Merge branch 'master' into master

.gitattributes

@@ -0,0 +1 @@
+COMMIT_ID ident

.github/workflows/c-cpp.yml

@@ -0,0 +1,27 @@
+name: C/C++ CI
+
+on:
+  push:
+    branches: [ "master", "devel" ]
+  pull_request:
+    branches: [ "master", "devel" ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: install_deps
+      run: bash ./.github/workflows/prepare_build.sh -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON
+    - name: build
+      run: make -C build/
+    - name: test_def
+      run: ./build/test/test_suite
+    - name: test_ipc
+      run: ./build/test/test_suite_ipc
+    - name: test_udt
+      run: ./build/test/test_suite_udt
+    - name: test_gzip
+      run: ./build/test/test_suite_gzip

.github/workflows/prepare_build.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+export DEBIAN_FRONTEND=noninteractive
+sudo apt-get update
+sudo apt-get install -y build-essential git cmake pkg-config libboost-test-dev libboost-system-dev libboost-filesystem-dev libprotobuf-dev protobuf-compiler libzmq3-dev libudt-dev zlib1g-dev libreadline-dev libncurses5-dev
+mkdir build
+cd build
+cmake $@ ..

.gitignore

@@ -1,3 +1,6 @@
 build/
 *.sw?
 *.pb.*
+/src/GitVersion.hpp
+/src/LibraryVersion.hpp
+/src/ProtocolVersion.hpp

COMMIT_ID

@@ -0,0 +1 @@
+$Id$

README.md

@@ -1,7 +1,7 @@
-CircleCI build and test:
+CI build and test:
 
-Master: [![CircleCI](https://circleci.com/gh/dfki-ric/robot_remote_control/tree/master.svg?style=svg)](https://circleci.com/gh/dfki-ric/robot_remote_control/tree/master)
-Devel: [![CircleCI](https://circleci.com/gh/dfki-ric/robot_remote_control/tree/devel.svg?style=svg)](https://circleci.com/gh/dfki-ric/robot_remote_control/tree/devel)
+Main: ![Main](https://github.com/dfki-ric/robot_remote_control/actions/workflows/c-cpp.yml/badge.svg)
+Devel: ![Devel](https://github.com/dfki-ric/robot_remote_control/actions/workflows/c-cpp.yml/badge.svg?branch=devel)
 
 # Robot Remote Control
 

VERSION

@@ -1,3 +1,4 @@
+5.0.0 - Channel support
 4.0.0 - added CLI, api change fpr simpleactions
 3.0.0 - consistend use of a header type for metadata in telemetry
 2.0.0

doc/README.md

@@ -87,6 +87,16 @@ When time synchronization of the command is important, a "ComplexAction" can be
 
 When the robot should be usable for generic user interfaces (that use the RobotController library), the initControllableFrames() function should be used to report the availabe commands. 
 
+## Channels
+
+In some scenarios, multiple data has to use the same set function of the ControlledRobot class. In this case, you can set the frame name in the header to differenciate the data, but the messages are sharing the same receive buffer in the RobotController class. If the data fraquency on the robot side differs a lot, you might loose the data with the lower frequency, when it is overwritten by high freqency data in the receive buffer before it was read.
+
+For this scenario there is a optional "channel" paramater in each set function. In order to use it you need to call `addChannel(const TelemetryMessageType& type, const std::string name = "")` on the ControlledRobot first in order to create the sendbuffer, it returns the channel number to use. The name parameter can be used to identify the channel purpose/origin of data.
+
+The RobtoController can use `requestChannelsDefinition(ChannelsDefinition *channels)` to receive all channels used by the robot. Receive buffers for the channels are automatically created on first receive of the channel message, so even when `requestChannelsDefinition()` is not called, no data is lost.
+
+As an alternative to channels, you can also add a 2nd instance of ControlledRobot, which might beneficial if you mix high frequency small data with low frequency big data of different types, because the high frequency data is interrupted while the big message is transferred (this scenario should only apply when rrc is used as internal interface instead of remote controlling a robot).
+
 
 ## Defining Actions
 

examples/ControlledRobotMain.cpp

@@ -91,20 +91,6 @@ int main(int argc, char** argv)
     robot_remote_control::ComplexActions complexActions;
     robot.initComplexActions(complexActions);
 
-    robot_remote_control::SimpleSensors sensors;
-    robot_remote_control::SimpleSensor* sens;
-    sens = sensors.add_sensors();
-    sens->set_name("temperature");
-    sens->set_id(1);
-    sens->mutable_size()->set_x(1);  // only single value
-
-    sens = sensors.add_sensors();
-    sens->set_name("velocity");
-    sens->set_id(2);
-    sens->mutable_size()->set_x(3);  // 3 value vector
-
-    robot.initSimpleSensors(sensors);
-
     // init done, now fake a robot
 
     // robot state
@@ -114,11 +100,13 @@ int main(int argc, char** argv)
     robot_remote_control::Pose currentpose, targetpose;
 
     robot_remote_control::SimpleSensor temperature, velocity;
-    temperature.set_id(1);
     // init value
     temperature.add_value(42);
 
-    velocity.set_id(2);
+    // send velocity in a "channel" (seperate buffers in the RobotController)
+    // channels are numbered uint8_t, default channel is 0, first channel added is 1, etc.)
+    int velocity_channel_no = robot.addChannel(robot_remote_control::SIMPLE_SENSOR, "velocity");
+
     // init value
     velocity.add_value(0);
     velocity.add_value(0);
@@ -158,14 +146,14 @@ int main(int argc, char** argv)
     robot_remote_control::Poses posescommand;
 
 
-
-
     // fill inital robot state
     currentpose.mutable_position();
     currentpose.mutable_orientation()->set_w(1);
     robot.setCurrentPose(currentpose);
 
-
+    // define an extra channel to send two poses (only needed when you need extra receive buffers on the RobotController)
+    // otherwise use the header.frame field instead of headers to differentiate poses
+    uint8_t pose2channelno = robot.addChannel(robot_remote_control::CURRENT_POSE, "2nd pose via channel");
 
     // for requests to work, you need a valid connection:
     // only works when heartbeats are set up
@@ -176,7 +164,7 @@ int main(int argc, char** argv)
 
     robot.addCommandReceivedCallback(robot_remote_control::TARGET_POSE_COMMAND, []() {
         // WARNING: this callback run in the reveive thread, you should not use this to access data, only to notify other threads
-        //printf("Pose Command Callback\n");
+        // printf("Pose Command Callback\n");
     });
 
 
@@ -189,11 +177,10 @@ int main(int argc, char** argv)
     permreq.set_requestuid("testuid2");
     std::shared_future<bool> perm2 = robot.requestPermission(permreq);
 
-    //perm1.wait();
-    //printf("result of permission request 1: %s\n", perm1.get() ? "true" : "false");
+    // perm1.wait();
+    // printf("result of permission request 1: %s\n", perm1.get() ? "true" : "false");
 
     while (true) {
-
         // if (perm2.valid()) {
         //     printf("result of permission request 2: %s\n", perm2.get() ? "true" : "false");
         // }
@@ -262,17 +249,17 @@ int main(int argc, char** argv)
         // fake some joint movement
         robot.setJointState(jointsstate);
 
+        robot.setCurrentTransforms(transforms);
+
         temperature.set_value(0, 42);
         robot.setSimpleSensor(temperature);
 
-        robot.setCurrentTransforms(transforms);
-
         velocity.set_value(0, 0.1);
         velocity.set_value(1, 0.1);
         velocity.set_value(2, 0.1);
-        robot.setSimpleSensor(velocity);
+        robot.setSimpleSensor(velocity, velocity_channel_no);  // 2nd param is the channelno.
+
 
-
         robot_remote_control::Twist twistState;
         twistState.mutable_linear()->set_x(1);
         twistState.mutable_linear()->set_y(2);

examples/RobotControllerMain.cpp

@@ -82,7 +82,7 @@ int main(int argc, char** argv) {
 
 
         robot_remote_control::SimpleSensor sens;
-        controller.getSimpleSensor(1, &sens);
+        controller.getSimpleSensor(&sens);
 
         // read only one element (no matter how much available)
         if (controller.getCurrentTransforms(&transforms)) {

package.xml

@@ -10,8 +10,9 @@
 
   <license>BSD-3-Clause</license>
 
+  <build_depend>libzmq3-dev</build_depend>
   <build_depend>protobuf-dev</build_depend>
-  <build_depend>libzmqpp-dev</build_depend>
+  <build_depend>readline-dev</build_depend>
 
 	<export>
 		<build_type>cmake</build_type>

src/CLI/CMakeLists.txt

@@ -21,7 +21,7 @@ if (CURSES_HAVE_NCURSES_H)
              EXPORT robot_remote_control-targets
              RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
     )
-endif(CURSES_FOUND)
+endif(CURSES_HAVE_NCURSES_H)
 
 add_executable(robot_controller RobotControllerCLI.cpp ConsoleCommands.cpp)
 target_link_libraries(robot_controller

src/CLI/ConsoleCommands.cpp

@@ -202,10 +202,14 @@ bool ConsoleCommands::runCommand(std::vector<std::string> &line) {
             while (params.size() < iter->second.params.size()) {
                 std::string question = iter->second.params[params.size()].hint + "[" + iter->second.params[params.size()].defaultvalues.front().param +"]:";
                 std::string param;
-                std::cout << "missing paramater: " << question;
-                std::getline(std::cin, param);
-                if (param == "") {
+                if (iter->second.params[params.size()].defaultvalues.front().autoapply) {
                     param = iter->second.params[params.size()].defaultvalues.front().param;
+                } else {
+                    std::cout << "missing paramater: " << question;
+                    std::getline(std::cin, param);
+                    if (param == "") {
+                        param = iter->second.params[params.size()].defaultvalues.front().param;
+                    }
                 }
                 params.push_back(param);
             }

src/CLI/ConsoleCommands.hpp

@@ -16,13 +16,14 @@ class ConsoleCommands {
     virtual ~ConsoleCommands();
 
     struct DefaultParam {
-        DefaultParam(const std::string& param, const std::string &only_if_before = ""):param(param), only_if_before(only_if_before){};
+        explicit DefaultParam(const std::string& param, const std::string &only_if_before = "", bool autoapply = false):param(param), only_if_before(only_if_before), autoapply(autoapply) {}
         std::string param;
         std::string only_if_before;
+        bool autoapply;
     };
 
     struct ParamDef {
-        ParamDef(const std::string& hint, const std::string& defaultvalue):hint(hint), defaultvalues({DefaultParam(defaultvalue, "")}) {}
+        ParamDef(const std::string& hint, const std::string& defaultvalue, bool autoapply = false):hint(hint), defaultvalues({DefaultParam(defaultvalue, "", autoapply)}) {}
         std::string hint;
         std::vector<DefaultParam> defaultvalues;
     };