feat: add autoware_node and autoware_control_center

common/autoware_control_center/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_control_center)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+autoware_package()
+
+ament_auto_add_executable(${PROJECT_NAME} src/autoware_control_center_node.cpp
+  src/autoware_control_center.cpp
+  src/node_registry.cpp)
+#target_link_libraries(${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(autoware_utils REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  ament_add_gtest(test_autoware_control_center
+                  test/test_autoware_control_center.cpp
+                  test/test_node_registry.cpp
+                  src/autoware_control_center.cpp
+                  src/node_registry.cpp)
+  target_include_directories(test_autoware_control_center PRIVATE ${PROJECT_SOURCE_DIR}/include)
+  ament_target_dependencies(test_autoware_control_center
+                          "rclcpp"
+                          "autoware_utils"
+                          "rclcpp_lifecycle"
+                          "autoware_control_center_msgs")
+endif()
+
+ament_auto_package()

common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp

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+// Copyright 2022 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_CONTROL_CENTER__AUTOWARE_CONTROL_CENTER_HPP_
+#define AUTOWARE_CONTROL_CENTER__AUTOWARE_CONTROL_CENTER_HPP_
+
+#include "autoware_control_center/node_registry.hpp"
+#include "autoware_control_center/visibility_control.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "autoware_control_center_msgs/msg/autoware_node_reports.hpp"
+#include "autoware_control_center_msgs/msg/heartbeat.hpp"
+#include "autoware_control_center_msgs/srv/autoware_node_deregister.hpp"
+#include "autoware_control_center_msgs/srv/autoware_node_error.hpp"
+#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
+
+#include <string>
+#include <unordered_map>
+
+namespace autoware_control_center
+{
+
+enum class HealthState { Unknown = 0, Healthy = 1, Warning = 2, Error = 3 };
+
+struct AutowareNodeStatus
+{
+  bool alive;
+  rclcpp::Time last_heartbeat;
+  std::string node_report;
+  autoware_control_center_msgs::msg::AutowareNodeState state;
+};
+
+class AutowareControlCenter : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  explicit AutowareControlCenter(const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
+
+  rclcpp::Service<autoware_control_center_msgs::srv::AutowareNodeRegister>::SharedPtr srv_register_;
+  rclcpp::Service<autoware_control_center_msgs::srv::AutowareNodeDeregister>::SharedPtr
+    srv_deregister_;
+  rclcpp::Service<autoware_control_center_msgs::srv::AutowareNodeError>::SharedPtr srv_node_error_;
+  rclcpp::Publisher<autoware_control_center_msgs::msg::AutowareNodeReports>::SharedPtr
+    node_reports_pub_;
+  NodeRegistry node_registry_;
+  std::unordered_map<
+    std::string, rclcpp::Subscription<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr>
+    heartbeat_sub_map_;
+  std::unordered_map<std::string, AutowareNodeStatus> node_status_map_;
+
+  rclcpp::TimerBase::SharedPtr startup_timer_;
+  rclcpp::TimerBase::SharedPtr node_reports_timer_;
+  int countdown;
+  unique_identifier_msgs::msg::UUID acc_uuid;
+  /// The lease duration granted to the remote (heartbeat) publisher
+  std::chrono::milliseconds lease_duration_;
+  bool startup;
+
+  void register_node(
+    const autoware_control_center_msgs::srv::AutowareNodeRegister::Request::SharedPtr request,
+    const autoware_control_center_msgs::srv::AutowareNodeRegister::Response::SharedPtr response);
+
+  void deregister_node(
+    const autoware_control_center_msgs::srv::AutowareNodeDeregister::Request::SharedPtr request,
+    const autoware_control_center_msgs::srv::AutowareNodeDeregister::Response::SharedPtr response);
+
+  void autoware_node_error(
+    const autoware_control_center_msgs::srv::AutowareNodeError::Request::SharedPtr request,
+    const autoware_control_center_msgs::srv::AutowareNodeError::Response::SharedPtr response);
+
+  void startup_callback();
+
+  rclcpp::Subscription<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr
+  create_heartbeat_sub(const std::string & node_name);
+
+  void node_reports_callback();
+};
+
+}  // namespace autoware_control_center
+
+#endif  // AUTOWARE_CONTROL_CENTER__AUTOWARE_CONTROL_CENTER_HPP_

common/autoware_control_center/include/autoware_control_center/node_registry.hpp

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+// Copyright 2022 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_CONTROL_CENTER__NODE_REGISTRY_HPP_
+#define AUTOWARE_CONTROL_CENTER__NODE_REGISTRY_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <unique_identifier_msgs/msg/uuid.hpp>
+
+#include <optional>
+#include <string>
+#include <unordered_map>
+
+namespace autoware_control_center
+{
+struct AutowareNodeInfo
+{
+  rclcpp::Time time_registering;
+  std::string name;
+  unique_identifier_msgs::msg::UUID uuid;
+  int num_registered;
+};
+
+class NodeRegistry
+{
+public:
+  NodeRegistry() = default;
+
+  std::optional<unique_identifier_msgs::msg::UUID> register_node(
+    const std::string & name, const unique_identifier_msgs::msg::UUID & uuid);
+
+  std::optional<unique_identifier_msgs::msg::UUID> deregister_node(const std::string & name);
+
+  bool is_registered(const std::string & name) const;
+
+  std::optional<unique_identifier_msgs::msg::UUID> get_uuid(const std::string & name) const;
+
+  bool is_empty();
+
+private:
+  std::unordered_map<std::string, AutowareNodeInfo> autoware_node_info_map_;
+};
+}  // namespace autoware_control_center
+
+#endif  // AUTOWARE_CONTROL_CENTER__NODE_REGISTRY_HPP_

common/autoware_control_center/include/autoware_control_center/visibility_control.hpp

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+// Copyright 2022 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_CONTROL_CENTER__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE_CONTROL_CENTER__VISIBILITY_CONTROL_HPP_
+
+#include "rcutils/visibility_control_macros.h"
+
+#ifdef AUTOWARE_CONTROL_CENTER_BUILDING_DLL
+#define AUTOWARE_CONTROL_CENTER_PUBLIC RCUTILS_EXPORT
+#else
+#define AUTOWARE_CONTROL_CENTER_PUBLIC RCUTILS_IMPORT
+#endif  // !AUTOWARE_CONTROL_CENTER_BUILDING_DLL
+#define AUTOWARE_CONTROL_CENTER_LOCAL RCUTILS_LOCAL
+
+#endif  // AUTOWARE_CONTROL_CENTER__VISIBILITY_CONTROL_HPP_

common/autoware_control_center/package.xml

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+<?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_control_center</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</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_control_center_msgs</depend>
+  <depend>autoware_utils</depend>
+  <depend>bond</depend>
+  <depend>bondcpp</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>nlohmann-json-dev</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rcutils</depend>
+  <!-- cspell:ignore bondcpp -->
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>rclcpp</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>