feat(default_ad_api): add interface version (#704)

* feat(default_ad_api): add interface version

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): add http server

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): add message readme

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): modify message readme

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): fix message type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): fix message type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): remove unused message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(component_interface_utils): use full path

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(component_interface_utils): rename package

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(autoware_ad_api_msgs): remove unused message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(component_interface_utils): add readme and comments

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(default_ad_api): fix api name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Update common/autoware_ad_api_msgs/README.md

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* add test

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix server name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add comment

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix typo

* rename version api

* Update system/default_ad_api/package.xml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Update common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Update system/default_ad_api/launch/default_ad_api.launch.py

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Fix for renaming web server script

* Fix test script for readability

* Fix test script for readability

* Add comment

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

common/autoware_ad_api_msgs/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_ad_api_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  srv/InterfaceVersion.srv
+  DEPENDENCIES
+    builtin_interfaces
+    std_msgs
+    geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

common/autoware_ad_api_msgs/README.md

@@ -0,0 +1,17 @@
+# autoware_ad_api_msgs
+
+## InterfaceVersion
+
+This API provides the interface version of the set of AD APIs.
+It follows [Semantic Versioning][semver] in order to provide an intuitive understanding of the changes between versions.
+
+### Use cases
+
+Considering the product life cycle, there will be multiple vehicles that use different versions of the AD API due to changes in requirements or some improvements.
+For example, a vehicle uses `v1` for stability and another vehicle uses `v2` for more functionality.
+
+In that situation, the AD API users such as developers of a Web service have to switch the application behavior based on the version that each vehicle uses.
+
+<!-- link -->
+
+[semver]: https://semver.org/

common/autoware_ad_api_msgs/package.xml

@@ -0,0 +1,29 @@
+<?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>autoware_ad_api_msgs</name>
+  <version>0.0.0</version>
+  <description>The autoware_ad_api_msgs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_ad_api_msgs/srv/InterfaceVersion.srv

@@ -0,0 +1,4 @@
+---
+uint16 major
+uint16 minor
+uint16 patch

common/component_interface_utils/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(component_interface_utils)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

common/component_interface_utils/README.md

@@ -0,0 +1,26 @@
+# component_interface_utils
+
+## Features
+
+This is a utility package that provides the following features:
+
+- Logging for service and client
+
+## Usage
+
+1. This package requires interface information in this format.
+
+   ```cpp
+   struct SampleService
+   {
+     using Service = sample_msgs::srv::ServiceType;
+     static constexpr char name[] = "/sample/service";
+   };
+   ```
+
+2. Create a wrapper using the above definition as follows.
+
+   ```cpp
+   component_interface_utils::Service<SampleService>::SharedPtr srv_;
+   srv_ = component_interface_utils::create_service<SampleService>(node, ...);
+   ```

common/component_interface_utils/include/component_interface_utils/rclcpp.hpp

@@ -0,0 +1,21 @@
+// Copyright 2022 TIER IV, 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.
+
+#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_
+#define COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_
+
+#include <component_interface_utils/rclcpp/create_interface.hpp>
+#include <component_interface_utils/rclcpp/service_server.hpp>
+
+#endif  // COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_

common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp

@@ -0,0 +1,61 @@
+// Copyright 2022 TIER IV, 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.
+
+#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_
+#define COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_
+
+#include <component_interface_utils/rclcpp/service_server.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <utility>
+
+namespace component_interface_utils
+{
+
+/// Create a service wrapper for logging. This is a private implementation.
+template <class SpecT, class NodeT, class CallbackT>
+typename Service<SpecT>::SharedPtr create_service_impl(
+  NodeT * node, CallbackT && callback, rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  // Use a node pointer because shared_from_this cannot be used in constructor.
+  // This function is a wrapper for the following.
+  // https://github.com/ros2/rclcpp/blob/48068130edbb43cdd61076dc1851672ff1a80408/rclcpp/include/rclcpp/node.hpp#L267-L281
+  auto wrapped = Service<SpecT>::wrap(callback, node->get_logger());
+  auto service = node->template create_service<typename SpecT::Service>(
+    SpecT::name, wrapped, rmw_qos_profile_services_default, group);
+  return Service<SpecT>::make_shared(service);
+}
+
+/// Create a service wrapper for logging. This is for lambda or bound function.
+template <class SpecT, class NodeT, class CallbackT>
+typename Service<SpecT>::SharedPtr create_service(
+  NodeT * node, CallbackT && callback, rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_service_impl<SpecT>(node, std::forward<CallbackT>(callback), group);
+}
+
+/// Create a service wrapper for logging. This is for member function of node.
+template <class SpecT, class NodeT>
+typename Service<SpecT>::SharedPtr create_service(
+  NodeT * node, typename Service<SpecT>::template CallbackType<NodeT> callback,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  using std::placeholders::_1;
+  using std::placeholders::_2;
+  return create_service_impl<SpecT>(node, std::bind(callback, node, _1, _2), group);
+}
+
+}  // namespace component_interface_utils
+
+#endif  // COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_

common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp

@@ -0,0 +1,62 @@
+// Copyright 2022 TIER IV, 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.
+
+#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_
+#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace component_interface_utils
+{
+
+/// The wrapper class of rclcpp::Service for logging.
+template <class SpecT>
+class Service
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(Service)
+
+  template <class NodeT>
+  using CallbackType = void (NodeT::*)(
+    typename SpecT::Service::Request::SharedPtr, typename SpecT::Service::Response::SharedPtr);
+
+  /// Constructor.
+  explicit Service(typename rclcpp::Service<typename SpecT::Service>::SharedPtr service)
+  {
+    service_ = service;  // to keep the reference count
+  }
+
+  /// Create a service callback with logging added.
+  template <class CallbackT>
+  static auto wrap(CallbackT && callback, const rclcpp::Logger & logger)
+  {
+    auto wrapped = [logger, callback](
+                     typename SpecT::Service::Request::SharedPtr request,
+                     typename SpecT::Service::Response::SharedPtr response) {
+      using rosidl_generator_traits::to_yaml;
+      RCLCPP_INFO_STREAM(logger, "service call: " << SpecT::name << "\n" << to_yaml(*request));
+      callback(request, response);
+      RCLCPP_INFO_STREAM(logger, "service exit: " << SpecT::name << "\n" << to_yaml(*response));
+    };
+    return wrapped;
+  }
+
+private:
+  RCLCPP_DISABLE_COPY(Service)
+  typename rclcpp::Service<typename SpecT::Service>::SharedPtr service_;
+};
+
+}  // namespace component_interface_utils
+
+#endif  // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_

common/component_interface_utils/package.xml

@@ -0,0 +1,22 @@
+<?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>component_interface_utils</name>
+  <version>0.0.0</version>
+  <description>The component_interface_utils package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>autoware_ad_api_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

system/default_ad_api/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(default_ad_api)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/interface_version.cpp
+)
+
+rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::InterfaceVersionNode")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(test/main.test.py)
+endif()
+
+install(
+  PROGRAMS script/web_server.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_auto_package(INSTALL_TO_SHARE launch test)

system/default_ad_api/include/default_ad_api/nodes/interface_version.hpp

@@ -0,0 +1,42 @@
+// Copyright 2022 TIER IV, 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.
+
+#ifndef DEFAULT_AD_API__NODES__INTERFACE_VERSION_HPP_
+#define DEFAULT_AD_API__NODES__INTERFACE_VERSION_HPP_
+
+#include "default_ad_api/specs/interface/version.hpp"
+
+#include <component_interface_utils/rclcpp.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace default_ad_api
+{
+
+class InterfaceVersionNode : public rclcpp::Node
+{
+public:
+  explicit InterfaceVersionNode(const rclcpp::NodeOptions & options);
+
+private:
+  using InterfaceVersion = autoware_ad_api_msgs::srv::InterfaceVersion;
+
+  component_interface_utils::Service<ad_api::interface::version::T>::SharedPtr srv_;
+  void onInterfaceVersion(
+    const InterfaceVersion::Request::SharedPtr request,
+    const InterfaceVersion::Response::SharedPtr response);
+};
+
+}  // namespace default_ad_api
+
+#endif  // DEFAULT_AD_API__NODES__INTERFACE_VERSION_HPP_