-                self.get_logger().error("ros_tcp_endpoint.TcpServer: socket timeout")
+                self.logerr("ros_tcp_endpoint.TcpServer: socket timeout")
 
     def send_unity_error(self, error):
         self.unity_tcp_sender.send_unity_error(error)
@@ -128,6 +126,15 @@ def handle_syscommand(self, topic, data):
             params = json.loads(message_json)
             function(**params)
 
+    def loginfo(self, text):
+        self.get_logger().info(text)
+
+    def logwarn(self, text):
+        self.get_logger().warning(text)
+
+    def logerr(self, text):
+        self.get_logger().error(text)
+
     def setup_executor(self):
         """
             Since rclpy.spin() is a blocking call the server needed a way
@@ -136,7 +143,13 @@ def setup_executor(self):
             MultiThreadedExecutor allows us to set the number of threads
             needed as well as the nodes that need to be spun.
         """
-        num_threads = len(self.publishers_table.keys()) + len(self.subscribers_table.keys()) + len(self.ros_services_table.keys()) + len(self.unity_services_table.keys()) + 1
+        num_threads = (
+            len(self.publishers_table.keys())
+            + len(self.subscribers_table.keys())
+            + len(self.ros_services_table.keys())
+            + len(self.unity_services_table.keys())
+            + 1
+        )
         executor = MultiThreadedExecutor(num_threads)
 
         executor.add_node(self)
@@ -204,9 +217,7 @@ def subscribe(self, topic, message_name):
         if self.tcp_server.executor is not None:
             self.tcp_server.executor.add_node(new_subscriber)
 
-        self.tcp_server.get_logger().info(
-            "RegisterSubscriber({}, {}) OK".format(topic, message_class)
-        )
+        self.tcp_server.loginfo("RegisterSubscriber({}, {}) OK".format(topic, message_class))
 
     def publish(self, topic, message_name, queue_size=10, latch=False):
         if topic == "":
@@ -234,9 +245,7 @@ def publish(self, topic, message_name, queue_size=10, latch=False):
         if self.tcp_server.executor is not None:
             self.tcp_server.executor.add_node(new_publisher)
 
-        self.tcp_server.get_logger().info(
-            "RegisterPublisher({}, {}) OK".format(topic, message_class)
-        )
+        self.tcp_server.loginfo("RegisterPublisher({}, {}) OK".format(topic, message_class))
 
     def ros_service(self, topic, message_name):
         if topic == "":
@@ -265,9 +274,7 @@ def ros_service(self, topic, message_name):
         if self.tcp_server.executor is not None:
             self.tcp_server.executor.add_node(new_service)
 
-        self.tcp_server.get_logger().info(
-            "RegisterRosService({}, {}) OK".format(topic, message_class)
-        )
+        self.tcp_server.loginfo("RegisterRosService({}, {}) OK".format(topic, message_class))
 
     def unity_service(self, topic, message_name):
         if topic == "":
@@ -297,9 +304,7 @@ def unity_service(self, topic, message_name):
         if self.tcp_server.executor is not None:
             self.tcp_server.executor.add_node(new_service)
 
-        self.tcp_server.get_logger().info(
-            "RegisterUnityService({}, {}) OK".format(topic, message_class)
-        )
+        self.tcp_server.loginfo("RegisterUnityService({}, {}) OK".format(topic, message_class))
 
     def response(self, srv_id):  # the next message is a service response
         self.tcp_server.pending_srv_id = srv_id
@@ -320,20 +325,18 @@ def resolve_message_name(self, name, extension="msg"):
             importlib.import_module(module_name + "." + extension)
             module = sys.modules[module_name]
             if module is None:
-                self.tcp_server.get_logger().error(
-                    "Failed to resolve module {}".format(module_name)
-                )
+                self.tcp_server.logerr("Failed to resolve module {}".format(module_name))
             module = getattr(module, extension)
             if module is None:
-                self.tcp_server.get_logger().error(
+                self.tcp_server.logerr(
                     "Failed to resolve module {}.{}".format(module_name, extension)
                 )
             module = getattr(module, class_name)
             if module is None:
-                self.tcp_server.get_logger().error(
+                self.tcp_server.logerr(
                     "Failed to resolve module {}.{}.{}".format(module_name, extension, class_name)
                 )
             return module
         except (IndexError, KeyError, AttributeError, ImportError) as e:
-            self.tcp_server.get_logger().error("Failed to resolve message name: {}".format(e))
+            self.tcp_server.logerr("Failed to resolve message name: {}".format(e))
             return None