Continue implementation of the architectural shell for the command task hierarchy (#12)

Implement the basic structure for the command chain modules.

Author: Michael Jeronimo

src/libs/.gitignore renamed to src/control/CHANGELOG.rst

@@ -13,7 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(task REQUIRED)
+find_package(nav2_msgs REQUIRED)
 
 include_directories(
   include
@@ -24,20 +24,18 @@ include_directories(
 link_directories(${CMAKE_BINARY_DIR}/../libs)
 
 add_executable(dwa_controller
-  src/ControlTask.cpp
   src/DwaController.cpp
   src/main.cpp
   )
 
 target_link_libraries(dwa_controller
   robot
-  task
   )
 
 ament_target_dependencies(dwa_controller 
   rclcpp 
   std_msgs
-  task
+  nav2_msgs
   robot
   )
 

src/control/CMakeLists.txt

@@ -1,22 +1,31 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
+// Copyright (c) 2018 Intel Corporation
+//
+// 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 CONTROL__DWACONTROLLER_HPP_
 #define CONTROL__DWACONTROLLER_HPP_
 
-#include "control/ControlTask.hpp"
+#include <string>
+#include "control/FollowPathTaskServer.hpp"
 
-class DwaController : public ControlTask
+class DwaController : public FollowPathTaskServer
 {
 public:
-  DwaController(const std::string & name, Robot * robot);
+  explicit DwaController(const std::string & name);
   DwaController() = delete;
   ~DwaController();
 
-  void executePlan() override; 
-
-protected:
-  void workerThread() override; 
+  TaskStatus executeAsync(const FollowPathCommand::SharedPtr path) override;
 };
 
 #endif  // CONTROL__DWACONTROLLER_HPP_

src/mission_planning/include/mission_planning/.gitignore renamed to src/control/README.md

@@ -0,0 +1,23 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// 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 CONTROL__FOLLOWPATHTASKCLIENT_HPP_
+#define CONTROL__FOLLOWPATHTASKCLIENT_HPP_
+
+#include "task/TaskClient.hpp"
+#include "control/FollowPathTaskMessages.hpp"
+
+using FollowPathTaskClient = TaskClient<FollowPathCommand, FollowPathResult>;
+
+#endif  // CONTROL__FOLLOWPATHTASKCLIENT_HPP_

src/mission_planning/src/.gitignore renamed to src/control/doc/.gitignore

@@ -0,0 +1,24 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// 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 CONTROL__FOLLOWPATHTASKMESSAGES_HPP_
+#define CONTROL__FOLLOWPATHTASKMESSAGES_HPP_
+
+#include "nav2_msgs/msg/path.hpp"
+#include "std_msgs/msg/empty.hpp"
+
+using FollowPathCommand = nav2_msgs::msg::Path;
+using FollowPathResult = std_msgs::msg::Empty;
+
+#endif  // CONTROL__FOLLOWPATHTASKMESSAGES_HPP_

src/control/include/control/ControlTask.hpp

@@ -0,0 +1,23 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// 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 CONTROL__FOLLOWPATHTASKSERVER_HPP_
+#define CONTROL__FOLLOWPATHTASKSERVER_HPP_
+
+#include "task/TaskServer.hpp"
+#include "control/FollowPathTaskMessages.hpp"
+
+using FollowPathTaskServer = TaskServer<FollowPathCommand, FollowPathResult>;
+
+#endif  // CONTROL__FOLLOWPATHTASKSERVER_HPP_

src/control/include/control/DwaController.hpp

@@ -9,9 +9,12 @@
   <license>Apache License 2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>rclcpp</build_depend>
-  <build_depend>task</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>nav2_msgs</build_depend>
   <build_depend>robot</build_depend>
   <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>nav2_msgs</exec_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>