Merge pull request #9 from Robotics010/cli-tool/feature/add-subcomman…

…ds-add-remove-status-result

Cli tool/feature/add subcommands add remove status result

README.md

@@ -8,6 +8,10 @@ Typically a software team has a production code to be tested; a simulation tool
 
 Current project is under active development and is not ready yet to be in use.
 
+Help wanted:
+* Windows integration
+* Cmake review
+
 ## Notes
 
 ### service notes
@@ -17,7 +21,14 @@ Current project is under active development and is not ready yet to be in use.
 ~/cycle_on/service$ cmake --build build
 
 ~/cycle_on/service$ (cd build && ctest)
-~/cycle_on/service$ ./build/src/hello_world
+~/cycle_on/service$ ./build/src/service
+```
+
+### service integration
+
+```
+~/cycle_on/$ sudo bash docker/installers/install_essentials.sh
+~/cycle_on/$ sudo bash docker/installers/install_boost.sh
 ```
 
 ### cli-tool notes
@@ -26,7 +37,11 @@ $ python3 -m pip install build
 $ python3 -m pip install setuptools
 $ python3 -m pip install --user virtualenv --force-reinstall
 
-~/cycle_on/cli_tool$ python3 src/cycleon/cmd.py data/config.json
+~/cycle_on/cli_tool$ python3 src/cycleon/cmd.py add --reuse_global_config
+~/cycle_on/cli_tool$ python3 src/cycleon/cmd.py remove id
+~/cycle_on/cli_tool$ python3 src/cycleon/cmd.py status id
+~/cycle_on/cli_tool$ python3 src/cycleon/cmd.py result id
+
 ~/cycle_on/cli_tool$ python3 -m pytest test/
 ~/cycle_on/cli_tool$ python3 -m build
 ~/cycle_on/cli_tool$ python3 -m pip install dist/cycleon-0.0.1-py3-none-any.whl --force-reinstall

cli_tool/data/global_config.json

@@ -0,0 +1,41 @@
+{
+    "network": {
+        "address": "localhost",
+        "port": 8181
+    },
+    "action": {
+        "modules": [
+            {
+                "command": "ros2",
+                "parameters": [
+                    "launch",
+                    "carla_autoware_bridge",
+                    "carla_autoware_demo.launch.py",
+                    "port:=3000",
+                    "timeout:=5"
+                ]
+            },
+            {
+                "command": "ros2",
+                "parameters": [
+                    "launch",
+                    "carla_launch",
+                    "e2e_simulator.launch.xml",
+                    "map_path:=/home/robo/autoware_map/carla-town-1",
+                    "vehicle_model:=carla_tesla_model3",
+                    "sensor_model:=sample_sensor_kit"
+                ]
+            }
+        ],
+        "simulators": [
+            {
+                "command": "/home/robo/CARLA_0.9.12/CarlaUE4.sh",
+                "parameters": [
+                    "-prefernvidia",
+                    "-carla-rpc-port=3000",
+                    "-quality-level=Low"
+                ]
+            }
+        ]
+    }
+}

cli_tool/src/cycleon/cmd.py

@@ -8,29 +8,57 @@
 
 
 def process(args):
+    GLOBAL_CONFIG_PATH = 'data/global_config.json'
     config_reader = ConfigReader()
     config_reader.implementation = JsonConfig()
-    config = config_reader.Open(args.config)
+    config = config_reader.Open(GLOBAL_CONFIG_PATH)
 
     client = Client()
     client.interface = TcpClient(
         address=config.network.address,
         port=config.network.port)
     client.adapter = JsonTcpAdapter()
 
-    # ToDo: add low-level client cmd execute
-    action_id = client.Add(config.action)
-    print(f'action_id: {action_id}')
-    # client.Remove(action_id)
-    # status = client.GetStatus(action_id)
-    # result = client.GetResult(action_id)
+    if args.command == 'add':
+        action_id = client.Add(config.action)
+        print(f'added with action_id: {action_id}')
+    elif args.command == 'remove':
+        client.Remove(int(args.id))
+        print(f'removed action_id: {args.id}')
+    elif args.command == 'status':
+        status = client.GetStatus(int(args.id))
+        print(f'status of action_id {args.id}: {status}')
+    elif args.command == 'result':
+        result = client.GetResult(int(args.id))
+        print(f'result of action_id {args.id}: {result}')
+    else:
+        raise RuntimeError(f'unsupported command "{args.command}"')
 
     # ToDo: add high-level scenario group execution
 
 
 def main():
     parser = argparse.ArgumentParser()
-    parser.add_argument('config', help='path to config file')
+    # parser.add_argument('--config', help='path to global config file', required=True)
+
+    subparsers = parser.add_subparsers(help='sub-command', required=True, dest='command')
+
+    add_cmd_subparser = subparsers.add_parser('add', help='request new action to perform')
+    add_config_group = add_cmd_subparser.add_mutually_exclusive_group(required=True)
+    add_config_group.add_argument('--reuse_global_config', action='store_true',
+                                   help='get action from global config')
+    add_config_group.add_argument('--config', type=str,
+                                   help='path to config file with action to perform')
+
+    remove_cmd_subparser = subparsers.add_parser('remove', help='cancel selected action')
+    remove_cmd_subparser.add_argument('id', help='unique index of the action')
+
+    status_cmd_subparser = subparsers.add_parser('status', help='get status of selected action')
+    status_cmd_subparser.add_argument('id', help='unique index of the action')
+
+    result_cmd_subparser = subparsers.add_parser('result', help='get result of selected action')
+    result_cmd_subparser.add_argument('id', help='unique index of the action')
+
     args = parser.parse_args()
 
     process(args)

cli_tool/src/cycleon/network/message/response.py

@@ -5,7 +5,7 @@
 class Type(Enum):
     INVALID = 0
     ADD_ACTION = 1
-    # REMOVE_ACTION = 2
+    REMOVE_ACTION = 2
     GET_ACTION_STATUS = 3
     GET_ACTION_RESULT = 4
 
@@ -28,6 +28,9 @@ class Result:
     def __init__(self) -> None:
         self._type = ResultType.INVALID
         self._message = ''
+
+    def __str__(self) -> str:
+        return f'({self._type},{self._message})'
 
     @property
     def type(self) -> ResultType:

service/CMakeLists.txt

@@ -6,6 +6,7 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 include(FetchContent)
+find_package(Threads REQUIRED)
 find_package(Boost REQUIRED COMPONENTS
              filesystem)
 

service/src/runner/child.cc

@@ -10,6 +10,13 @@ using namespace cycleon::runner;
 Child::Child(const std::vector<std::string>& arguments)
     : arguments_(arguments) {}
 
-void Child::Open() { child_.reset(new bp::child(bp::args(arguments_))); }
+void Child::Open() {
+    child_.reset(new bp::child(bp::args(arguments_), group_));
+    // std::cout << "Child: id " << child_->id() << std::endl;
+    }
 
-void Child::Close() { child_->terminate(); }
+void Child::Close() {
+    group_.terminate();
+    child_->wait();
+    // std::cout << "Child: exit_code " << child_->exit_code() << std::endl;
+    }

service/src/runner/child.hpp

@@ -2,6 +2,7 @@
 #define RUNNER_CHILD_H_
 
 #include <boost/process/child.hpp>
+#include <boost/process/group.hpp>
 #include <memory>
 
 #include "runner/module.hpp"
@@ -20,6 +21,7 @@ class Child final : public ModuleBase {
 
  private:
   childPtr child_;
+  bp::group group_;
   std::vector<std::string> arguments_;
 };
 

service/src/server/CMakeLists.txt

@@ -6,6 +6,7 @@ target_link_libraries(
     tcp_server
     handler
     nlohmann_json::nlohmann_json
+    Threads::Threads
     )
 
 target_include_directories(