Adding server interface

TODO.md

@@ -4,15 +4,16 @@
 
 - [x] names need to be in package/name format everywhere
 - [x] better docs
-- [ ] BUG: escape db function variables
-- [ ] BUG: fix issue with connecting to services and actions started using launch proxy
+- [x] BUG: handle "'" in db queries
+- [x] BUG: escape db function variables
 - [ ] close or change communication to launch proxy so that it can't be accessed from ros network
-- [ ] BUG: handle "'" in db queries
+- [ ] BUG: fix issue with connecting to services and actions started using launch proxy
+
 
 ## Features
 
+- [x] try using ros package to find exports automatically
+- [x] improve the event system
 - [ ] implement provider definition handling in runner
-- [ ] try using ros package to find exports automatically
-- [ ] improve the event system
 - [ ] move to established db handler lib
 - [ ] better bt runner impl

capabilities2_fabric/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(rclcpp_action REQUIRED)
 find_package(capabilities2_msgs REQUIRED)
 find_package(bondcpp REQUIRED)
 find_package(backward_ros REQUIRED)
+find_package(rclcpp_components REQUIRED)
 
 # Locate the static version of tinyxml2
 find_library(TINYXML2_LIB NAMES tinyxml2 PATHS /usr/local/lib NO_DEFAULT_PATH)
@@ -29,8 +30,12 @@ include_directories(include
   /usr/local/include
 )
 
+############################################################################
+# capabilities2_fabric node implementation that compiles as a executable 
+############################################################################
+
 add_executable(${PROJECT_NAME}
-  src/capabilities_fabric.cpp
+  src/capabilities_fabric_node.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -48,24 +53,100 @@ install(TARGETS ${PROJECT_NAME}
   DESTINATION lib/${PROJECT_NAME}
 )
 
-add_executable(capabilities2_file_parser
-  src/capabilities_file_parser.cpp
+############################################################################
+# capabilities2_fabric component implementation that compiles as a library 
+############################################################################
+
+add_library(${PROJECT_NAME}_comp SHARED
+  src/capabilities_fabric_comp.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_comp
+  ${TINYXML2_LIB}
+)
+
+ament_target_dependencies(${PROJECT_NAME}_comp
+  rclcpp
+  rclcpp_action
+  rclcpp_components
+  bondcpp
+  capabilities2_msgs
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_comp
+  PLUGIN "capabilities2_fabric::CapabilitiesFabric"
+  EXECUTABLE capabilities2_fabric_component
+)
+
+ament_export_targets(capabilities2_fabric_component)
+
+install(TARGETS ${PROJECT_NAME}_comp
+  EXPORT capabilities2_fabric_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+############################################################################
+# fabric_client node implementation that compiles as a executable 
+############################################################################
+
+add_executable(fabric_client
+  src/capabilities_fabric_client_node.cpp
 )
 
-target_link_libraries(capabilities2_file_parser
+target_link_libraries(fabric_client
   ${TINYXML2_LIB}
 )
 
-ament_target_dependencies(capabilities2_file_parser
+ament_target_dependencies(fabric_client
   rclcpp
   rclcpp_action
   capabilities2_msgs
 )
 
-install(TARGETS capabilities2_file_parser
+install(TARGETS fabric_client
     DESTINATION lib/${PROJECT_NAME}
 )
 
+############################################################################
+# fabric_client component implementation that compiles as a library 
+############################################################################
+
+add_library(fabric_client_comp SHARED
+  src/capabilities_fabric_client_comp.cpp
+)
+
+target_link_libraries(fabric_client_comp
+  ${TINYXML2_LIB}
+)
+
+ament_target_dependencies(fabric_client_comp
+  rclcpp
+  rclcpp_action
+  rclcpp_components
+  bondcpp
+  capabilities2_msgs
+)
+
+rclcpp_components_register_node(fabric_client_comp
+  PLUGIN "capabilities2_fabric::CapabilitiesFabricClient"
+  EXECUTABLE capabilities2_fabric_client_component
+)
+
+ament_export_targets(capabilities2_fabric_client_component)
+
+install(TARGETS fabric_client_comp
+  EXPORT capabilities2_fabric_client_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+############################################################################
+# miscellaneous
+############################################################################
+
 install(DIRECTORY include/
   DESTINATION include
 )

capabilities2_fabric/config/fabric.yaml

@@ -1,4 +1,4 @@
-capabilities2_file_parser:
+fabric_client:
   ros__parameters:
     plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/navigation_2.xml" # WaypointRunner Example 2
     # plan_file_path: "install/capabilities2_fabric/share/capabilities2_fabric/plans/navigation_1.xml" # WaypointRunner Example 1