Initial Commit

Author: literally-anything

.gitignore

@@ -0,0 +1,272 @@
+### JetBrains template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### ROS2 template
+install/
+log/
+build/
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+*~
+
+# Emacs
+.#*
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+### Python template
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+

.idea/.gitignore

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

.idea/avr_vmc_2023_action_bridge.iml

@@ -0,0 +1,133 @@
+import json
+from typing import List, Tuple, Any
+
+import rclpy
+from rclpy import Future
+from rclpy.action import ActionClient
+from rclpy.node import Node
+
+from avr_vmc_2023_action_bridge_interfaces.srv import Goal, Cancel
+from avr_vmc_2023_action_bridge_interfaces.msg import Feedback, Result
+from avr_vmc_2023_auton_drop_interfaces.action import AutonDrop
+
+
+class ActionBridgeNode(Node):
+    def __init__(self) -> None:
+        super().__init__('avr_vmc_2023_action_bridge', namespace='action_bridge')
+
+        self.goal_service = self.create_service(
+            Goal,
+            'goal',
+            self.send_goal
+        )
+        self.cancel_service = self.create_service(
+            Cancel,
+            'cancel',
+            self.cancel
+        )
+
+        self.feedback_publisher = self.create_publisher(
+            Feedback,
+            'feedback',
+            10
+        )
+        self.result_publisher = self.create_publisher(
+            Result,
+            'result',
+            10
+        )
+
+        self.action_clients: List[Tuple[str, type, ActionClient]] = []
+        # Setup actions
+        self.action_clients.append(
+            (
+                '/auton_drop/trigger',
+                AutonDrop,
+                ActionClient(
+                    self,
+                    AutonDrop,
+                    '/auton_drop/trigger'
+                )
+            )
+        )
+
+        for client_info in self.action_clients:
+            # noinspection PyProtectedMember
+            self.get_logger().info(f'Waiting for action: {client_info[0]}')
+            success = client_info[2].wait_for_server(timeout_sec=10)
+            if not success:
+                # noinspection PyProtectedMember
+                self.get_logger().warning(f'Could not find action: {client_info[0]}')
+
+        self.goal_futures: List[Future | None] = [None] * len(self.action_clients)
+
+    def send_goal(self, request: Goal.Request, response: Goal.Response) -> Goal.Response:
+        if 0 <= request.id < len(self.action_clients):
+            client_info = self.action_clients[request.id]
+            try:
+                data = json.loads(request.data)
+            except json.JSONDecodeError:
+                self.get_logger().warning(f'Failed to parse goal message for action: {client_info[1]}')
+                self.get_logger().warning(f'Data: {request.data}')
+            else:
+                self.get_logger().debug(f'Calling action \'{client_info[0]}\' with data: {data}')
+                # noinspection PyUnresolvedReferences
+                goal = client_info[1].Goal(data)
+                self.goal_futures[request.id] = client_info[2].send_goal_async(
+                    goal,
+                    feedback_callback=lambda msg: self._send_feedback(request.id, msg)
+                )
+                self.goal_futures[request.id].add_done_callback(lambda future: self._send_result(request.id, future))
+                response.success = True
+        return response
+
+    def cancel(self, request: Cancel.Request, response: Cancel.Response) -> Cancel.Response:
+        if 0 <= request.id < len(self.action_clients):
+            client_name = self.action_clients[request.id][0]
+            if self.goal_futures[request.id] is not None:
+                self.get_logger().debug(f'Canceling action \'{client_name}\'')
+                self.goal_futures[request.id].cancel()
+                response.success = True
+        return response
+
+    def _send_feedback(self, action_id: int, msg: Any) -> None:
+        if 0 <= action_id < len(self.action_clients):
+            client_name = self.action_clients[action_id][0]
+            self.get_logger().debug(f'Sending feedback for action: {client_name}')
+
+            feedback = Feedback()
+            feedback.id = action_id
+            feedback.data = self._convert_msg_to_json(msg)
+
+            self.feedback_publisher.publish(feedback)
+
+    def _send_result(self, action_id: int, future: Future) -> None:
+        if 0 <= action_id < len(self.action_clients):
+            client_name = self.action_clients[action_id][0]
+            self.get_logger().debug(f'Action \'{client_name}\' has finished')
+
+            if not future.cancelled():
+                result = Result()
+                result.id = action_id
+                result.data = self._convert_msg_to_json(future.result())
+
+                self.result_publisher.publish(result)
+
+    @staticmethod
+    def _convert_msg_to_json(msg: Any) -> str:
+        d = {}
+        for slot in msg.__slots__:
+            value = getattr(msg, slot)
+            d[slot] = value
+        return json.dumps(d)
+
+
+def main() -> None:
+    rclpy.init()
+    node = ActionBridgeNode()
+    executor = rclpy.executors.MultiThreadedExecutor()
+    rclpy.spin(node, executor)
+
+
+if __name__ == '__main__':
+    main()

.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>avr_vmc_2023_action_bridge</name>
+  <version>0.0.0</version>
+  <description></description>
+  <maintainer email="hunterbaker@me.com">Hunter Baker</maintainer>
+  <license>LGPL-3.0-only</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/avr_vmc_2023_action_bridge
+[install]
+install_scripts=$base/lib/avr_vmc_2023_action_bridge

.idea/misc.xml

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'avr_vmc_2023_action_bridge'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Hunter Baker',
+    maintainer_email='hunterbaker@me.com',
+    description='',
+    license='LGPL-3.0-only',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'action_bridge_node = avr_vmc_2023_action_bridge.action_bridge:main'
+        ],
+    },
+)