feat: add autoware_node and autoware_control_center #73

xmfcx · 2023-02-03T14:37:51Z

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

Description

Related Discussion: https://github.com/orgs/autowarefoundation/discussions/3194
Old PR: #57

This PR is for creating the base class for all the future Autoware Core nodes to inherit from.

This node will be inheriting from the rclcpp_lifecycle::LifecycleNode with (LifeCycle Readme).

I'll be taking ros2 nav2 stack as reference too while combining Lifecycle and Composable node concepts.

While developing this PR, I am going to explore ideas mentioned in previous conversations in the Autoware community.

Communication architecture

Registration Service

Service server: ACC

Service client: AutowareNode

Roles:

Register the AutowareNode in ACC
Receive the UUID for the AutowareNode
If already registered, return error

sequenceDiagram
    participant acc as Autoware Control Center
    participant node as node_a

    Note right of node: cli_reg
    node ->>+ acc: name: node_a
    Note left of acc: srv_reg

    acc ->> acc: generate a UUID for the node_a
    acc ->> acc: create a bond between acc and node_a


    Note left of acc: srv_reg
    acc -->>- node: UUID and registration success bool
    Note right of node: cli_reg

Heart beat bond

~~https://github.com/ros/bond_core/blob/ros2/ros2_migration_readme.md~~ Slow

https://github.com/ros-safety/software_watchdogs

https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html

https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-events

Roles:

As long as the AutowareNode is alive, it reports with this bond
If the AutowareNode dies, it triggers the on_broken callback

Reporting service

Service server: ACC

Service client: AutowareNode

Roles:

Reporting state of the AutowareNode to the ACC
- Warning
- Error

Control service

Service server: AutowareNode

Service client: ACC

Roles:

Shutting down the AutowareNode
Toggle AutowareNode between active-inactive?

Tasks

Tests performed

PR Review Items

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

codecov · 2023-02-03T14:41:24Z

Codecov Report

Attention: Patch coverage is 13.97059% with 351 lines in your changes are missing coverage. Please review.

Please upload report for BASE (main@9989140). Learn more about missing BASE report.

❗ Current head e4f5fca differs from pull request most recent head ed2efdb

Please upload reports for the commit ed2efdb to get more accurate results.

Files	Patch %	Lines
...are_control_center/src/autoware_control_center.cpp	19.25%	65 Missing and 44 partials ⚠️
common/autoware_node/src/autoware_node.cpp	0.00%	94 Missing ⚠️
...ntrol_center/test/test_autoware_control_center.cpp	14.66%	6 Missing and 58 partials ⚠️
...utoware_control_center/test/test_node_registry.cpp	18.42%	0 Missing and 31 partials ⚠️
common/test_node/src/test_pub.cpp	0.00%	22 Missing ⚠️
...mmon/autoware_control_center/src/node_registry.cpp	56.52%	3 Missing and 7 partials ⚠️
common/test_node/src/test_node.cpp	0.00%	10 Missing ⚠️
...ontrol_center/src/autoware_control_center_node.cpp	0.00%	9 Missing ⚠️
...utoware_control_center/autoware_control_center.hpp	0.00%	1 Missing ⚠️
.../include/autoware_control_center/node_registry.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main      #73   +/-   ##
=======================================
  Coverage        ?   13.97%           
=======================================
  Files           ?       10           
  Lines           ?      408           
  Branches        ?      189           
=======================================
  Hits            ?       57           
  Misses          ?      211           
  Partials        ?      140

Flag	Coverage Δ
differential	`13.97% <13.97%> (?)`

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stale · 2023-05-15T10:56:50Z

This pull request has been automatically marked as stale because it has not had recent activity.

xmfcx · 2023-05-29T14:00:36Z

@JianKangEgon I've also added you as an assignee too, after talking with @liuXinGangChina
If you have any questions, please let me know.

JianKangEgon · 2023-05-31T01:41:10Z

@JianKangEgon I've also added you as an assignee too, after talking with @liuXinGangChina If you have any questions, please let me know.

OK, thanks @xmfcx

xmfcx · 2023-06-13T15:25:39Z

@Tom-Li-Lee to be assigned too.

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

stale · 2023-11-09T23:42:11Z

This pull request has been automatically marked as stale because it has not had recent activity.

xmfcx · 2023-12-12T09:12:06Z

Priority list:

Registering the node to ACC
1. De-register / Re-register
2. Handle different orders of launching
Heartbeat/liveliness for the nodes, reports in last call milliseconds
Receive error states in ACC (through a service call) (Node can report something is wrong with itself)
Monitored Sub
1. Creates a deadline callback which can either send (info/warning/error) through the previously implemented error handling
Lifecycle
1. delayed/controlled activate
2. shutdown
3. activate/deactivate cycles

…imer Signed-off-by: Alexey Panferov <[email protected]>

Signed-off-by: Alexey Panferov <[email protected]>

lexavtanke · 2024-04-22T08:21:34Z

@xmfcx It seems like we have an issue with cpplint related to cpplint/cpplint#184 after we suppress clang-tidy with // NOLINTNEXTLINE(performance-unnecessary-value-param)

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

xmfcx · 2024-04-22T09:44:41Z

It seems they have added clang-analyzer- to the list of ignored prefixes for cpplint.

https://github.com/cpplint/cpplint/blob/e3a1938af916506c1cd658c2f464b2837597b81c/cpplint.py#L382-L408

But ours is has a performance- prefix.

Which is not in the error categories listed here:

https://github.com/cpplint/cpplint/blob/e3a1938af916506c1cd658c2f464b2837597b81c/cpplint.py#L295-L364

I couldn't find a way to add our check to this list. Easiest solution is to just add it as // NOLINTNEXTLINE without the name.

Another could be to disable cpplint altogether but I won't do that for now.

Edit:

Oh it seems they have added performance- to the list too with cpplint/cpplint@8eeaf23

Avoid false positive on other clang-tidy checks cpplint/cpplint#231

will try to use this version.

Release 2.0 cpplint/cpplint#238

We can keep it as // NOLINTNEXTLINE for now and when updated to 1.7.0 or 2.0.0 we can bring it back.

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

lexavtanke · 2024-04-23T08:08:36Z

@xmfcx
DCO behaves a bit strange on two commits 8ec287d and 5c03cbb

As both of them have Signed-off-by

xmfcx · 2024-04-24T13:32:15Z

@lexavtanke we can ignore the DCO checks, as long as the squashed commit has the correct signatures, it is alright. I set it to pass.

Is this ready for review again?

lexavtanke · 2024-04-24T13:46:25Z

@xmfcx Yes, it is ready. I've changed the info level to debug and remove the startup timer from ACC.

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

Signed-off-by: GitHub <[email protected]> Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]>

xmfcx added the enhancement New feature or request label Feb 3, 2023

xmfcx self-assigned this Feb 3, 2023

xmfcx mentioned this pull request Feb 3, 2023

feat(autoware_node): add AutowareNode base class #57

Closed

17 tasks

xmfcx mentioned this pull request Feb 3, 2023

chore: sync files #71

Merged

xmfcx force-pushed the autoware_node branch from c81253c to 1893397 Compare February 4, 2023 16:35

xmfcx force-pushed the autoware_node branch from 1893397 to e73dd28 Compare March 14, 2023 06:37

stale bot added the stale label May 15, 2023

xmfcx assigned JianKangEgon May 29, 2023

stale bot removed the stale label May 29, 2023

M. Fatih Cırıt and others added 5 commits July 17, 2023 14:52

feat: add autoware_node and autoware_control_center

942930a

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

fix case

1a4f640

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

mark explicit

fd9981e

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

simple service call

4d7a2a9

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

style(pre-commit): autofix

d67b55d

xmfcx force-pushed the autoware_node branch from 2d84b9b to d67b55d Compare July 17, 2023 11:53

M. Fatih Cırıt and others added 4 commits September 10, 2023 21:22

add heartbeat and uuid

4a695cf

style(pre-commit): autofix

692641d

add node registry template

02350b8

style(pre-commit): autofix

4457c90

stale bot added the stale label Nov 9, 2023

armaganarsln unassigned JianKangEgon Dec 8, 2023

stale bot removed the stale label Dec 8, 2023

xmfcx assigned lexavtanke Dec 12, 2023

lexavtanke and others added 3 commits April 21, 2024 23:52

refactor(autoware_control_center): change startup procedure, remove t…

0e6d5ec

…imer Signed-off-by: Alexey Panferov <[email protected]>

refactor, change log level to debug

5b4d994

Signed-off-by: Alexey Panferov <[email protected]>

style(pre-commit): autofix

e684b54

M. Fatih Cırıt added 2 commits April 22, 2024 12:20

test clang-analyzer prefix for no lint

a7edbab

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

empty nolint for now

3641b52

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

add todo

3d6ff2e

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

xmfcx assigned xmfcx and unassigned lexavtanke May 16, 2024

xmfcx marked this pull request as draft May 16, 2024 18:07

xmfcx removed the request for review from yukkysaito May 16, 2024 18:07

M. Fatih Cırıt and others added 10 commits May 16, 2024 21:42

update namespaces, service/topic names

9879f58

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

style(pre-commit): autofix

6a48e28

memory

63a87b4

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

add launch

da9470c

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

single instance, readme

9da94d9

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

style(pre-commit): autofix

588a1d3

refactor autoware_node

8d2db52

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

style(pre-commit): autofix

ed2efdb

refactor all

343cbc5

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

style(pre-commit): autofix

54d92cb

xmfcx closed this May 17, 2024

xmfcx mentioned this pull request May 17, 2024

feat: add autoware_control_center and autoware_node #84

Closed

15 tasks

xmfcx deleted the autoware_node branch May 17, 2024 15:50

mitsudome-r mentioned this pull request Oct 29, 2024

Create AutowareBase Class #87

Open

14 tasks

mitsudome-r pushed a commit to mitsudome-r/autoware.core that referenced this pull request Nov 13, 2024

chore: sync files (autowarefoundation#73)

861b2ed

Signed-off-by: GitHub <[email protected]> Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]>

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feat: add autoware_node and autoware_control_center #73

feat: add autoware_node and autoware_control_center #73

xmfcx commented Feb 3, 2023 •

edited by lexavtanke

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feat: add autoware_node and autoware_control_center #73

feat: add autoware_node and autoware_control_center #73

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xmfcx commented Feb 3, 2023 • edited by lexavtanke Loading

Description

Related links

Communication architecture

Registration Service

Heart beat bond

Reporting service

Control service

Tasks

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Feb 3, 2023 • edited Loading

Codecov Report

stale bot commented May 15, 2023

xmfcx commented May 29, 2023

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xmfcx commented Jun 13, 2023

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