Merge pull request #58 from clearpathrobotics/discovery-server

Discovery server support

clearpath_config/common/types/config.py

@@ -50,6 +50,7 @@ def __init__(
             parent_key: str = None,
             ) -> None:
         # Dictionaries are Stored Flat
+        self._config = {}
         self.template = template
         self._parent_key = parent_key
         if self._parent_key is not None and self._parent_key not in config:

clearpath_config/common/types/host.py → clearpath_config/common/types/discovery.py

@@ -1,7 +1,7 @@
 # Software License Agreement (BSD)
 #
-# @author    Luis Camero <lcamero@clearpathrobotics.com>
-# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+# @author    Hilary Luo <hluo@clearpathrobotics.com>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:
@@ -25,44 +25,42 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
-from clearpath_config.common.types.hostname import Hostname
-from clearpath_config.common.types.ip import IP
 
+class Discovery:
+    SIMPLE = "simple"
+    SERVER = "server"
+
+    # All supported discovery modes, currently only set up for FastDDS
+    ALL_SUPPORTED = [SIMPLE, SERVER]
+
+    # The discovery mode that the system will default to
+    DEFAULT = SIMPLE
 
-# Host
-# - hostname and config pair
-class Host:
     def __init__(
             self,
-            hostname: str = "hostname",
-            ip: str = "0.0.0.0"
+            mode: str = DEFAULT
             ) -> None:
-        self.hostname = Hostname()
-        self.ip = IP()
-        self.set_hostname(hostname)
-        self.set_ip(ip)
+        self.assert_valid(mode)
+        self.mode = mode
 
-    def __eq__(self, other) -> bool:
-        return self.hostname == other.hostname and self.ip == other.ip
+    def __eq__(self, other: object) -> bool:
+        if isinstance(other, str):
+            return self.mode == other
+        elif isinstance(other, Discovery):
+            return self.mode == other.mode
+        else:
+            return False
 
     def __str__(self) -> str:
-        return "{ hostname: %s, ip: %s }" % (str(self.hostname), str(self.ip))
-
-    def to_dict(self) -> dict:
-        return {str(self.hostname): str(self.ip)}
-
-    # Hostname:
-    # - the hostname of this host
-    def get_hostname(self) -> str:
-        return str(self.hostname)
-
-    def set_hostname(self, hostname: str) -> None:
-        self.hostname = Hostname(hostname)
+        return self.mode
 
-    # IP
-    # - the ip of this host
-    def get_ip(self) -> str:
-        return str(self.ip)
+    @classmethod
+    def is_valid(cls, mode: str) -> bool:
+        return mode in cls.ALL_SUPPORTED
 
-    def set_ip(self, ip: str) -> None:
-        self.ip = IP(ip)
+    @classmethod
+    def assert_valid(cls, mode: str) -> None:
+        assert cls.is_valid(mode), ("\n".join[
+            f"Discovery mode '{mode}' not supported."
+            f"Discovery mode must be one of: '{cls.ALL_SUPPORTED}'"
+        ])

clearpath_config/common/types/hostname.py

@@ -66,6 +66,10 @@ def assert_valid(hostname: str):
         assert isinstance(hostname, str), (
             "Hostname '%s' must be of type 'str'" % hostname
         )
+        # Min 1 ASCII Characters
+        assert len(hostname) > 0, (
+            "Hostname '%s' is blank." % hostname
+        )
         # Max 253 ASCII Characters
         assert len(hostname) < 254, (
             "Hostname '%s' exceeds 253 ASCII character limit." % hostname

clearpath_config/common/types/list.py

@@ -159,6 +159,7 @@ def set_all(
         except AssertionError:
             self.__list = tmp_list
 
+    # TODO: the below UID methods are not supported by most implementations of this class
     # Unique Identifier: Name
     @staticmethod
     def uid_name(T) -> str:

clearpath_config/common/types/rmw_implementation.py

@@ -32,11 +32,13 @@ class RMWImplementation:
     FAST_RTPS = "rmw_fastrtps_cpp"
     GURUM_DDS = "rmw_gurumdds_cpp"
 
-    MIDDLEWARE = [FAST_RTPS]
+    ALL_SUPPORTED = [FAST_RTPS]
+
+    DEFAULT = FAST_RTPS
 
     def __init__(
             self,
-            rmw: str = FAST_RTPS
+            rmw: str = DEFAULT
             ) -> None:
         self.assert_valid(rmw)
         self.rmw = rmw
@@ -54,11 +56,11 @@ def __str__(self) -> str:
 
     @classmethod
     def is_valid(cls, rmw: str) -> bool:
-        return rmw in cls.MIDDLEWARE
+        return rmw in cls.ALL_SUPPORTED
 
     @classmethod
     def assert_valid(cls, rmw: str) -> None:
         assert cls.is_valid(rmw), ("\n".join[
             "RMW '%s' not supported." % rmw,
-            "RMW must be one of: '%s'" % cls.MIDDLEWARE
+            "RMW must be one of: '%s'" % cls.ALL_SUPPORTED
         ])

clearpath_config/sample/a200/a200_default.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-a200-0000
-    platform:
-      cpr-a200-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-a200-0000
+      ip: 192.168.131.1
   ros2:
     namespace: a200_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/a200/a200_dual_laser.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-a200-0000
-    platform:
-      cpr-a200-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-a200-0000
+      ip: 192.168.131.1
   ros2:
     namespace: a200_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/a200/a200_sample.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-a200-0000
-    platform:
-      cpr-a200-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-a200-0000
+      ip: 192.168.131.1
   ros2:
     namespace: a200_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/a200/a200_velodyne.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-a200-0000
-    platform:
-      cpr-a200-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-a200-0000
+      ip: 192.168.131.1
   ros2:
     namespace: a200_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/dd100/dd100_default.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-dd100-0000
-    platform:
-      cpr-dd100-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-dd100-0000
+      ip: 192.168.131.1
   ros2:
     namespace: dd100_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/dd100/dd100_dual_laser.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-dd100-0000
-    platform:
-      cpr-dd100-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-dd100-0000
+      ip: 192.168.131.1
   ros2:
     namespace: dd100_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/dd100/dd100_velodyne.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-dd100-0000
-    platform:
-      cpr-dd100-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-dd100-0000
+      ip: 192.168.131.1
   ros2:
     namespace: dd100_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/dd150/dd150_default.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-dd150-0000
-    platform:
-      cpr-dd150-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-dd150-0000
+      ip: 192.168.131.1
   ros2:
     namespace: dd150_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/dd150/dd150_dual_laser.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-dd150-0000
-    platform:
-      cpr-dd150-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-dd150-0000
+      ip: 192.168.131.1
   ros2:
     namespace: dd150_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/dd150/dd150_velodyne.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-dd150-0000
-    platform:
-      cpr-dd150-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-dd150-0000
+      ip: 192.168.131.1
   ros2:
     namespace: dd150_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/j100/j100_default.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-j100-0000
-    platform:
-      cpr-j100-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-j100-0000
+      ip: 192.168.131.1
   ros2:
     namespace: j100_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4

clearpath_config/sample/j100/j100_dual_laser.yaml

@@ -3,15 +3,13 @@ version: 0
 system:
   username: administrator
   hosts:
-    self: cpr-j100-0000
-    platform:
-      cpr-j100-0000: 192.168.131.1
-    onboard: {}
-    remote: {}
+    - hostname: cpr-j100-0000
+      ip: 192.168.131.1
   ros2:
     namespace: j100_0000
     domain_id: 0
-    rmw_implementation: rmw_fastrtps_cpp
+    middleware:
+      implementation: rmw_fastrtps_cpp
     workspaces: []
 platform:
   controller: ps4