Add and install component descriptions (#31)

* Add and install component descriptions * 2.2.6 -> 2.2.7 * Update CHANGELOG * Reword parameter description --------- Co-authored-by: Enrico Eberhard <32450951+eeberhard@users.noreply.github.com>
aica-technology · May 12, 2023 · ff52cb5 · ff52cb5
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- Add and install component descriptions (#31)
 - Apply AICA C++ style guide (#30)
 - Add option to publish outputs manually instead of periodically (#23)
 - Add unittests for modulo component service calls and triggers (#20)

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.2.6
+2.2.7
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 2.2.6
+PROJECT_NUMBER = 2.2.7
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/source/modulo_component_interfaces/package.xml b/source/modulo_component_interfaces/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_component_interfaces</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

diff --git a/source/modulo_components/CMakeLists.txt b/source/modulo_components/CMakeLists.txt
@@ -30,6 +30,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_NAME})
 
+# Install descriptions
+install(DIRECTORY ./component_descriptions
+        DESTINATION .)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)

diff --git a/source/modulo_components/component_descriptions/modulo_component.json b/source/modulo_components/component_descriptions/modulo_component.json
@@ -0,0 +1,31 @@
+{
+  "name": "Component",
+  "description": {
+    "brief": "A wrapper for rclcpp::Node to simplify application composition through unified component interfaces.",
+    "details": "This class is intended for direct inheritance to implement custom components that perform one-shot or externally triggered operations."
+  },
+  "virtual": true,
+  "registration":  "modulo_components::Component",
+  "inherits": "",
+  "parameters": [
+    {
+      "display_name": "Period",
+      "description": "The time interval in seconds for all periodic callbacks",
+      "parameter_name": "period",
+      "parameter_type": "double",
+      "default_value": "0.1"
+    }
+  ],
+  "predicates": [
+    {
+      "display_name": "In error state",
+      "description": "True if the component is in error state",
+      "predicate_name": "in_error_state"
+    },
+    {
+      "display_name": "Is finished",
+      "description": "True if the on_execute_callback() method of one-shot components successfully finished",
+      "predicate_name": "is_finished"
+    }
+  ]
+}
diff --git a/source/modulo_components/component_descriptions/modulo_lifecycle_component.json b/source/modulo_components/component_descriptions/modulo_lifecycle_component.json
@@ -0,0 +1,46 @@
+{
+  "name": "Lifecycle Component",
+  "description": {
+    "brief": "A wrapper for rclcpp_lifecycle::LifecycleNode to simplify application composition through unified component interfaces while supporting lifecycle states and transitions.",
+    "details": "This class is intended for direct inheritance to implement custom state-based components that perform different behaviors based on their state and on state transitions."
+  },
+  "virtual": true,
+  "registration":  "modulo_components::LifecycleComponent",
+  "inherits": "",
+  "parameters": [
+    {
+      "display_name": "Period",
+      "description": "The time interval in seconds for all periodic callbacks",
+      "parameter_name": "period",
+      "parameter_type": "double",
+      "default_value": "0.1"
+    }
+  ],
+  "predicates": [
+    {
+      "display_name": "In error state",
+      "description": "True if the component is in error state",
+      "predicate_name": "in_error_state"
+    },
+    {
+      "display_name": "Is unconfigured",
+      "description": "True if the component is in an unconfigured state, either through construction or cleanup transition",
+      "predicate_name": "is_unconfigured"
+    },
+    {
+      "display_name": "Is inactive",
+      "description": "True if the component is in an inactive state, either through the configuration or deactivation transition",
+      "predicate_name": "is_inactive"
+    },
+    {
+      "display_name": "Is active",
+      "description": "True if the component is in an active state, executing the step function periodically",
+      "predicate_name": "is_active"
+    },
+    {
+      "display_name": "Is finalized",
+      "description": "True if component is in a finalized state, either through the shutdown or error transition",
+      "predicate_name": "is_finalized"
+    }
+  ]
+}
diff --git a/source/modulo_components/package.xml b/source/modulo_components/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>Modulo base classes that wrap ROS2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

diff --git a/source/modulo_core/package.xml b/source/modulo_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

diff --git a/source/modulo_utils/package.xml b/source/modulo_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
   <license>GPLv3</license>