Mars2 new core

.circleci/config.yml

@@ -2,14 +2,14 @@ version: 2
 jobs:
   build:
     docker:
-      - image: ubuntu:18.04
+      - image: ubuntu:22.04
     steps:
       - run:
           name: apt-get
-          command: apt update && apt -y install build-essential gcc g++ cmake git wget libgoogle-glog-dev libboost-test-dev libboost-filesystem-dev libboost-serialization-dev libboost-system-dev pkg-config libeigen3-dev libclass-loader-dev libtinyxml-dev librosconsole-bridge-dev
-      - run:
-          name: fix-class-loader-pkg-config
-          command: "sed -i '/Libs:/c\\Libs:  -lclass_loader -lboost_filesystem -lboost_thread -lboost_system -lpthread -lPocoFoundation -ldl -lconsole_bridge' /usr/lib/x86_64-linux-gnu/pkgconfig/class_loader.pc"
+          command: apt update && apt -y install build-essential gcc g++ cmake git wget libgoogle-glog-dev libboost-test-dev libboost-filesystem-dev libboost-serialization-dev libboost-system-dev pkg-config libeigen3-dev libtinyxml-dev librosconsole-bridge-dev libpoco-dev
+    #   - run:
+    #       name: fix-class-loader-pkg-config
+    #       command: "sed -i '/Libs:/c\\Libs:  -lclass_loader -lboost_filesystem -lboost_thread -lboost_system -lpthread -lPocoFoundation -ldl -lconsole_bridge' /usr/lib/x86_64-linux-gnu/pkgconfig/class_loader.pc"
       - checkout
       - run:
           name: chmod install script

.github/workflows/build_and_test.yml

@@ -0,0 +1,42 @@
+# This starter workflow is for a CMake project running on a single platform. There is a different starter workflow if you need cross-platform coverage.
+# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-multi-platform.yml
+name: CMake on a single platform
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
+    # You can convert this to a matrix build if you need cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: apt-get
+      run: sudo apt update && sudo apt install -y build-essential gcc g++ cmake git wget libgoogle-glog-dev libboost-test-dev libboost-filesystem-dev libboost-serialization-dev libboost-system-dev pkg-config libeigen3-dev libclass-loader-dev libtinyxml-dev librosconsole-bridge-dev
+
+    - name: fix-class-loader-pkg-config
+      run: "sudo sed -i '/Libs:/c\\Libs:  -lclass_loader -lboost_filesystem -lboost_thread -lboost_system -lpthread -lPocoFoundation -ldl -lconsole_bridge' /usr/lib/x86_64-linux-gnu/pkgconfig/class_loader.pc"
+
+    - name: cmake and dep install
+      run: mkdir build && cd build && cmake -DINSTALL_DEPS=ON -DROCK_TEST_ENABLED=ON ..
+
+    - name: compile lib
+      run: cd build && make -j2 install
+
+    - name: test_suit
+      run: ./test/test_suite
+
+    - name: test_plugins
+      run: export LD_LIBRARY_PATH=/usr/local/lib &&  ./test/test_plugins
+

CMakeLists.txt

@@ -2,12 +2,23 @@
 # executed from 'project/build' with 'cmake ../'.
 cmake_minimum_required(VERSION 3.9)
 project(envire_core VERSION 0.1 DESCRIPTION "Envire Graph Core Library")
+
+
+if(INSTALL_DEPS)
+  execute_process(COMMAND bash build.bash ${CMAKE_INSTALL_PREFIX}
+                  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/source_dependencies)
+  set(ENV{PKG_CONFIG_PATH} ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/)
+  set(ENV{CMAKE_PREFIX_PATH} ${CMAKE_INSTALL_PREFIX}/share/rock/cmake/)
+endif()
+
+
 find_package(Rock)
 set(ROCK_TEST_ENABLED ON CACHE BOOL "set to ON to enable the unit tests")
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
 option(COVERAGE "Enable code coverage. run 'make test && make coverage' to generate the coverage report. The report will be in ${CMAKE_BINARY_DIR}/cov" OFF)
 
+
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(PLUGIN_LIBS plugin_manager class_loader_melodic)
 if(PLUGIN_LIBS_FOUND)
@@ -38,5 +49,6 @@ if(COVERAGE)
 endif()
 
 rock_init()
+rock_feature(NOCURDIR)
 rock_standard_layout()
 

README.asciidoc

@@ -37,27 +37,46 @@ apt install build-essential gcc g++ cmake git wget libgoogle-glog-dev libboost-t
 ----
 
 Some dependencies need to be build from source. A script is provided to install those:
+
+==== Install Dependencies Automatically when building envire core
+
+Defining -DINSTALL_DEPS=ON for cmake builds and isntalls the source dependencies automatically.
+
+[source,bash]
+----
+mkdir build
+cd build
+cmake -DINSTALL_DEPS=ON ..
+make install
+----
+
+When -DCMAKE_INSTALL_PREFIX is used, the dependencies are also installed there.
+
+The install script generates an `env.sh` file in the CMAKE_INSTALL_PREFIX folder. If you did not install system wide, source this file before building and running code. It exports all neccessary environment variables.
+
+==== Install Dependencies Manually
+
 [source,bash]
 ----
-chmod +x install_dependencies.sh
-sudo ./install_dependencies.sh [path_to_prefix]
+cd source_dependencies
+sudo bash ./build.bash [path_to_prefix]
 ----
-If no prefix is provided, the dependencies will be installed system-wide.
-The install script generates an `env.sh` file. Source this file before building. It exports all neccessary environment variables.
 
 ----
-source env.sh
+source [path_to_prefix]/env.sh
 ----
 
-After all dependencies have been installed, build and install like any other cmake project.
+After all dependencies have been installed, go to the main folder build and install like any other cmake project.
 ----
+cd ..
 mkdir build
 cd build
 cmake ..
 make install
 ----
 
 
+
 === Test Coverage and API Documentation
 Run `make doc` to generate the API documentation.
 

install_dependencies.sh

@@ -52,6 +52,7 @@ build https://github.com/rock-core/base-logging.git master base-logging "$PREFIX
 build https://github.com/rock-core/base-types.git master base-types "-DBINDINGS_RUBY=OFF -DUSE_SISL=OFF -DROCK_VIZ_ENABLED=FALSE $PREFIX"
 build https://github.com/envire/base-numeric.git master base-numeric "$PREFIX"
 build https://github.com/envire/base-boost_serialization.git master base-boost_serialization "$PREFIX"
+build https://github.com/dfki-ric/class_loader melodic-devel class_loader_melodic "$PREFIX"
 
 #plugins
 build https://github.com/envire/tools-plugin_manager.git master tools-plugin_manager "$PREFIX"

manifest.xml

@@ -41,8 +41,8 @@
   <depend package="tools/plugin_manager" optional="1"/>
   <depend package="graphviz" />
   <depend package="poco" />
-  <depend package="qt5" optional="1"/>
-  <depend package="qt5-svg" optional="1"/>
+  <depend package="qt5" />
+  <depend package="qt5svg" />
 
   <activity>active</activity>
 

source_dependencies/CMakeLists.txt

@@ -0,0 +1,73 @@
+
+
+cmake_minimum_required(VERSION 3.10)
+
+#https://stackoverflow.com/questions/15175318/cmake-how-to-build-external-projects-and-include-their-targets
+#https://crascit.com/2015/07/25/cmake-gtest/
+
+include(ExternalProject)
+
+ExternalProject_Add(base-cmake 
+    GIT_REPOSITORY    https://github.com/rock-core/base-cmake.git
+    GIT_TAG           master
+    INSTALL_DIR       ${CMAKE_INSTALL_PREFIX}
+    CMAKE_CACHE_ARGS    -DENV{PKG_CONFIG_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+                        -DENV{CMAKE_PREFIX_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/share/rock/cmake/
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+)
+
+ExternalProject_Add(base-logging
+    GIT_REPOSITORY    https://github.com/rock-core/base-logging.git
+    GIT_TAG           master
+    INSTALL_DIR       ${CMAKE_INSTALL_PREFIX}
+    CMAKE_CACHE_ARGS    -DENV{PKG_CONFIG_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+                        -DENV{CMAKE_PREFIX_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/share/rock/cmake/
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+)
+add_dependencies(base-logging base-cmake)
+
+ExternalProject_Add(base-types
+    GIT_REPOSITORY    https://github.com/rock-core/base-types.git
+    GIT_TAG           master
+    INSTALL_DIR       ${CMAKE_INSTALL_PREFIX}
+    CMAKE_CACHE_ARGS    -DENV{PKG_CONFIG_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+                        -DENV{CMAKE_PREFIX_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/share/rock/cmake/
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> 
+               -DBINDINGS_RUBY=OFF
+               -DUSE_SISL=OFF
+               -DROCK_VIZ_ENABLED=FALSE
+)
+add_dependencies(base-types base-logging)
+
+ExternalProject_Add(base-numeric
+    GIT_REPOSITORY    https://github.com/envire/base-numeric.git
+    GIT_TAG           master
+    INSTALL_DIR       ${CMAKE_INSTALL_PREFIX}
+    CMAKE_CACHE_ARGS    -DENV{PKG_CONFIG_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+                        -DENV{CMAKE_PREFIX_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/share/rock/cmake/
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+)
+add_dependencies(base-numeric base-types)
+
+ExternalProject_Add(base-boost_serialization
+    GIT_REPOSITORY    https://github.com/envire/base-boost_serialization.git
+    GIT_TAG           master
+    INSTALL_DIR       ${CMAKE_INSTALL_PREFIX}
+    CMAKE_CACHE_ARGS    -DENV{PKG_CONFIG_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+                        -DENV{CMAKE_PREFIX_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/share/rock/cmake/
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+)
+add_dependencies(base-boost_serialization base-numeric)
+
+ExternalProject_Add(tools-plugin_manager
+    GIT_REPOSITORY    https://github.com/envire/tools-plugin_manager.git
+    GIT_TAG           master
+    INSTALL_DIR       ${CMAKE_INSTALL_PREFIX}
+    CMAKE_CACHE_ARGS    -DENV{PKG_CONFIG_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+                        -DENV{CMAKE_PREFIX_PATH}:STRING=${CMAKE_INSTALL_PREFIX}/share/rock/cmake/
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+)
+add_dependencies(tools-plugin_manager base-boost_serialization)
+
+configure_file(env.sh.in ${PROJECT_SOURCE_DIR}/env.sh)
+install(FILES ${PROJECT_SOURCE_DIR}/env.sh DESTINATION ${CMAKE_INSTALL_PREFIX})

source_dependencies/build.bash

@@ -0,0 +1,31 @@
+#!/bin/bash
+
+if [ "$#" -ne 1 ]; then
+    echo
+    echo "Please specify a prefix. If you want system wide installation use '/usr/local' as prefix. for a local install use e.g. './install'"
+    echo "In case you use a local prefix, please source the generated env.sh script in this folder to set up the paths before building the main library"
+    echo
+    exit -1
+fi
+
+if [[ $1 != .* && $1 != /* ]]; then
+    echo
+    echo -e "\033[1;33mPlease specify a global path or a local path with '/' or './' \033[1;0m"
+    echo
+    exit -1
+fi
+
+#download and build (in subshell to return to original folder)
+
+INSTALLPATH=$(realpath $1)
+
+mkdir -p build
+cd build
+cmake -DCMAKE_INSTALL_PREFIX=${INSTALLPATH} ..
+make -j install
+
+if [[ $1 = .* ]]; then
+    echo
+    echo -e "\033[1;33m'source ${INSTALLPATH}/env.sh' in this folder before building the main library \033[1;0m"
+    echo
+fi

source_dependencies/env.sh.in

@@ -0,0 +1,4 @@
+export CMAKE_PREFIX_PATH=@CMAKE_INSTALL_PREFIX@/share/rock/cmake/
+export PKG_CONFIG_PATH=@CMAKE_INSTALL_PREFIX@/lib/pkgconfig/
+export LD_LIBRARY_PATH=@CMAKE_INSTALL_PREFIX@/lib:@CMAKE_INSTALL_PREFIX@/lib64:$LD_LIBRARY_PATH
+export PATH=@CMAKE_INSTALL_PREFIX@/bin:$PATH

source_dependencies/install_os_dependencies.bash

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+sudo apt install build-essential gcc g++ cmake git wget libgoogle-glog-dev libboost-test-dev libboost-filesystem-dev libboost-serialization-dev libboost-system-dev pkg-config libeigen3-dev libclass-loader-dev libtinyxml-dev librosconsole-bridge-dev

src/CMakeLists.txt

@@ -78,7 +78,7 @@ rock_library(envire_core
     SOURCES ${sources}
     DEPS_CMAKE Glog
     DEPS_PKGCONFIG ${deps_pkg_config}
-    DEPS
+    DEPS_TARGET
         Boost::filesystem
         Boost::serialization
         Boost::system

src/events/GraphEventDispatcher.cpp

@@ -104,6 +104,65 @@ void GraphEventDispatcher::waitForFrame(const std::string &framename)
     waitingForFrames.push_back(framename);
 }
 
+void GraphEventDispatcher::addEdgeAddedEventCallback(std::function<void (const envire::core::EdgeAddedEvent&)> cb) {
+    edgeAddedCallbacks.push_back(cb);
+}
+void GraphEventDispatcher::addEdgeRemovedEventCallback(std::function<void (const envire::core::EdgeRemovedEvent&)> cb) {
+    edgeRemovedCallbacks.push_back(cb);
+}
+void GraphEventDispatcher::addEdgeModifiedEventCallback(std::function<void (const envire::core::EdgeModifiedEvent&)> cb) {
+    edgeModifiedCallbacks.push_back(cb);
+}
+void GraphEventDispatcher::addFrameAddedEventCallback(std::function<void (const envire::core::FrameAddedEvent&)> cb) {
+    frameAddedCallbacks.push_back(cb);
+}
+void GraphEventDispatcher::addFrameRemovedEventCallback(std::function<void (const envire::core::FrameRemovedEvent&)> cb) {
+    frameRemovedCallbacks.push_back(cb);
+}
+void GraphEventDispatcher::addItemAddedEventCallback(std::function<void (const envire::core::ItemAddedEvent&)> cb) {
+    itemAddedCallbacks.push_back(cb);
+}
+void GraphEventDispatcher::addItemRemovedEventCallback(std::function<void (const envire::core::ItemRemovedEvent&)> cb) {
+    itemRemovedCallbacks.push_back(cb);
+}
+
+
+void GraphEventDispatcher::edgeAdded(const envire::core::EdgeAddedEvent& e) {
+    for (const auto& cb : edgeAddedCallbacks){
+        cb(e);
+    }
+}
+void GraphEventDispatcher::edgeRemoved(const envire::core::EdgeRemovedEvent& e) {
+    for (const auto& cb : edgeRemovedCallbacks){
+        cb(e);
+    }
+}
+void GraphEventDispatcher::edgeModified(const envire::core::EdgeModifiedEvent& e) {
+    for (const auto& cb : edgeModifiedCallbacks){
+        cb(e);
+    }
+}
+void GraphEventDispatcher::frameAdded(const envire::core::FrameAddedEvent& e) {
+    for (const auto& cb : frameAddedCallbacks){
+        cb(e);
+    }
+}
+void GraphEventDispatcher::frameRemoved(const envire::core::FrameRemovedEvent& e) {
+    for (const auto& cb : frameRemovedCallbacks){
+        cb(e);
+    }
+}
+void GraphEventDispatcher::itemAdded(const envire::core::ItemAddedEvent& e) {
+    for (const auto& cb : itemAddedCallbacks){
+        cb(e);
+    }
+}
+void GraphEventDispatcher::itemRemoved(const envire::core::ItemRemovedEvent& e) {
+    for (const auto& cb : itemRemovedCallbacks){
+        cb(e);
+    }
+}
+
 bool GraphEventDispatcher::checkWaitingForFrames(const FrameAddedEvent& frameAddedEvent)
 {
     // check if all frames are available, delete entires if they are