diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml index 870235f..3980489 100644 --- a/.github/workflows/doc.yml +++ b/.github/workflows/doc.yml @@ -20,7 +20,7 @@ jobs: - uses: ros-tooling/action-ros-ci@0.3.5 id: action_ros_ci_step with: - package-name: suave suave_msgs suave_missions suave_metacontrol system_modes mavros mavros_wrapper mros2_reasoner mros2_msgs + package-name: suave suave_monitor suave_metrics suave_msgs suave_missions suave_metacontrol system_modes mavros mavros_wrapper mros2_reasoner mros2_msgs target-ros2-distro: humble skip-tests: true vcs-repo-file-url: https://raw.githubusercontent.com/kas-lab/suave/main/suave.rosinstall diff --git a/.gitignore b/.gitignore index 88daa43..9bd015a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ +docs/source/_autosummary/ docs/build/ !suave_missions/results/seams2023_results.csv diff --git a/CHANGELOG.md b/CHANGELOG.md index ec4863b..7e7ac5b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -13,13 +13,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/). 2. Added recharge battery task -3. Added qa_comparison_operator to water_visibility in suave.owl +4. Added battery_constraint argument to mission [PR #155] -4. Documentation with sphinx +5. Added qa_comparison_operator to water_visibility in suave.owl -5. CI to build sphinx documentation +6. Documentation with sphinx -6. Added mission metrics node +7. CI to build sphinx documentation + +8. Added mission metrics node ### Changed @@ -29,6 +31,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). 3. Mission config default parameters +4. Refactored repository. Created new packages : suave_monitor, and suave_metrics. Moved suave_metacontrol under suave_managing ### Fixed diff --git a/docs/source/_autosummary/suave.bluerov_gazebo.BlueROVGazebo.rst b/docs/source/_autosummary/suave.bluerov_gazebo.BlueROVGazebo.rst deleted file mode 100644 index 5712535..0000000 --- a/docs/source/_autosummary/suave.bluerov_gazebo.BlueROVGazebo.rst +++ /dev/null @@ -1,37 +0,0 @@ -BlueROVGazebo -============= - -.. currentmodule:: suave.bluerov_gazebo - -.. autoclass:: BlueROVGazebo - - - - - .. automethod:: __init__ - .. automethod:: convert_gz_to_local_pose - .. automethod:: gazebo_pos_cb - .. automethod:: setpoint_position_gz - .. automethod:: setpoint_position_local - - - .. rubric:: Methods - - .. autosummary:: - - ~BlueROVGazebo.__init__ - ~BlueROVGazebo.convert_gz_to_local_pose - ~BlueROVGazebo.gazebo_pos_cb - ~BlueROVGazebo.setpoint_position_gz - ~BlueROVGazebo.setpoint_position_local - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.bluerov_gazebo.rst b/docs/source/_autosummary/suave.bluerov_gazebo.rst deleted file mode 100644 index 01fc837..0000000 --- a/docs/source/_autosummary/suave.bluerov_gazebo.rst +++ /dev/null @@ -1,30 +0,0 @@ -suave.bluerov\_gazebo -===================== - -.. automodule:: suave.bluerov_gazebo - - - - - - - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - BlueROVGazebo - - - - - - - - - diff --git a/docs/source/_autosummary/suave.follow_pipeline_lc.PipelineFollowerLC.rst b/docs/source/_autosummary/suave.follow_pipeline_lc.PipelineFollowerLC.rst deleted file mode 100644 index ed546e9..0000000 --- a/docs/source/_autosummary/suave.follow_pipeline_lc.PipelineFollowerLC.rst +++ /dev/null @@ -1,43 +0,0 @@ -PipelineFollowerLC -================== - -.. currentmodule:: suave.follow_pipeline_lc - -.. autoclass:: PipelineFollowerLC - - - - - .. automethod:: __init__ - .. automethod:: calc_distance - .. automethod:: follow_pipeline - .. automethod:: on_activate - .. automethod:: on_cleanup - .. automethod:: on_configure - .. automethod:: on_deactivate - .. automethod:: on_shutdown - - - .. rubric:: Methods - - .. autosummary:: - - ~PipelineFollowerLC.__init__ - ~PipelineFollowerLC.calc_distance - ~PipelineFollowerLC.follow_pipeline - ~PipelineFollowerLC.on_activate - ~PipelineFollowerLC.on_cleanup - ~PipelineFollowerLC.on_configure - ~PipelineFollowerLC.on_deactivate - ~PipelineFollowerLC.on_shutdown - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.follow_pipeline_lc.main.rst b/docs/source/_autosummary/suave.follow_pipeline_lc.main.rst deleted file mode 100644 index 348a315..0000000 --- a/docs/source/_autosummary/suave.follow_pipeline_lc.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.follow\_pipeline\_lc.main -=============================== - -.. currentmodule:: suave.follow_pipeline_lc - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.follow_pipeline_lc.rst b/docs/source/_autosummary/suave.follow_pipeline_lc.rst deleted file mode 100644 index 9a1a2ad..0000000 --- a/docs/source/_autosummary/suave.follow_pipeline_lc.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.follow\_pipeline\_lc -========================== - -.. automodule:: suave.follow_pipeline_lc - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - PipelineFollowerLC - - - - - - - - - diff --git a/docs/source/_autosummary/suave.pipeline_detection.PipelineDetection.rst b/docs/source/_autosummary/suave.pipeline_detection.PipelineDetection.rst deleted file mode 100644 index 6b454ac..0000000 --- a/docs/source/_autosummary/suave.pipeline_detection.PipelineDetection.rst +++ /dev/null @@ -1,43 +0,0 @@ -PipelineDetection -================= - -.. currentmodule:: suave.pipeline_detection - -.. autoclass:: PipelineDetection - - - - - .. automethod:: __init__ - .. automethod:: calculate_interpolated_path - .. automethod:: compare_poses - .. automethod:: detect_pipeline_cb - .. automethod:: get_interpolated_path_cb - .. automethod:: interpolate_line_by_points - .. automethod:: pipeline_pose_cb - .. automethod:: sort_pipe_path - - - .. rubric:: Methods - - .. autosummary:: - - ~PipelineDetection.__init__ - ~PipelineDetection.calculate_interpolated_path - ~PipelineDetection.compare_poses - ~PipelineDetection.detect_pipeline_cb - ~PipelineDetection.get_interpolated_path_cb - ~PipelineDetection.interpolate_line_by_points - ~PipelineDetection.pipeline_pose_cb - ~PipelineDetection.sort_pipe_path - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.pipeline_detection.main.rst b/docs/source/_autosummary/suave.pipeline_detection.main.rst deleted file mode 100644 index 6376514..0000000 --- a/docs/source/_autosummary/suave.pipeline_detection.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.pipeline\_detection.main -============================== - -.. currentmodule:: suave.pipeline_detection - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.pipeline_detection.rst b/docs/source/_autosummary/suave.pipeline_detection.rst deleted file mode 100644 index 865d5a1..0000000 --- a/docs/source/_autosummary/suave.pipeline_detection.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.pipeline\_detection -========================= - -.. automodule:: suave.pipeline_detection - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - PipelineDetection - - - - - - - - - diff --git a/docs/source/_autosummary/suave.pipeline_detection_wv.PipelineDetectionWV.rst b/docs/source/_autosummary/suave.pipeline_detection_wv.PipelineDetectionWV.rst deleted file mode 100644 index 4731798..0000000 --- a/docs/source/_autosummary/suave.pipeline_detection_wv.PipelineDetectionWV.rst +++ /dev/null @@ -1,33 +0,0 @@ -PipelineDetectionWV -=================== - -.. currentmodule:: suave.pipeline_detection_wv - -.. autoclass:: PipelineDetectionWV - - - - - .. automethod:: __init__ - .. automethod:: compare_poses - .. automethod:: diagnostics_cb - - - .. rubric:: Methods - - .. autosummary:: - - ~PipelineDetectionWV.__init__ - ~PipelineDetectionWV.compare_poses - ~PipelineDetectionWV.diagnostics_cb - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.pipeline_detection_wv.main.rst b/docs/source/_autosummary/suave.pipeline_detection_wv.main.rst deleted file mode 100644 index d52d288..0000000 --- a/docs/source/_autosummary/suave.pipeline_detection_wv.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.pipeline\_detection\_wv.main -================================== - -.. currentmodule:: suave.pipeline_detection_wv - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.pipeline_detection_wv.rst b/docs/source/_autosummary/suave.pipeline_detection_wv.rst deleted file mode 100644 index dbc1a7c..0000000 --- a/docs/source/_autosummary/suave.pipeline_detection_wv.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.pipeline\_detection\_wv -============================= - -.. automodule:: suave.pipeline_detection_wv - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - PipelineDetectionWV - - - - - - - - - diff --git a/docs/source/_autosummary/suave.recover_thrusters_lc.RecoverThrustersLC.rst b/docs/source/_autosummary/suave.recover_thrusters_lc.RecoverThrustersLC.rst deleted file mode 100644 index 83ed15d..0000000 --- a/docs/source/_autosummary/suave.recover_thrusters_lc.RecoverThrustersLC.rst +++ /dev/null @@ -1,43 +0,0 @@ -RecoverThrustersLC -================== - -.. currentmodule:: suave.recover_thrusters_lc - -.. autoclass:: RecoverThrustersLC - - - - - .. automethod:: __init__ - .. automethod:: call_service - .. automethod:: on_activate - .. automethod:: on_cleanup - .. automethod:: on_configure - .. automethod:: on_deactivate - .. automethod:: on_shutdown - .. automethod:: recover_thrusters - - - .. rubric:: Methods - - .. autosummary:: - - ~RecoverThrustersLC.__init__ - ~RecoverThrustersLC.call_service - ~RecoverThrustersLC.on_activate - ~RecoverThrustersLC.on_cleanup - ~RecoverThrustersLC.on_configure - ~RecoverThrustersLC.on_deactivate - ~RecoverThrustersLC.on_shutdown - ~RecoverThrustersLC.recover_thrusters - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.recover_thrusters_lc.main.rst b/docs/source/_autosummary/suave.recover_thrusters_lc.main.rst deleted file mode 100644 index 913c34f..0000000 --- a/docs/source/_autosummary/suave.recover_thrusters_lc.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.recover\_thrusters\_lc.main -================================= - -.. currentmodule:: suave.recover_thrusters_lc - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.recover_thrusters_lc.rst b/docs/source/_autosummary/suave.recover_thrusters_lc.rst deleted file mode 100644 index 10ee4c2..0000000 --- a/docs/source/_autosummary/suave.recover_thrusters_lc.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.recover\_thrusters\_lc -============================ - -.. automodule:: suave.recover_thrusters_lc - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - RecoverThrustersLC - - - - - - - - - diff --git a/docs/source/_autosummary/suave.spiral_search_lc.SpiralSearcherLC.rst b/docs/source/_autosummary/suave.spiral_search_lc.SpiralSearcherLC.rst deleted file mode 100644 index 72f00bf..0000000 --- a/docs/source/_autosummary/suave.spiral_search_lc.SpiralSearcherLC.rst +++ /dev/null @@ -1,43 +0,0 @@ -SpiralSearcherLC -================ - -.. currentmodule:: suave.spiral_search_lc - -.. autoclass:: SpiralSearcherLC - - - - - .. automethod:: __init__ - .. automethod:: on_activate - .. automethod:: on_cleanup - .. automethod:: on_configure - .. automethod:: on_deactivate - .. automethod:: on_shutdown - .. automethod:: param_change_callback - .. automethod:: publish - - - .. rubric:: Methods - - .. autosummary:: - - ~SpiralSearcherLC.__init__ - ~SpiralSearcherLC.on_activate - ~SpiralSearcherLC.on_cleanup - ~SpiralSearcherLC.on_configure - ~SpiralSearcherLC.on_deactivate - ~SpiralSearcherLC.on_shutdown - ~SpiralSearcherLC.param_change_callback - ~SpiralSearcherLC.publish - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.spiral_search_lc.main.rst b/docs/source/_autosummary/suave.spiral_search_lc.main.rst deleted file mode 100644 index a35a6c3..0000000 --- a/docs/source/_autosummary/suave.spiral_search_lc.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.spiral\_search\_lc.main -============================= - -.. currentmodule:: suave.spiral_search_lc - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.spiral_search_lc.rst b/docs/source/_autosummary/suave.spiral_search_lc.rst deleted file mode 100644 index ff24033..0000000 --- a/docs/source/_autosummary/suave.spiral_search_lc.rst +++ /dev/null @@ -1,38 +0,0 @@ -suave.spiral\_search\_lc -======================== - -.. automodule:: suave.spiral_search_lc - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - spiral_points - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - SpiralSearcherLC - - - - - - - - - diff --git a/docs/source/_autosummary/suave.spiral_search_lc.spiral_points.rst b/docs/source/_autosummary/suave.spiral_search_lc.spiral_points.rst deleted file mode 100644 index e81af25..0000000 --- a/docs/source/_autosummary/suave.spiral_search_lc.spiral_points.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.spiral\_search\_lc.spiral\_points -======================================= - -.. currentmodule:: suave.spiral_search_lc - -.. autofunction:: spiral_points \ No newline at end of file diff --git a/docs/source/_autosummary/suave.task_bridge.TaskBridge.rst b/docs/source/_autosummary/suave.task_bridge.TaskBridge.rst deleted file mode 100644 index c40c80b..0000000 --- a/docs/source/_autosummary/suave.task_bridge.TaskBridge.rst +++ /dev/null @@ -1,41 +0,0 @@ -TaskBridge -========== - -.. currentmodule:: suave.task_bridge - -.. autoclass:: TaskBridge - - - - - .. automethod:: __init__ - .. automethod:: call_service - .. automethod:: forward_task_cancel_request - .. automethod:: forward_task_request - .. automethod:: task_cancel_cb - .. automethod:: task_request - .. automethod:: task_request_cb - - - .. rubric:: Methods - - .. autosummary:: - - ~TaskBridge.__init__ - ~TaskBridge.call_service - ~TaskBridge.forward_task_cancel_request - ~TaskBridge.forward_task_request - ~TaskBridge.task_cancel_cb - ~TaskBridge.task_request - ~TaskBridge.task_request_cb - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.task_bridge.rst b/docs/source/_autosummary/suave.task_bridge.rst deleted file mode 100644 index 0f7a40f..0000000 --- a/docs/source/_autosummary/suave.task_bridge.rst +++ /dev/null @@ -1,30 +0,0 @@ -suave.task\_bridge -================== - -.. automodule:: suave.task_bridge - - - - - - - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - TaskBridge - - - - - - - - - diff --git a/docs/source/_autosummary/suave.task_bridge_none.TaskBridgeNone.rst b/docs/source/_autosummary/suave.task_bridge_none.TaskBridgeNone.rst deleted file mode 100644 index c5941e9..0000000 --- a/docs/source/_autosummary/suave.task_bridge_none.TaskBridgeNone.rst +++ /dev/null @@ -1,35 +0,0 @@ -TaskBridgeNone -============== - -.. currentmodule:: suave.task_bridge_none - -.. autoclass:: TaskBridgeNone - - - - - .. automethod:: __init__ - .. automethod:: call_sysmode_change_mode - .. automethod:: forward_task_cancel_request - .. automethod:: forward_task_request - - - .. rubric:: Methods - - .. autosummary:: - - ~TaskBridgeNone.__init__ - ~TaskBridgeNone.call_sysmode_change_mode - ~TaskBridgeNone.forward_task_cancel_request - ~TaskBridgeNone.forward_task_request - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.task_bridge_none.main.rst b/docs/source/_autosummary/suave.task_bridge_none.main.rst deleted file mode 100644 index 70006c3..0000000 --- a/docs/source/_autosummary/suave.task_bridge_none.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.task\_bridge\_none.main -============================= - -.. currentmodule:: suave.task_bridge_none - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.task_bridge_none.rst b/docs/source/_autosummary/suave.task_bridge_none.rst deleted file mode 100644 index cfd9eff..0000000 --- a/docs/source/_autosummary/suave.task_bridge_none.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.task\_bridge\_none -======================== - -.. automodule:: suave.task_bridge_none - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - TaskBridgeNone - - - - - - - - - diff --git a/docs/source/_autosummary/suave.thruster_monitor.ThrusterMonitor.rst b/docs/source/_autosummary/suave.thruster_monitor.ThrusterMonitor.rst deleted file mode 100644 index 1bb40ac..0000000 --- a/docs/source/_autosummary/suave.thruster_monitor.ThrusterMonitor.rst +++ /dev/null @@ -1,37 +0,0 @@ -ThrusterMonitor -=============== - -.. currentmodule:: suave.thruster_monitor - -.. autoclass:: ThrusterMonitor - - - - - .. automethod:: __init__ - .. automethod:: call_service - .. automethod:: change_thruster_status - .. automethod:: read_thruster_events - .. automethod:: thruster_event_cb - - - .. rubric:: Methods - - .. autosummary:: - - ~ThrusterMonitor.__init__ - ~ThrusterMonitor.call_service - ~ThrusterMonitor.change_thruster_status - ~ThrusterMonitor.read_thruster_events - ~ThrusterMonitor.thruster_event_cb - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.thruster_monitor.main.rst b/docs/source/_autosummary/suave.thruster_monitor.main.rst deleted file mode 100644 index aa0dfd0..0000000 --- a/docs/source/_autosummary/suave.thruster_monitor.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.thruster\_monitor.main -============================ - -.. currentmodule:: suave.thruster_monitor - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.thruster_monitor.rst b/docs/source/_autosummary/suave.thruster_monitor.rst deleted file mode 100644 index bcf7fab..0000000 --- a/docs/source/_autosummary/suave.thruster_monitor.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.thruster\_monitor -======================= - -.. automodule:: suave.thruster_monitor - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - ThrusterMonitor - - - - - - - - - diff --git a/docs/source/_autosummary/suave.water_visibility_observer.WaterVisibilityObserver.rst b/docs/source/_autosummary/suave.water_visibility_observer.WaterVisibilityObserver.rst deleted file mode 100644 index ff25fe0..0000000 --- a/docs/source/_autosummary/suave.water_visibility_observer.WaterVisibilityObserver.rst +++ /dev/null @@ -1,31 +0,0 @@ -WaterVisibilityObserver -======================= - -.. currentmodule:: suave.water_visibility_observer - -.. autoclass:: WaterVisibilityObserver - - - - - .. automethod:: __init__ - .. automethod:: qa_publisher_cb - - - .. rubric:: Methods - - .. autosummary:: - - ~WaterVisibilityObserver.__init__ - ~WaterVisibilityObserver.qa_publisher_cb - - - - - - .. rubric:: Attributes - - .. autosummary:: - - - \ No newline at end of file diff --git a/docs/source/_autosummary/suave.water_visibility_observer.main.rst b/docs/source/_autosummary/suave.water_visibility_observer.main.rst deleted file mode 100644 index 036a1c7..0000000 --- a/docs/source/_autosummary/suave.water_visibility_observer.main.rst +++ /dev/null @@ -1,6 +0,0 @@ -suave.water\_visibility\_observer.main -====================================== - -.. currentmodule:: suave.water_visibility_observer - -.. autofunction:: main \ No newline at end of file diff --git a/docs/source/_autosummary/suave.water_visibility_observer.rst b/docs/source/_autosummary/suave.water_visibility_observer.rst deleted file mode 100644 index 899732d..0000000 --- a/docs/source/_autosummary/suave.water_visibility_observer.rst +++ /dev/null @@ -1,37 +0,0 @@ -suave.water\_visibility\_observer -================================= - -.. automodule:: suave.water_visibility_observer - - - - - - - - .. rubric:: Functions - - .. autosummary:: - :toctree: - - main - - - - - - .. rubric:: Classes - - .. autosummary:: - :toctree: - - WaterVisibilityObserver - - - - - - - - - diff --git a/docs/source/api.rst b/docs/source/api.rst index 27d4f30..493760f 100644 --- a/docs/source/api.rst +++ b/docs/source/api.rst @@ -13,8 +13,8 @@ API suave.spiral_search_lc suave.task_bridge suave.task_bridge_none - suave.thruster_monitor - suave.water_visibility_observer + suave_monitor.thruster_monitor + suave_monitor.water_visibility_observer .. teste .. ------ diff --git a/suave/launch/mavros.launch.py b/suave/launch/mavros.launch.py deleted file mode 100644 index 29f51ed..0000000 --- a/suave/launch/mavros.launch.py +++ /dev/null @@ -1,71 +0,0 @@ -from ament_index_python.packages import get_package_share_directory - -from launch_ros.actions import Node -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - - -def generate_launch_description(): - fcu_url_arg = LaunchConfiguration('fcu_url') - gcs_url_arg = LaunchConfiguration('gcs_url') - system_id_arg = LaunchConfiguration('system_id') - component_id_arg = LaunchConfiguration('component_id') - tgt_system_arg = LaunchConfiguration('target_system_id') - tgt_component_arg = LaunchConfiguration('target_component_id') - - fcu_url_arg = DeclareLaunchArgument( - 'fcu_url', - default_value='udp://:14551@:14555' - ) - - gcs_url_arg = DeclareLaunchArgument( - 'gcs_url', - default_value='udp://@localhost:14550' - ) - - system_id_arg = DeclareLaunchArgument( - 'system_id', - default_value='255' - ) - - component_id_arg = DeclareLaunchArgument( - 'component_id', - default_value='240' - ) - - tgt_system_arg = DeclareLaunchArgument( - 'target_system_id', - default_value='1' - ) - - tgt_component_arg = DeclareLaunchArgument( - 'target_component_id', - default_value='1' - ) - - mavros_node = Node( - package='mavros', - executable='mavros_node', - arguments=[ - '--ros-args', - '-p', 'fcu_url:=udp://127.0.0.1:14551@14555' - ], - parameters=[{ - 'fcu_url': LaunchConfiguration('fcu_url'), - 'gcs_url': LaunchConfiguration('gcs_url'), - 'system_id': LaunchConfiguration('system_id'), - 'component_id': LaunchConfiguration('component_id'), - 'target_system_id': LaunchConfiguration('target_system_id'), - 'target_component_id': LaunchConfiguration('target_component_id'), - }] - ) - return LaunchDescription([ - fcu_url_arg, - gcs_url_arg, - system_id_arg, - component_id_arg, - tgt_system_arg, - tgt_component_arg, - mavros_node - ]) diff --git a/suave/launch/suave.launch.py b/suave/launch/suave.launch.py index 61f9d0b..d145262 100644 --- a/suave/launch/suave.launch.py +++ b/suave/launch/suave.launch.py @@ -26,31 +26,31 @@ def generate_launch_description(): 'mission_config.yaml') water_visibility_node = Node( - package='suave', + package='suave_monitor', executable='water_visibility_observer', name='water_visibility_observer_node', parameters=[mission_config], ) battery_monitor_node = Node( - package='suave', + package='suave_monitor', executable='battery_monitor', name='battery_monitor', parameters=[mission_config], ) - pipeline_detection_wv_node = Node( - package='suave', - executable='pipeline_detection_wv', - ) - thruster_monitor_node = Node( - package='suave', + package='suave_monitor', executable='thruster_monitor', name='thruster_monitor', parameters=[mission_config] ) + pipeline_detection_wv_node = Node( + package='suave', + executable='pipeline_detection_wv', + ) + spiral_search_node = Node( package='suave', executable='spiral_search', diff --git a/suave/setup.py b/suave/setup.py index 31d67d3..b329fa7 100644 --- a/suave/setup.py +++ b/suave/setup.py @@ -27,15 +27,12 @@ # tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'battery_monitor = suave.battery_monitor:main', 'pipeline_detection = suave.pipeline_node:main', 'pipeline_detection_wv = suave.pipeline_detection_wv:main', 'recharge_battery = suave.recharge_battery_lc:main', 'spiral_search = suave.spiral_search_lc:main', 'follow_pipeline = suave.follow_pipeline_lc:main', - 'thruster_monitor = suave.thruster_monitor:main', 'recover_thrusters = suave.recover_thrusters_lc:main', - 'water_visibility_observer = suave.water_visibility_observer:main', 'task_bridge_none = suave.task_bridge_none:main', ], }, diff --git a/suave_metacontrol/config/suave.owl b/suave_managing/suave_metacontrol/config/suave.owl similarity index 100% rename from suave_metacontrol/config/suave.owl rename to suave_managing/suave_metacontrol/config/suave.owl diff --git a/suave_metacontrol/launch/launch_reasoner.launch.py b/suave_managing/suave_metacontrol/launch/launch_reasoner.launch.py similarity index 100% rename from suave_metacontrol/launch/launch_reasoner.launch.py rename to suave_managing/suave_metacontrol/launch/launch_reasoner.launch.py diff --git a/suave_metacontrol/launch/metacontrol.launch.py b/suave_managing/suave_metacontrol/launch/metacontrol.launch.py similarity index 100% rename from suave_metacontrol/launch/metacontrol.launch.py rename to suave_managing/suave_metacontrol/launch/metacontrol.launch.py diff --git a/suave_metacontrol/launch/suave_metacontrol.launch.py b/suave_managing/suave_metacontrol/launch/suave_metacontrol.launch.py similarity index 100% rename from suave_metacontrol/launch/suave_metacontrol.launch.py rename to suave_managing/suave_metacontrol/launch/suave_metacontrol.launch.py diff --git a/suave_metacontrol/package.xml b/suave_managing/suave_metacontrol/package.xml similarity index 100% rename from suave_metacontrol/package.xml rename to suave_managing/suave_metacontrol/package.xml diff --git a/suave_metacontrol/resource/suave_metacontrol b/suave_managing/suave_metacontrol/resource/suave_metacontrol similarity index 100% rename from suave_metacontrol/resource/suave_metacontrol rename to suave_managing/suave_metacontrol/resource/suave_metacontrol diff --git a/suave_metacontrol/setup.cfg b/suave_managing/suave_metacontrol/setup.cfg similarity index 100% rename from suave_metacontrol/setup.cfg rename to suave_managing/suave_metacontrol/setup.cfg diff --git a/suave_metacontrol/setup.py b/suave_managing/suave_metacontrol/setup.py similarity index 91% rename from suave_metacontrol/setup.py rename to suave_managing/suave_metacontrol/setup.py index a077447..2bb7b21 100644 --- a/suave_metacontrol/setup.py +++ b/suave_managing/suave_metacontrol/setup.py @@ -31,8 +31,6 @@ 'suave_reasoner = suave_metacontrol.suave_reasoner:main', 'task_bridge_metacontrol = ' + ' suave_metacontrol.task_bridge_metacontrol:main', - 'task_bridge_random = ' + - ' suave_metacontrol.task_bridge_random:main', ], }, ) diff --git a/suave_metacontrol/suave_metacontrol/__init__.py b/suave_managing/suave_metacontrol/suave_metacontrol/__init__.py similarity index 100% rename from suave_metacontrol/suave_metacontrol/__init__.py rename to suave_managing/suave_metacontrol/suave_metacontrol/__init__.py diff --git a/suave_metacontrol/suave_metacontrol/suave_reasoner.py b/suave_managing/suave_metacontrol/suave_metacontrol/suave_reasoner.py similarity index 100% rename from suave_metacontrol/suave_metacontrol/suave_reasoner.py rename to suave_managing/suave_metacontrol/suave_metacontrol/suave_reasoner.py diff --git a/suave_metacontrol/suave_metacontrol/task_bridge_metacontrol.py b/suave_managing/suave_metacontrol/suave_metacontrol/task_bridge_metacontrol.py similarity index 100% rename from suave_metacontrol/suave_metacontrol/task_bridge_metacontrol.py rename to suave_managing/suave_metacontrol/suave_metacontrol/task_bridge_metacontrol.py diff --git a/suave_metacontrol/test/test_copyright.py b/suave_managing/suave_metacontrol/test/test_copyright.py similarity index 100% rename from suave_metacontrol/test/test_copyright.py rename to suave_managing/suave_metacontrol/test/test_copyright.py diff --git a/suave_metacontrol/test/test_flake8.py b/suave_managing/suave_metacontrol/test/test_flake8.py similarity index 100% rename from suave_metacontrol/test/test_flake8.py rename to suave_managing/suave_metacontrol/test/test_flake8.py diff --git a/suave_metacontrol/test/test_pep257.py b/suave_managing/suave_metacontrol/test/test_pep257.py similarity index 100% rename from suave_metacontrol/test/test_pep257.py rename to suave_managing/suave_metacontrol/test/test_pep257.py diff --git a/suave_managing/suave_random/LICENSE b/suave_managing/suave_random/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/suave_managing/suave_random/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/suave_metacontrol/launch/suave_random.launch.py b/suave_managing/suave_random/launch/suave_random.launch.py similarity index 78% rename from suave_metacontrol/launch/suave_random.launch.py rename to suave_managing/suave_random/launch/suave_random.launch.py index a84f89b..9b63e8f 100644 --- a/suave_metacontrol/launch/suave_random.launch.py +++ b/suave_managing/suave_random/launch/suave_random.launch.py @@ -3,17 +3,13 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node def generate_launch_description(): - time_limit = LaunchConfiguration('time_limit') - mission_config = os.path.join( get_package_share_directory('suave_missions'), 'config', @@ -21,8 +17,6 @@ def generate_launch_description(): pkg_suave_path = get_package_share_directory( 'suave') - pkg_suave_metacontrol_path = get_package_share_directory( - 'suave_metacontrol') suave_launch_path = os.path.join( pkg_suave_path, @@ -36,7 +30,7 @@ def generate_launch_description(): ) task_bridge_node = Node( - package='suave_metacontrol', + package='suave_random', executable='task_bridge_random', parameters=[mission_config], ) diff --git a/suave_managing/suave_random/package.xml b/suave_managing/suave_random/package.xml new file mode 100644 index 0000000..87a3d05 --- /dev/null +++ b/suave_managing/suave_random/package.xml @@ -0,0 +1,18 @@ + + + + suave_random + 0.0.0 + Implementation of a random managing system for SUAVE + gus + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/suave_managing/suave_random/resource/suave_random b/suave_managing/suave_random/resource/suave_random new file mode 100644 index 0000000..e69de29 diff --git a/suave_managing/suave_random/setup.cfg b/suave_managing/suave_random/setup.cfg new file mode 100644 index 0000000..3f0cf46 --- /dev/null +++ b/suave_managing/suave_random/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/suave_random +[install] +install_scripts=$base/lib/suave_random diff --git a/suave_managing/suave_random/setup.py b/suave_managing/suave_random/setup.py new file mode 100644 index 0000000..2b495e3 --- /dev/null +++ b/suave_managing/suave_random/setup.py @@ -0,0 +1,31 @@ +import os +from glob import glob +from setuptools import find_packages, setup + +package_name = 'suave_random' + +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']), + (os.path.join('share', package_name, 'launch'), + glob('launch/*launch.[pxy][yma]*')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='gus', + maintainer_email='g.rezendesilva@tudelft.nl', + description='Implementation of a random managing system for SUAVE', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'task_bridge_random = ' + + ' suave_random.task_bridge_random:main', + ], + }, +) diff --git a/suave_managing/suave_random/suave_random/__init__.py b/suave_managing/suave_random/suave_random/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/suave_metacontrol/suave_metacontrol/task_bridge_random.py b/suave_managing/suave_random/suave_random/task_bridge_random.py similarity index 93% rename from suave_metacontrol/suave_metacontrol/task_bridge_random.py rename to suave_managing/suave_random/suave_random/task_bridge_random.py index 666c5f1..50dc9d5 100644 --- a/suave_metacontrol/suave_metacontrol/task_bridge_random.py +++ b/suave_managing/suave_random/suave_random/task_bridge_random.py @@ -4,9 +4,7 @@ import sys from rclpy.executors import MultiThreadedExecutor -from rclpy.callback_groups import MutuallyExclusiveCallbackGroup from suave.task_bridge_none import TaskBridgeNone -from system_modes_msgs.srv import ChangeMode from system_modes_msgs.srv import GetAvailableModes @@ -51,7 +49,6 @@ def forward_task_request(self, function): modes_cli, GetAvailableModes.Request()).available_modes ) - cli = self.sm_cli_dict[function] return self.call_sysmode_change_mode(function, mode_name) diff --git a/suave_managing/suave_random/test/test_copyright.py b/suave_managing/suave_random/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/suave_managing/suave_random/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/suave_managing/suave_random/test/test_flake8.py b/suave_managing/suave_random/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/suave_managing/suave_random/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/suave_managing/suave_random/test/test_pep257.py b/suave_managing/suave_random/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/suave_managing/suave_random/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/suave_metacontrol/suave_metacontrol/fake_managed_system.py b/suave_metacontrol/suave_metacontrol/fake_managed_system.py deleted file mode 100755 index 5192354..0000000 --- a/suave_metacontrol/suave_metacontrol/fake_managed_system.py +++ /dev/null @@ -1,129 +0,0 @@ -#!/usr/bin/env python -import sys - -import rclpy -from rclpy.node import Node -from rclpy.action import ActionClient -from mros2_msgs.action import ControlQos -from diagnostic_msgs.msg import DiagnosticArray -from diagnostic_msgs.msg import DiagnosticStatus -from diagnostic_msgs.msg import KeyValue - -import threading - - -class FakeManagedSystem(Node): - - def __init__(self): - super().__init__('mock') - - self._action_client = ActionClient(self, ControlQos, '/mros/objective') - - self.diagnostics_publisher = self.create_publisher( - DiagnosticArray, '/diagnostics', 10) - - timer_period = 4.0 # seconds - self.timer = self.create_timer(timer_period, self.timer_callback) - - self.water_visibility = 3.5 - self.water_visibility_delta = -0.1 - - def set_objectives(self): - self.get_logger().info('Waiting for server') - self._action_client.wait_for_server() - - mock_goal_msg = ControlQos.Goal() - - mock_goal_msg.qos_expected.objective_type = "f_generate_search_path" - mock_goal_msg.qos_expected.objective_id = "obj_search_{:.0f}".format( - self.get_clock().now().to_msg().sec / 10) - mock_goal_msg.qos_expected.selected_mode = "" - nfr = KeyValue() - nfr.key = "water_visibility" - nfr.value = str(0.35) - mock_goal_msg.qos_expected.qos.append(nfr) - - self.get_logger().info( - 'Sending goal {0}'.format( - mock_goal_msg.qos_expected.objective_type)) - future = self._action_client.send_goal_async( - mock_goal_msg, feedback_callback=self.feedback_callback) - self.get_logger().info('Goal Sent!!!') - - timer = self.create_rate(0.1) - timer.sleep() - - self.get_logger().info('%%%%CANCEL GOAL') - handle = future.result() - cancel_future = handle.cancel_goal_async() - rclpy.spin_until_future_complete(self, cancel_future) - fake_goal_msg = ControlQos.Goal() - fake_goal_msg.qos_expected.objective_type = "f_fake" - fake_goal_msg.qos_expected.objective_id = "obj_fake_{:.0f}".format( - self.get_clock().now().to_msg().sec / 10) - fake_goal_msg.qos_expected.selected_mode = "" - nfr2 = KeyValue() - nfr2.key = "mockiness" - nfr2.value = str(0.8) - fake_goal_msg.qos_expected.qos.append(nfr2) - - self.get_logger().info( - 'Sending goal {0}'.format( - fake_goal_msg.qos_expected.objective_type)) - self._action_client.send_goal_async( - fake_goal_msg, feedback_callback=self.feedback_callback) - self.get_logger().info('Goal Sent!!!') - - def feedback_callback(self, feedback_msg): - feedback = feedback_msg.feedback - self.get_logger().info(">> Feedback received:") - self.get_logger().info( - ' Solving: {0} of type {1}'.format( - feedback.qos_status.objective_id, - feedback.qos_status.objective_type)) - self.get_logger().info( - ' Objective status: {0}'.format( - feedback.qos_status.objective_status)) - self.get_logger().info(' QAs Status: ') - for qos in feedback.qos_status.qos: - self.get_logger().info( - ' Key: {0} - Value {1}'.format(qos.key, qos.value)) - self.get_logger().info( - ' Current Function Grounding: {0}'.format( - feedback.qos_status.selected_mode)) - - def timer_callback(self): - if self.water_visibility <= 1.25 or self.water_visibility > 3.75: - self.water_visibility_delta = -self.water_visibility_delta - - diag_msg = DiagnosticArray() - diag_msg.header.stamp = self.get_clock().now().to_msg() - status_msg = DiagnosticStatus() - status_msg.level = DiagnosticStatus.OK - status_msg.name = "" - key_value = KeyValue() - key_value.key = "water_visibility" - key_value.value = str(self.water_visibility) - status_msg.values.append(key_value) - status_msg.message = "QA status" - diag_msg.status.append(status_msg) - - self.diagnostics_publisher.publish(diag_msg) - - self.water_visibility += self.water_visibility_delta - - -def main(): - print("Starting fake managed system node") - - rclpy.init(args=sys.argv) - - managed_system = FakeManagedSystem() - thread = threading.Thread( - target=rclpy.spin, args=(managed_system, ), daemon=True) - thread.start() - managed_system.set_objectives() - - thread.join() - managed_system.destroy_node() - rclpy.shutdown() diff --git a/suave_metrics/LICENSE b/suave_metrics/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/suave_metrics/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. 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Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/suave_metrics/package.xml b/suave_metrics/package.xml new file mode 100644 index 0000000..2762065 --- /dev/null +++ b/suave_metrics/package.xml @@ -0,0 +1,24 @@ + + + + suave_metrics + 0.0.0 + Package for collecting metrics of SUAVE + gus + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + mavros + mavros_msgs + rclpy + std_msgs + geometry_msgs + + + ament_python + + diff --git a/suave_metrics/resource/suave_metrics b/suave_metrics/resource/suave_metrics new file mode 100644 index 0000000..e69de29 diff --git a/suave_metrics/setup.cfg b/suave_metrics/setup.cfg new file mode 100644 index 0000000..51375b2 --- /dev/null +++ b/suave_metrics/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/suave_metrics +[install] +install_scripts=$base/lib/suave_metrics diff --git a/suave_metrics/setup.py b/suave_metrics/setup.py new file mode 100644 index 0000000..fa6e76c --- /dev/null +++ b/suave_metrics/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'suave_metrics' + +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='gus', + maintainer_email='g.rezendesilva@tudelft.nl', + description='Package for collecting metrics of SUAVE', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'mission_metrics = suave_metrics.mission_metrics:main' + ], + }, +) diff --git a/suave_metrics/suave_metrics/__init__.py b/suave_metrics/suave_metrics/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/suave_missions/suave_missions/mission_metrics.py b/suave_metrics/suave_metrics/mission_metrics.py similarity index 100% rename from suave_missions/suave_missions/mission_metrics.py rename to suave_metrics/suave_metrics/mission_metrics.py diff --git a/suave_metrics/test/test_copyright.py b/suave_metrics/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/suave_metrics/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/suave_metrics/test/test_flake8.py b/suave_metrics/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/suave_metrics/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/suave_metrics/test/test_pep257.py b/suave_metrics/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/suave_metrics/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/suave_missions/launch/mission.launch.py b/suave_missions/launch/mission.launch.py index 146c192..d394673 100644 --- a/suave_missions/launch/mission.launch.py +++ b/suave_missions/launch/mission.launch.py @@ -61,7 +61,7 @@ def generate_launch_description(): ) mission_metrics_node = Node( - package='suave_missions', + package='suave_metrics', executable='mission_metrics', name='mission_metrics', parameters=[mission_config, { @@ -72,7 +72,7 @@ def generate_launch_description(): ) mission_metrics_node_override = Node( - package='suave_missions', + package='suave_metrics', executable='mission_metrics', name='mission_metrics', parameters=[mission_config, { @@ -110,8 +110,10 @@ def generate_launch_description(): 'suave_metacontrol.launch.py' ) + pkg_suave_random_path = get_package_share_directory( + 'suave_random') suave_random_launch_path = os.path.join( - pkg_suave_metacontrol_path, + pkg_suave_random_path, 'launch', 'suave_random.launch.py' ) diff --git a/suave_missions/setup.py b/suave_missions/setup.py index 4bdb44d..a560dec 100644 --- a/suave_missions/setup.py +++ b/suave_missions/setup.py @@ -30,7 +30,6 @@ 'suave_missions.const_dist_mission:main', 'time_constrained_mission = ' + 'suave_missions.time_constrained_mission:main', - 'mission_metrics = suave_missions.mission_metrics:main', ], }, ) diff --git a/suave_monitor/LICENSE b/suave_monitor/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/suave_monitor/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/suave_monitor/package.xml b/suave_monitor/package.xml new file mode 100644 index 0000000..9f26a53 --- /dev/null +++ b/suave_monitor/package.xml @@ -0,0 +1,23 @@ + + + + suave_monitor + 0.0.0 + Monitor nodes for SUAVE + gus + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + diagnostic_msgs + mavros_msgs + std_msgs + rcl_interfaces + + + ament_python + + diff --git a/suave_monitor/resource/suave_monitor b/suave_monitor/resource/suave_monitor new file mode 100644 index 0000000..e69de29 diff --git a/suave_monitor/setup.cfg b/suave_monitor/setup.cfg new file mode 100644 index 0000000..1c89fe2 --- /dev/null +++ b/suave_monitor/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/suave_monitor +[install] +install_scripts=$base/lib/suave_monitor diff --git a/suave_monitor/setup.py b/suave_monitor/setup.py new file mode 100644 index 0000000..432c736 --- /dev/null +++ b/suave_monitor/setup.py @@ -0,0 +1,28 @@ +from setuptools import find_packages, setup + +package_name = 'suave_monitor' + +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='gus', + maintainer_email='g.rezendesilva@tudelft.nl', + description='Monitor nodes for SUAVE', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'thruster_monitor = suave_monitor.thruster_monitor:main', + 'battery_monitor = suave_monitor.battery_monitor:main', + 'water_visibility_observer = suave_monitor.water_visibility_observer:main', + ], + }, +) diff --git a/suave_monitor/suave_monitor/__init__.py b/suave_monitor/suave_monitor/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/suave/suave/battery_monitor.py b/suave_monitor/suave_monitor/battery_monitor.py similarity index 100% rename from suave/suave/battery_monitor.py rename to suave_monitor/suave_monitor/battery_monitor.py diff --git a/suave/suave/thruster_monitor.py b/suave_monitor/suave_monitor/thruster_monitor.py similarity index 100% rename from suave/suave/thruster_monitor.py rename to suave_monitor/suave_monitor/thruster_monitor.py diff --git a/suave/suave/water_visibility_observer.py b/suave_monitor/suave_monitor/water_visibility_observer.py similarity index 97% rename from suave/suave/water_visibility_observer.py rename to suave_monitor/suave_monitor/water_visibility_observer.py index 3d7b325..73681bb 100755 --- a/suave/suave/water_visibility_observer.py +++ b/suave_monitor/suave_monitor/water_visibility_observer.py @@ -16,7 +16,7 @@ class WaterVisibilityObserver(Node): def __init__(self): super().__init__('water_visibility') - self.declare_parameter('qa_publishing_period', 1.0) + self.declare_parameter('qa_publishing_period', 0.2) self.declare_parameter('water_visibility_period', 150) self.declare_parameter('water_visibility_min', 1.25) self.declare_parameter('water_visibility_max', 3.75) diff --git a/suave_monitor/test/test_copyright.py b/suave_monitor/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/suave_monitor/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/suave_monitor/test/test_flake8.py b/suave_monitor/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/suave_monitor/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/suave_monitor/test/test_pep257.py b/suave_monitor/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/suave_monitor/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'