Add orchestrator helper library

.devcontainer/Dockerfile

@@ -4,8 +4,8 @@ ARG USERNAME=vscode
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN apt update && apt install -y texlive texlive-latex-extra texlive-plain-generic python3-pip make ghostscript imagemagick python3-typing-extensions python3-networkx python3-matplotlib sudo
-RUN pip install --upgrade sphinx~=7.0 deepdiff jsonschema sphinx-jsonschema
+RUN apt update && apt install -y texlive texlive-latex-extra texlive-plain-generic python3-pip make ghostscript imagemagick python3-typing-extensions python3-networkx python3-matplotlib sudo doxygen
+RUN pip install --upgrade sphinx~=7.0 deepdiff jsonschema sphinx-jsonschema breathe
 RUN sed -i '/disable ghostscript format types/,+6d' /etc/ImageMagick-6/policy.xml
 
 # Create the user

.github/workflows/docs.yml

@@ -19,9 +19,9 @@ jobs:
     container: ros:iron
     steps:
       - name: Install latex and pip
-        run: sudo apt update && sudo apt install -y texlive texlive-latex-extra texlive-plain-generic python3-pip make ghostscript imagemagick python3-typing-extensions python3-networkx python3-matplotlib
+        run: sudo apt update && sudo apt install -y texlive texlive-latex-extra texlive-plain-generic python3-pip make ghostscript imagemagick python3-typing-extensions python3-networkx python3-matplotlib doxygen
       - name: Install sphinx
-        run: pip install --upgrade sphinx~=7.0 deepdiff jsonschema sphinx-jsonschema
+        run: pip install --upgrade sphinx~=7.0 deepdiff jsonschema sphinx-jsonschema breathe
       - name: Adjust imagemagick security policy to allow PDF -> PNG conversion
         run: sudo sed -i '/disable ghostscript format types/,+6d' /etc/ImageMagick-6/policy.xml
       - name: Check out repository code
@@ -31,6 +31,12 @@ jobs:
           . /opt/ros/$ROS_DISTRO/setup.sh
           cd $GITHUB_WORKSPACE
           colcon build --packages-up-to orchestrator --packages-skip orchestrator
+      - name: Build doxygen docs for c++ components
+        run: |
+          . /opt/ros/$ROS_DISTRO/setup.sh
+          . $GITHUB_WORKSPACE/install/setup.sh
+          cd $GITHUB_WORKSPACE/ros2/orchestrator_helper
+          doxygen
       - name: Build docs
         run: |
           . /opt/ros/$ROS_DISTRO/setup.sh

.github/workflows/test.yml

@@ -95,3 +95,22 @@ jobs:
           cd $GITHUB_WORKSPACE
           . ./install/setup.sh
           FORCE_COLOR=3 pyright --ignoreexternal --verifytypes orchestrator
+
+  cpp-helper-build:
+    runs-on: ubuntu-22.04
+    container: ros:iron
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          . /opt/ros/$ROS_DISTRO/setup.sh
+          cd $GITHUB_WORKSPACE
+          apt update
+          rosdep update
+          rosdep install --from-paths ros2 --ignore-packages-from-source --verbose --default-yes --skip-keys="aduulm_cmake_tools aduulm_messages"
+      - name: Build orchestrator_helper
+        run: |
+          . /opt/ros/$ROS_DISTRO/setup.sh
+          cd $GITHUB_WORKSPACE
+          colcon build --packages-up-to orchestrator_helper

docs/conf.py

@@ -19,6 +19,7 @@
     'sphinx.ext.autodoc',
     'sphinx-jsonschema',
     'sphinx.ext.intersphinx',
+    'breathe'
 ]
 autoclass_content = 'both'
 sys.path.insert(0, '../ros2/orchestrator')
@@ -36,6 +37,11 @@
 }
 intersphinx_disabled_reftypes = ["*"]
 
+breathe_projects = {
+    "orchestrator_helper": "../ros2/orchestrator_helper/docs/xml"
+}
+breathe_default_project = "orchestrator_helper"
+
 templates_path = ['_templates']
 exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
 numfig = True

docs/user_docs/cpp_helpers.rst

@@ -0,0 +1,14 @@
+******************
+C++ Helper Classes
+******************
+
+.. doxygenclass:: OrchestratedPublisher
+   :project: orchestrator_helper
+   :members:
+   :undoc-members:
+
+
+.. doxygenclass:: OrchestratorHelper	
+   :project: orchestrator_helper
+   :members:
+   :undoc-members:

docs/user_docs/index.rst

@@ -9,4 +9,5 @@ User Docs
 
    adapting_data_sources
    adapting_nodes
+   cpp_helpers
    launch_config

ros2/orchestrator/CMakeLists.txt

@@ -1,23 +1,13 @@
 cmake_minimum_required(VERSION 3.10)
 project(orchestrator)
 
-find_package(aduulm_cmake_tools)
-if (aduulm_cmake_tools_FOUND)
-    aduulm_init_ros2_package()
-else ()
-    find_package(ament_cmake REQUIRED)
-endif ()
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY
         schemas
         config
         DESTINATION share/${PROJECT_NAME}
 )
 
-if (aduulm_cmake_tools_FOUND)
-    aduulm_install_ros2_python_code("orchestrator")
-    aduulm_create_ros2_package()
-else ()
-    ament_python_install_package("orchestrator")
-    ament_package()
-endif ()
+ament_python_install_package("orchestrator")
+ament_package()

ros2/orchestrator/package.xml

@@ -10,7 +10,6 @@
 
     <buildtool_depend>ament_cmake</buildtool_depend>
 
-    <depend>aduulm_cmake_tools</depend>
     <depend>orchestrator_interfaces</depend>
     <depend>python3-typing-extensions</depend>
     <depend>python3-deepdiff</depend>

ros2/orchestrator_helper/.gitignore

@@ -0,0 +1,2 @@
+# doxygen generated docs
+docs

ros2/orchestrator_helper/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.10)
+project(orchestrator_helper)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+ament_auto_add_library(${PROJECT_NAME} INTERFACE)
+
+target_include_directories(${PROJECT_NAME}
+  INTERFACE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+ament_auto_package()