Merge pull request #3737 from JdeRobot/cpp_vacuum_cleaner

Cpp vacuum cleaner update

Author: javizqh

.gitignore

@@ -4,7 +4,7 @@ __pycache__/
 *$py.class
 
 # C extensions
-*.so
+cpp_lib/build/*
 
 # Distribution / packaging
 .Python
@@ -118,7 +118,7 @@ webpack-stats.json
 *.DS_Store
 react_frontend/static
 developer_scripts
-src
+# src
 !/react_frontend/src
 
 # Intermediate file created in root during development

academy/views.py

@@ -20,6 +20,7 @@
 from .error_handler import error_wrapper
 from .templates import select_template
 from .models import Exercise, Universe, ExerciseUniverses
+from .project_view import is_binary_mimetype
 from rest_framework.response import Response
 
 
@@ -178,10 +179,18 @@ def get_helper_file(fal, request):
     project = request.GET.get("project")
     language = request.GET.get("language")
     filename = request.GET.get("filename", None)
+    binary = request.GET.get("binary", None)
 
     path = fal.exercise_helper_path(project, language)
+    file_path = fal.path_join(path, filename)
+
+    if binary is None or binary is False:
+        content = fal.read(file_path)
+    else:
+        content = fal.read_binary(file_path)
+        b64 = base64.b64encode(content)
+        content = b64.decode("utf-8")
 
-    content = fal.read(fal.path_join(path, filename))
     serializer = FileContentSerializer({"content": content})
     return Response(serializer.data)
 

docs/InstructionsForDevelopers.md

@@ -377,6 +377,7 @@ Create a folder with the folder name as "exercise_id" at the location from repos
 Inside that folder create 2 or more new ones with the following names:
 
 - `<language>_template`: the available languages are `python` and `cpp`. One for each supported language.
+- `cpp_lib`: used for precompilation of additional C++ libaries like WebGUI or HAL.
 - `frontend`
 
 You may add a teaser to the exercise by creating a file called `teaser.png` using a 9/10 aspect ratio.
@@ -403,8 +404,134 @@ For knowing how to use each package, please follow the links in the list above.
 
 #### Source code: inside `cpp_template`
 
+An exercise must contain this 3 files and a folder:
+
+- **main.cpp**: used as the entrypoint for launching the WebGUI, HAL, console control and the user code. **Must** contain the next code:
+
+```cpp
+#include "HAL.hpp"
+#include "WebGUI.hpp"
+#include "academy.cpp"
+#include "rclcpp/rclcpp.hpp"
+#include <bits/stdc++.h>
+#include <filesystem>
+#include <string>
+#include <thread>
+
+void start_console()
+{
+  int virtual_terminal = 0;
+  for (const auto &entry : std::filesystem::directory_iterator("/dev/pts/"))
+  {
+    std::filesystem::path outfilename = entry.path();
+    std::string filename = outfilename.filename().string();
+    if (filename != "ptmx" && std::stoi(filename) > virtual_terminal)
+    {
+      virtual_terminal = std::stoi(filename);
+    }
+  }
+
+  const std::string v_terminal_str = "/dev/pts/" + std::to_string(virtual_terminal);
+
+  if (freopen(v_terminal_str.c_str(), "w", stdout) == NULL)
+  {
+    std::cerr << "Error redirecting stdout!" << std::endl;
+  }
+
+  if (freopen(v_terminal_str.c_str(), "w", stderr) == NULL)
+  {
+    std::cerr << "Error redirecting stderr!" << std::endl;
+  }
+
+  if (freopen(v_terminal_str.c_str(), "w", stdin) == NULL)
+  {
+    std::cerr << "Error redirecting stdin!" << std::endl;
+  }
+};
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  start_console();
+
+  rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2);
+
+  auto HAL_node = std::make_shared<HAL>();
+  executor.add_node(HAL_node);
+
+  auto WebGUI_node = std::make_shared<WebGUINode>();
+  executor.add_node(WebGUI_node);
+
+#ifdef USER_NODE
+  auto user_node = std::make_shared<UserNode>();
+  executor.add_node(user_node);
+#else
+  std::thread user(exercise);
+#endif
+  std::thread ros([&executor]{executor.spin();});
+  WebGUI();
+
+#ifndef USER_NODE
+  user.join();
+#endif
+  ros.join();
+
+  rclcpp::shutdown();
+  return 0;
+}
+```
+
+- **package.xml**: Package description of the ROS package.
+- **CMakeLists.txt**: needed for compilation of the ROS package.
+- **libs/**: needed for storing the libraries for user access.
+
+#### Source code: inside `cpp_lib`
+
 **WORK IN PROGRESS**
 
+This directory contains the source code for the C++ libraries WebGUI, HAL, Frequency and others.
+
+It must contain:
+
+- **src/**: contains the source code for at least HAL, WebGUI and Frequency.
+- **include/**: contains the headers for the source code.
+- **CMakeLists.txt**: needed for compilation of the libraries.
+
+This directory will not be accesible to the user and will only be used to compile the libraries.
+
+To do that compilation you must launch the **RADI** using Robotics Academy as a **volume** (it is recommende to use the developer script) using the next command (in Linux):
+
+```bash
+docker exec -it cf17d87822efd8f7596d8c5dd274ef84789e7be57eaa6a9a78ad7d1e16dd0807 bash
+```
+
+Then inside the **RADI** navigate to the desired exercise like:
+
+```bash
+cd RoboticsAcademy/exercises/vacuum_cleaner
+```
+
+After being inside the exercise directory you must compile the libary inside the **RADI** using;
+
+```bash
+cd cpp_lib
+mkdir build
+cd build/
+cmake ..
+make
+chmod 777 *.so
+```
+
+After compiling the libraries you **must** move them to the libs folder created in the **cpp_template** section.
+
+```bash
+mv *.so ../../cpp_template/libs/
+cd ..
+rm -r build/
+# Copy the headers to the cpp_template directory
+cp -r include/ ../cpp_template/libs/
+```
+
 #### Frontend: inside `frontend`
 
 An exercise must contain the following files:

exercises/vacuum_cleaner/cpp_lib/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.10)
+project(VacuumCleanerLibs CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+find_package(ament_cmake REQUIRED)
+
+set(ROS2_PACKAGES
+    rclcpp
+    nav_msgs
+    gazebo_msgs
+    geometry_msgs
+    sensor_msgs
+    std_msgs
+    tf2
+    tf2_geometry_msgs
+    ros_gz_interfaces
+)
+
+foreach(pkg IN LISTS ROS2_PACKAGES)
+    find_package(${pkg} REQUIRED)
+endforeach()
+
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(nlohmann_json REQUIRED)
+
+set(COMMON_INTERFACES_INCLUDE "/home/ws/install/common_interfaces_cpp/include")
+set(COMMON_INTERFACES_LIB "/home/ws/install/common_interfaces_cpp/lib/libcommon_interfaces_cpp.so")
+
+set(WEBGUI_ROS_DEPS  rclcpp nav_msgs gazebo_msgs tf2 tf2_geometry_msgs)
+set(WEBGUI_SYS_DEPS  Frequency Boost::system nlohmann_json::nlohmann_json)
+set(HAL_ROS_DEPS     rclcpp geometry_msgs sensor_msgs std_msgs ros_gz_interfaces)
+
+
+# --- libFrequency.so ---
+add_library(Frequency SHARED src/Frequency.cpp)
+target_include_directories(Frequency PUBLIC include)
+
+# --- libWebGUI.so ---
+add_library(WebGUI SHARED src/WebGUI.cpp)
+target_include_directories(WebGUI PUBLIC include)
+
+ament_target_dependencies(WebGUI ${WEBGUI_ROS_DEPS})
+target_link_libraries(WebGUI ${WEBGUI_SYS_DEPS})
+
+# --- libHAL.so ---
+add_library(HAL SHARED src/HAL.cpp)
+target_include_directories(HAL PUBLIC include ${COMMON_INTERFACES_INCLUDE})
+
+ament_target_dependencies(HAL ${HAL_ROS_DEPS})
+target_link_libraries(HAL ${COMMON_INTERFACES_LIB})

exercises/vacuum_cleaner/cpp_lib/include/Frequency.hpp

@@ -0,0 +1,22 @@
+#ifndef INCLUDE_FREQUENCY_HPP_
+#define INCLUDE_FREQUENCY_HPP_
+
+#include <chrono>
+#include <cmath>
+#include <thread>
+
+class Frequency
+{
+private:
+  std::chrono::high_resolution_clock::time_point last_time;
+  int is_first_iteration;
+
+public:
+  Frequency();
+  ~Frequency();
+
+  static int rate;
+  void tick(int ideal_cycle = 50);
+};
+
+#endif

exercises/vacuum_cleaner/cpp_lib/include/HAL.hpp

@@ -0,0 +1,29 @@
+#ifndef INCLUDE_HAL_HPP_
+#define INCLUDE_HAL_HPP_
+
+#include <vector>
+#include <memory>
+#include <thread>
+#include <chrono>
+#include "rclcpp/rclcpp.hpp"
+#include "common_interfaces_cpp/hal/motors.hpp"
+#include "common_interfaces_cpp/hal/laser.hpp"
+#include "common_interfaces_cpp/hal/bumper.hpp"
+
+class HAL : public rclcpp::Node
+{
+public:
+  HAL();
+  static void set_v(const float speed);
+  static void set_w(const float speed);
+  static const LaserData *get_laser_data();
+  static std::vector<bool> get_bumper_data();
+
+private:
+  static std::shared_ptr<MotorsNode> motors_node_;
+  static std::shared_ptr<LaserNode> laser_node_;
+  static std::shared_ptr<BumperNode> bumper_node_;
+  std::thread spin_thread_;
+};
+
+#endif

exercises/vacuum_cleaner/cpp_lib/include/WebGUI.hpp

@@ -0,0 +1,46 @@
+#ifndef INCLUDE_WEBGUI_HPP_
+#define INCLUDE_WEBGUI_HPP_
+
+#include <boost/beast/core.hpp>
+#include <boost/beast/websocket.hpp>
+#include <boost/asio/connect.hpp>
+#include <boost/asio/ip/tcp.hpp>
+#include <boost/asio/strand.hpp>
+#include <nlohmann/json.hpp>
+#include "rclcpp/rclcpp.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "gazebo_msgs/msg/performance_metrics.hpp"
+#include "Frequency.hpp"
+
+namespace beast = boost::beast;
+namespace websocket = beast::websocket;
+namespace net = boost::asio;
+using tcp = net::ip::tcp;
+using json = nlohmann::json;
+
+class WebGUI
+{
+public:
+    WebGUI();
+    static std::string img_payload;
+};
+
+class WebGUINode : public rclcpp::Node
+{
+public:
+    WebGUINode();
+    static std::vector<double> get_pose();
+    static double get_performance();
+
+private:
+    void pose_callback(nav_msgs::msg::Odometry::UniquePtr msg);
+    void performance_callback(gazebo_msgs::msg::PerformanceMetrics::UniquePtr msg);
+
+    rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
+    rclcpp::Subscription<gazebo_msgs::msg::PerformanceMetrics>::SharedPtr perf_sub_;
+
+    static nav_msgs::msg::Odometry last_odom;
+    static gazebo_msgs::msg::PerformanceMetrics last_perf;
+};
+
+#endif

exercises/vacuum_cleaner/cpp_lib/src/Frequency.cpp

@@ -0,0 +1,34 @@
+#include "Frequency.hpp"
+
+int Frequency::rate = 0;
+
+Frequency::Frequency() : is_first_iteration(1) {}
+
+Frequency::~Frequency() {}
+
+void Frequency::tick(int ideal_cycle)
+{
+  const auto ideal_ms = std::chrono::milliseconds(1000 / ideal_cycle);
+  const auto now = std::chrono::high_resolution_clock::now();
+
+  if (is_first_iteration == 1)
+  {
+    last_time = now;
+    is_first_iteration = 0;
+    return;
+  }
+
+  const auto iter_ms = std::chrono::duration_cast<std::chrono::milliseconds>(now - last_time);
+
+  if (iter_ms < ideal_ms)
+  {
+    rate = std::round(1000.0 / ideal_ms.count());
+    std::this_thread::sleep_for(ideal_ms - iter_ms);
+  }
+  else
+  {
+    rate = std::round(1000.0 / iter_ms.count());
+  }
+
+  last_time = now;
+}