add library scenario_execution_os

.github/workflows/test_build.yml

@@ -57,6 +57,7 @@ jobs:
           colcon test --packages-select \
           scenario_execution \
           scenario_execution_gazebo \
+          scenario_execution_os \
           scenario_coverage \
           --event-handlers console_direct+ \
           --return-code-on-test-failure \
@@ -399,6 +400,7 @@ jobs:
             downloaded-artifacts/test-scenario-execution/scenario_execution/TEST.xml
             downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
             downloaded-artifacts/test-scenario-execution/scenario_coverage/TEST.xml
+            downloaded-artifacts/test-scenario-execution/libs/scenario_execution_os/TEST.xml
             downloaded-artifacts/test-example-scenario-result/test.xml
             downloaded-artifacts/test-example-library-result/test.xml
             downloaded-artifacts/test-example-variation-result/test.xml

docs/libraries.rst

@@ -10,8 +10,76 @@ Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.s
 
 Additional features can be implemented by defining your own library.
 
-``osc.helpers``
----------------
+
+Gazebo
+------
+
+The library contains actions to interact with the `Gazebo Simulation <https://gazebosim.org/>`_. Import it with ``import osc.gazebo``. It's provided by the package :repo_link:`scenario_execution_gazebo`.
+
+Actions
+^^^^^^^
+
+``actor_exists()``
+""""""""""""""""""
+
+Waits for an actor to exist within simulation.
+
+- ``entity_name``: Entity name within simulation
+- ``world_name: string``: Gazebo world name (default: ``default``)
+
+``osc_object.delete()``
+"""""""""""""""""""""""
+
+Delete an object from the simulation.
+
+- ``entity_name``: Entity name within simulation
+- ``world_name: string``: Gazebo world name (default: ``default``)
+
+``osc_object.relative_spawn()``
+"""""""""""""""""""""""""""""""
+
+Spawn an actor relative to a given ``frame_id`` within simulation (at a specified ``distance`` in front of ``frame_id``).
+
+- ``frame_id``: The frame Id to spawn the actor relative to. (default: ``base_link``)
+- ``parent_frame_id``: The parent frame ID against which movement is evaluated. (default: ``map``)
+- ``distance``: distance value relative to the frame_id at which to spawn the new actor (default: 1.0)
+- ``world_name: string``: Gazebo world name (default: ``default``)
+- ``model: string``: Model definition
+- ``xacro_arguments: string``: (optional) Comma-separated list of argument key:=value pairs
+
+``osc_object.spawn()``
+""""""""""""""""""""""
+
+Spawn an actor within simulation.
+
+- ``spawn_pose: pose_3d``: Pose of the spawned actor.
+- ``world_name: string``: Gazebo world name (default: ``default``)
+- ``model: string``: Model definition
+- ``xacro_arguments: string``: (optional) Comma-separated list of argument key:=value pairs
+
+.. note::
+
+    The model definition can be specified in different formats:
+
+    - ``file://<path-to-model>``: Local path to model file
+    - ``model://<path-to-model>``: Path relative to available model search paths
+    - ``<package-name>://<path-to-model>``: Path relative to an available package (e.g. :repo_link:`simulation/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_exists_delete.osc`)
+    - ``https:://fuel``: Model from `fuel.gazebosim.org <https://app.gazebosim.org/>`__ (e.g. ``https://fuel.gazebosim.org/1.0/OpenRobotics/models/Beer``)
+
+    If the file ending is ``.xacro`` the model is forwarded to `xacro <https://wiki.ros.org/xacro>`__ before getting spawned.
+
+``wait_for_sim()``
+""""""""""""""""""
+Wait for simulation to become active (checks for simulation clock).
+
+- ``world_name: string``: Gazebo world name (default: ``default``)
+- ``timeout: time``:  time to wait for the simulation. return failure afterwards. (default: ``60s``)
+
+
+Helpers
+-------
+
+The library contains basic helper methods. Import it with ``import osc.helpers``.
 
 Actions
 ^^^^^^^
@@ -31,18 +99,39 @@ Run a process. Reports `running` while the process has not finished.
 - ``command: string``: Command to execute
 
 
-``osc.robotics``
-----------------
+OS
+--
+
+The library contains actions to interact with the operating system. Import it with ``import osc.os``. It is provided by the package :repo_link:`libs/scenario_execution_os`.
+
+Actions
+^^^^^^^
+
+``check_file_exists()``
+"""""""""""""""""""""""
+
+Report success if a file exists.
+
+- ``file_name: string``: File name to check
+
+
+Robotics
+--------
+
+The library contains elements reusable in different robotic contexts. Import it with ``import osc.robotics``. It is provided by the package :repo_link:`scenario_execution`.
 
 Actors
 ^^^^^^
 
 ``robot``
-""""""""""""""""""""""""""""
+"""""""""
 A general robot actor.
 
-``osc.ros``
------------
+
+ROS
+---
+
+The library contains actions to interact with ROS nodes. Import it with ``import osc.ros``. It is provided by the package :repo_link:`scenario_execution_ros`.
 
 Actors
 ^^^^^^
@@ -228,65 +317,3 @@ In the background, this action uses `wait_for_data() <https://py-trees-ros.readt
 Wait for topics to get available (i.e. publisher gets available).
 
 - ``topics: list of string``: List of topics to wait for
-
-``osc.gazebo``
---------------
-
-Actions
-^^^^^^^
-
-``actor_exists()``
-""""""""""""""""""
-
-Waits for an actor to exist within simulation.
-
-- ``entity_name``: Entity name within simulation
-- ``world_name: string``: Gazebo world name (default: ``default``)
-
-``osc_object.delete()``
-"""""""""""""""""""""""
-
-Delete an object from the simulation.
-
-- ``entity_name``: Entity name within simulation
-- ``world_name: string``: Gazebo world name (default: ``default``)
-
-``osc_object.relative_spawn()``
-"""""""""""""""""""""""""""""""
-
-Spawn an actor relative to a given ``frame_id`` within simulation (at a specified ``distance`` in front of ``frame_id``).
-
-- ``frame_id``: The frame Id to spawn the actor relative to. (default: ``base_link``)
-- ``parent_frame_id``: The parent frame ID against which movement is evaluated. (default: ``map``)
-- ``distance``: distance value relative to the frame_id at which to spawn the new actor (default: 1.0)
-- ``world_name: string``: Gazebo world name (default: ``default``)
-- ``model: string``: Model definition
-- ``xacro_arguments: string``: (optional) Comma-separated list of argument key:=value pairs
-
-``osc_object.spawn()``
-""""""""""""""""""""""
-
-Spawn an actor within simulation.
-
-- ``spawn_pose: pose_3d``: Pose of the spawned actor.
-- ``world_name: string``: Gazebo world name (default: ``default``)
-- ``model: string``: Model definition
-- ``xacro_arguments: string``: (optional) Comma-separated list of argument key:=value pairs
-
-.. note::
-
-    The model definition can be specified in different formats:
-
-    - ``file://<path-to-model>``: Local path to model file
-    - ``model://<path-to-model>``: Path relative to available model search paths
-    - ``<package-name>://<path-to-model>``: Path relative to an available package (e.g. :repo_link:`simulation/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_exists_delete.osc`)
-    - ``https:://fuel``: Model from `fuel.gazebosim.org <https://app.gazebosim.org/>`__ (e.g. ``https://fuel.gazebosim.org/1.0/OpenRobotics/models/Beer``)
-
-    If the file ending is ``.xacro`` the model is forwarded to `xacro <https://wiki.ros.org/xacro>`__ before getting spawned.
-
-``wait_for_sim()``
-""""""""""""""""""
-Wait for simulation to become active (checks for simulation clock).
-
-- ``world_name: string``: Gazebo world name (default: ``default``)
-- ``timeout: time``:  time to wait for the simulation. return failure afterwards. (default: ``60s``)

libs/scenario_execution_os/MANIFEST.in

@@ -0,0 +1 @@
+include scenario_execution_os/lib_osc/*.osc

libs/scenario_execution_os/README.md

@@ -0,0 +1,8 @@
+# Scenario Execution Library for OS interaction
+
+The `scenario_execution_os` package provides actions to interact with the operating system.
+
+It provides the following scenario execution library:
+
+- `os.osc`: Actions to interact with operating system
+

libs/scenario_execution_os/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>scenario_execution_os</name>
+  <version>1.1.0</version>
+  <description>Scenario Execution library for OS interactions</description>
+  <author email="[email protected]">Intel Labs</author>
+  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <license file="../../LICENSE">Apache-2.0</license>
+
+  <depend>scenario_execution</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

libs/scenario_execution_os/scenario_execution_os/__init__.py

@@ -0,0 +1,15 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0

libs/scenario_execution_os/scenario_execution_os/actions/__init__.py

@@ -0,0 +1,15 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0

libs/scenario_execution_os/scenario_execution_os/actions/check_file_exists.py

@@ -0,0 +1,34 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import os
+import py_trees
+
+
+class CheckFileExists(py_trees.behaviour.Behaviour):
+    """
+    Check existance of a file
+    """
+
+    def __init__(self, name, file_name):
+        super().__init__(name)
+        self.file_name = file_name
+
+    def update(self) -> py_trees.common.Status:
+        if os.path.isfile(self.file_name):
+            return py_trees.common.Status.SUCCESS
+        else:
+            return py_trees.common.Status.FAILURE

libs/scenario_execution_os/scenario_execution_os/get_osc_library.py

@@ -0,0 +1,19 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+def get_osc_library():
+    return 'scenario_execution_os', 'os.osc'

libs/scenario_execution_os/scenario_execution_os/lib_osc/os.osc

@@ -0,0 +1,5 @@
+import osc.standard.base
+
+action check_file_exists:
+    # report success if a file exists
+    file_name: string  # file to check

libs/scenario_execution_os/setup.cfg

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

libs/scenario_execution_os/setup.py

@@ -0,0 +1,48 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+""" Setup python package """
+from setuptools import find_namespace_packages, setup
+
+PACKAGE_NAME = 'scenario_execution_os'
+
+setup(
+    name=PACKAGE_NAME,
+    version='1.1.0',
+    packages=find_namespace_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml'])
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Intel Labs',
+    maintainer_email='[email protected]',
+    description='Scenario Execution library for OS interactions',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    include_package_data=True,
+    entry_points={
+        'scenario_execution.actions': [
+            'check_file_exists = scenario_execution_os.actions.check_file_exists:CheckFileExists',
+        ],
+        'scenario_execution.osc_libraries': [
+            'os = '
+            'scenario_execution_os.get_osc_library:get_osc_library',
+        ]
+    },
+)