New parameters app for testing and possibility to declare parameters;…

… Refactor of ros_service and ros_client; Support for multiple ros nodes; New supervision tree for the ros app.

demos/listener/src/listener.erl

@@ -3,11 +3,9 @@
 -export([start_link/0]).
 
 -behaviour(gen_subscription_listener).
-
 -export([on_topic_msg/2]).
 
 -behaviour(gen_server).
-
 -export([init/1, handle_call/3, handle_cast/2]).
 
 % We are going to use String.msg so we include its header to use its record definition.

demos/parameters/src/parameters.app.src

@@ -0,0 +1,15 @@
+{application, parameters,
+ [{description, "Examples of the parameter API"},
+  {vsn, "0.1.0"},
+  {registered, []},
+  {mod, {parameters_app, []}},
+  {applications,
+   [kernel,
+    stdlib,
+    ros
+   ]},
+  {env,[]},
+  {modules, []},
+  {licenses, ["Apache 2.0"]},
+  {links, []}
+ ]}.

demos/parameters/src/parameters.erl

@@ -0,0 +1,55 @@
+-module(parameters).
+
+-behaviour(gen_server).
+
+-export([start_link/0]).
+-export([init/1, handle_call/3, handle_cast/2, handle_info/2]).
+
+% We are gonna use String.msg so we include its header to use its record definition.
+-include_lib("std_msgs/src/_rosie/std_msgs_string_msg.hrl").
+
+-record(state, {ros_node}).
+
+start_link() ->
+    gen_server:start_link(?MODULE, #state{}, []).
+
+init(_) ->
+    Node = ros_context:create_node("parameter_test"),
+
+    OtherNode = ros_context:create_node("secon_node"),
+
+    test_parameter_declaration_api(Node),
+
+    {ok, #state{ros_node = Node}}.
+
+handle_call(_, _, S) ->
+    {reply, ok, S}.
+
+handle_cast(_, S) ->
+    {noreply, S}.
+
+handle_info(_, S) ->
+    {noreply, S}.
+
+test_parameter_declaration_api(Node) ->
+    SA = ros_node:declare_parameter(Node, "scale_angular", 1.0),
+    SL = ros_node:declare_parameter(Node, "scale_linear", 1.0),    
+    % Code to test other param type declarations
+    S = ros_node:declare_parameter(Node, "dummy_string", "Hellow world!"), 
+    I = ros_node:declare_parameter(Node, "int_val", -4), 
+    B = ros_node:declare_parameter(Node, "bool_val", false), 
+    Str_L = ros_node:declare_parameter(Node, "str_list", ["coco","Wow BRO! |-> .\n"]),    
+    I_L = ros_node:declare_parameter(Node, "int_list", [1,23,78,0,99]),    
+    B_L = ros_node:declare_parameter(Node, "bool_list", [true,false]), 
+    E_L = ros_node:declare_parameter(Node, "empty_list", []),
+    N = ros_node:declare_parameter(Node, "not_set"),
+
+
+    R1 = ros_node:declare_parameter(Node, "to_be_removed"),    
+    R2 = ros_node:undeclare_parameter(Node, "to_be_removed"),
+    R3 = ros_node:undeclare_parameter(Node, "never_declared"),
+
+    I1 = ros_node:declare_parameter(Node, "Invalid example 1", ["ciao", 99]),
+    I2 = ros_node:declare_parameter(Node, "Invalid example 2", [1.2, 99]),
+    I3 = ros_node:declare_parameter(Node, "Invalid example 3", [1, false]),
+    [ io:format("~p\n",[P]) || P <- [SA,SL,S,I,B,Str_L,I_L,B_L,E_L,N, R1,R2,R3, I1,I2,I3 ]].

demos/parameters/src/parameters_app.erl

@@ -0,0 +1,13 @@
+-module(parameters_app).
+
+-behaviour(application).
+
+-export([start/2, stop/1]).
+
+start(_StartType, _StartArgs) ->
+    parameters_sup:start_link().
+
+stop(_State) ->
+    ok.
+
+%% internal functions

rosie/ros/src/supervisors/ros_nodes_pool_sup.erl → demos/parameters/src/parameters_sup.erl

@@ -1,4 +1,4 @@
--module(ros_nodes_pool_sup).
+-module(parameters_sup).
 
 -behaviour(supervisor).
 
@@ -21,18 +21,19 @@ start_link() ->
 %%                  modules => modules()}   % optional
 
 init([]) ->
-    %io:format("~p.erl STARTED!\n",[?MODULE]),
     SupFlags =
-        #{strategy => simple_one_for_one,
+        #{strategy => one_for_all,
           intensity => 0,
           period => 1},
-    Node =
-        [#{id => ros_node_sup,
-           start => {ros_node_sup, start_link, []},
-           restart => permanent,
-           shutdown => 5000,
-           type => supervisor}],
-
-    {ok, {SupFlags, Node}}.
+    Params =
+        #{id => parameters,
+          start => {parameters, start_link, []},
+          restart => transient,
+          shutdown => 5000,
+          type => worker},
+
+    ChildSpecs = [Params],
+
+    {ok, {SupFlags, ChildSpecs}}.
 
 %% internal functions

demos/turtlesim/src/turtle_controller.erl

@@ -26,6 +26,7 @@ print_spawn_responce(#turtlesim_spawn_rp{name = Name}) ->
 init(_) ->
     Node = ros_context:create_node("turtle_controller"),
 
+
     Pub = ros_node:create_publisher(Node, geometry_msgs_twist_msg, "turtle1/cmd_vel"),
 
     Client = ros_node:create_client(Node, turtlesim_spawn_srv, fun print_spawn_responce/1),

rosie/dds/include/dds_types.hrl

@@ -17,6 +17,6 @@
         {durability = ?VOLATILE_DURABILITY_QOS,
          reliability = ?RELIABLE_RELIABILITY_QOS,
          history = {?KEEP_LAST_HISTORY_QOS, 1}}).
--record(user_topic, {type_name, name, qos_profile = #qos_profile{}}).
+-record(dds_user_topic, {type_name, name, qos_profile = #qos_profile{}}).
 
 -endif.

rosie/dds/src/protocol/rtps_full_writer.erl

@@ -95,7 +95,7 @@ init({Participant, #endPoint{guid = GUID} = WriterConfig}) ->
         #state{participant = Participant,
                entity = WriterConfig,
                history_cache = {cache_of, GUID}},
-    rtps_history_cache:set_listener({cache_of, GUID}, {GUID, ?MODULE}),
+    rtps_history_cache:set_listener({cache_of, GUID}, {?MODULE, GUID}),
 
     erlang:send_after(10, self(), heartbeat_loop),
     erlang:send_after(10, self(), write_loop),

rosie/dds/src/protocol/rtps_history_cache.erl

@@ -56,7 +56,7 @@ handle_call({get_change, WriterGuid, SequenceNumber}, _, State) ->
     {reply, h_get_change(State, WriterGuid, SequenceNumber), State};
 handle_call({add_change, Change}, _, #state{listener = L} = S) when L == undefined ->
     {reply, ok, h_add_change(S, Change)};
-handle_call({add_change, Change}, _, #state{listener = {ID, Module}} = S) ->
+handle_call({add_change, Change}, _, #state{listener = {Module, ID}} = S) ->
     Module:on_change_available(ID,
                                {Change#cacheChange.writerGuid, Change#cacheChange.sequenceNumber}),
     {reply, ok, h_add_change(S, Change)};
@@ -85,7 +85,7 @@ h_get_change(#state{cache = C}, WriterGuid, SequenceNumber) ->
             not_found
     end.
 
-h_remove_change(#state{cache = C, listener = {ID, Module}} = State,
+h_remove_change(#state{cache = C, listener = {Module, ID}} = State,
                 WriterGuid,
                 SequenceNumber) ->
     Module:on_change_removed(ID, {WriterGuid, SequenceNumber}),

rosie/dds/src/protocol/rtps_participant.erl

@@ -13,7 +13,7 @@
 -include_lib("dds/include/rtps_constants.hrl").
 
 -record(state,
-        {participant = #participant{}, spdp_writer_guid, spdp_reader_guid, spdp_data}).
+        {participant = #participant{}, spdp_writer_guid, spdp_reader_guid}).
 
 start_link() ->
     gen_server:start_link({local, participant}, ?MODULE, #state{}, []).
@@ -95,7 +95,7 @@ handle_cast({start_discovery, EndPointSet},
     Change = rtps_writer:new_change(W_GUID, produce_SPDP_data(P, EndPointSet)),
     rtps_history_cache:add_change({cache_of, W_GUID}, Change),
 
-    rtps_history_cache:set_listener({cache_of, R_GUID}, {participant, ?MODULE}),
+    rtps_history_cache:set_listener({cache_of, R_GUID}, { ?MODULE, participant}),
     self() ! discovery_loop,
     {noreply, State};
 handle_cast({send_to_all_readers, Msg}, State) ->

rosie/dds/src/protocol/rtps_writer.erl

@@ -61,7 +61,7 @@ init({Participant, #endPoint{guid = GUID} = WriterConfig}) ->
     %io:format("~p.erl STARTED!\n",[?MODULE]),
     pg:join(GUID, self()),
     Cache = {cache_of, GUID},
-    rtps_history_cache:set_listener(Cache, {GUID, ?MODULE}),
+    rtps_history_cache:set_listener(Cache, {?MODULE, GUID}),
     erlang:send_after(1000, self(), writer_loop),
     {ok,
      #state{participant = Participant,

rosie/dds/src/service/dds_data_r.erl

@@ -1,10 +1,11 @@
 -module(dds_data_r).
 
--behaviour(gen_server).
 
 -export([start_link/1, read/2, get_matched_publications/1, read_all/1,
          on_change_available/2, on_change_removed/2, set_listener/2, remote_writer_add/2,
          remote_writer_remove/2, match_remote_writers/2]).
+
+-behaviour(gen_server).
 -export([init/1, handle_call/3, handle_cast/2, handle_info/2]).
 
 -include_lib("dds/include/rtps_structure.hrl").
@@ -55,7 +56,7 @@ remote_writer_remove(Name, W) ->
 init({Topic, #participant{guid = ID}, GUID}) ->
     %io:format("~p.erl STARTED!\n",[?MODULE]),
     pg:join({data_r_of, GUID}, self()),
-    rtps_history_cache:set_listener({cache_of, GUID}, {{data_r_of, GUID}, ?MODULE}),
+    rtps_history_cache:set_listener({cache_of, GUID}, {?MODULE, {data_r_of, GUID}}),
     % [P|_] = pg:get_members(ID),
     % R = rtps_participant:create_full_reader(P,ReaderConfig,Cache),
     {ok,
@@ -77,7 +78,7 @@ handle_call(_, _, State) ->
 handle_cast({on_change_available, _}, #state{listener = L} = S) when L == not_set ->
     {noreply, S};
 handle_cast({on_change_available, ChangeKey},
-            #state{rtps_reader = GUID, listener = {Name, Module}} = S) ->
+            #state{rtps_reader = GUID, listener = {Module, Name}} = S) ->
     Module:on_data_available(Name, {{data_r_of, GUID}, ChangeKey}),
     {noreply, S};
 handle_cast({match_remote_writers, Writers},

rosie/dds/src/service/dds_data_w.erl

@@ -1,10 +1,11 @@
 -module(dds_data_w).
 
--behaviour(gen_server).
 
 -export([start_link/1, write/2, get_matched_subscriptions/1, remote_reader_add/2, is_sample_acknowledged/2,
          remote_reader_remove/2, match_remote_readers/2, wait_for_acknoledgements/1,
          flush_all_changes/1]).
+
+-behaviour(gen_server).
 -export([init/1, handle_call/3, handle_cast/2, handle_info/2]).
 
 -include_lib("dds/include/rtps_structure.hrl").

rosie/dds/src/service/dds_publisher.erl

@@ -82,7 +82,7 @@ init([]) ->
     % the publisher listens to the sub_detector to add remote readers to its writers
     SubDetector =
         dds_subscriber:lookup_datareader(dds_default_subscriber, builtin_sub_detector),
-    dds_data_r:set_listener(SubDetector, {dds_default_publisher, ?MODULE}),
+    dds_data_r:set_listener(SubDetector, {?MODULE, dds_default_publisher}),
 
     % The builtin message writer for general purpose comunications between DDS participants
     GUID_MW =
@@ -165,7 +165,7 @@ handle_cast({on_data_available, {R, ChangeKey}}, #state{data_writers = DW} = S)
             ToBeMatched =
                 [Pid
                  || {_, T, Pid} <- DW,
-                    T#user_topic.name == Data#sedp_disc_endpoint_data.topic_name],
+                    T#dds_user_topic.name == Data#sedp_disc_endpoint_data.topic_name],
             %io:format("DDS: node willing to subscribe to topic : ~p\n", [Data#sedp_disc_endpoint_data.topic_name]),
             %io:format("DDS: i have theese topics: ~p\n", [[ T || {_,T,Pid} <- DW]]),
             %io:format("DDS: interested writers are: ~p\n", [ToBeMatched]),
@@ -178,7 +178,7 @@ handle_cast({on_data_available, {R, ChangeKey}}, #state{data_writers = DW} = S)
 produce_sedp_disc_enpoint_data(#participant{guid = #guId{prefix = P},
                                             vendorId = VID,
                                             protocolVersion = PVER},
-                               #user_topic{type_name = TN,
+                               #dds_user_topic{type_name = TN,
                                            name = N,
                                            qos_profile =
                                                #qos_profile{reliability = R,
@@ -199,7 +199,7 @@ produce_sedp_endpoint_leaving(#participant{guid = #guId{prefix = P}}, EntityID)
     #sedp_endpoint_state{guid = #guId{prefix = P, entityId = EntityID},
                          status_flags = ?STATUS_INFO_UNREGISTERED + ?STATUS_INFO_DISPOSED}.
 
-match_with_discovered_readers(DW, #user_topic{name = Tname, type_name = Ttype}) ->
+match_with_discovered_readers(DW, #dds_user_topic{name = Tname, type_name = Ttype}) ->
     SubDetector =
         dds_subscriber:lookup_datareader(dds_default_subscriber, builtin_sub_detector),
     RemoteReaders = [D || #cacheChange{data = D} <- dds_data_r:read_all(SubDetector)],

rosie/dds/src/service/dds_subscriber.erl

@@ -1,9 +1,14 @@
 -module(dds_subscriber).
 
--behaviour(gen_server).
+
 
 -export([start_link/0, get_all_data_readers/1, create_datareader/2, lookup_datareader/2,
-         on_data_available/2, dispose_data_readers/1]). %set_subscription_publisher/2,
+        dispose_data_readers/1]). %set_subscription_publisher/2,
+
+-behaviour(gen_data_reader_listener).
+-export([on_data_available/2]).
+
+-behaviour(gen_server).
 -export([init/1, handle_call/3, handle_cast/2, handle_info/2]).
 
 -include_lib("dds/include/dds_types.hrl").
@@ -63,7 +68,7 @@ init([]) ->
         supervisor:start_child(dds_datareaders_pool_sup,
                                [{data_reader, dds_pub_detector, P_info, SEDP_Pub_Config}]),
 
-    dds_data_r:set_listener({data_r_of, GUID_p}, {dds_default_subscriber, ?MODULE}),
+    dds_data_r:set_listener({data_r_of, GUID_p}, {?MODULE, dds_default_subscriber}),
 
     % The subscription-reader(aka detector) will listen to which topics the other participants want to subscribe
     GUID_s =
@@ -147,7 +152,7 @@ handle_cast({on_data_available, {R, ChangeKey}}, #state{data_readers = DR} = S)
             ToBeMatched =
                 [Name
                  || {_, T, Name} <- DR,
-                    T#user_topic.name == Data#sedp_disc_endpoint_data.topic_name],
+                    T#dds_user_topic.name == Data#sedp_disc_endpoint_data.topic_name],
             %io:format("DDS: discovered publisher of topic: ~p\n", [Data#sedp_disc_endpoint_data.topic_name]),
             %io:format("DDS: i have theese topics: ~p\n", [[ T || {_,T,_} <- DR]]),
             %io:format("DDS: interested readers are: ~p\n", [ToBeMatched]),
@@ -166,7 +171,7 @@ handle_info(_, State) ->
 produce_sedp_disc_enpoint_data(#participant{guid = #guId{prefix = P},
                                             vendorId = VID,
                                             protocolVersion = PVER},
-                               #user_topic{type_name = TN,
+                               #dds_user_topic{type_name = TN,
                                            name = N,
                                            qos_profile =
                                                #qos_profile{reliability = R,
@@ -188,7 +193,7 @@ produce_sedp_endpoint_leaving(#participant{guid = #guId{prefix = P}}, EntityID)
                          status_flags = ?STATUS_INFO_UNREGISTERED + ?STATUS_INFO_DISPOSED}.
 
 match_with_discovered_writers(DR,
-                              #user_topic{name = Tname, type_name = Ttype},
+                              #dds_user_topic{name = Tname, type_name = Ttype},
                               #state{builtin_pub_detector = PubDetector}) ->
     RemoteWriters = [D || #cacheChange{data = D} <- dds_data_r:read_all(PubDetector)],
     %io:format("Remote writers for topic ~p are ~p\n",[Tname,RemoteWriters]),

rosie/dds/src/service/gen_data_reader_listener.erl

@@ -1,5 +1,5 @@
 -module(gen_data_reader_listener).
 
--callback on_data_available(Listener :: pid(),
-                            {DataReader :: pid(), ChangeKey :: term()}) ->
+-callback on_data_available(Listener :: term(),
+                            {DataReader :: term(), ChangeKey :: term()}) ->
                                term().

rosie/ros/src/behaviours/gen_dds_entity_owner.erl

@@ -0,0 +1,3 @@
+-module(gen_dds_entity_owner).
+
+-callback get_all_dds_entities(ProcName::term()) -> { DataWriters::list(), DataReaders::list()}.