feat: add support for generic subscriptions

.vscode/c_cpp_properties.json

@@ -9,12 +9,16 @@
                 "/home/ros2/ws/src/modulo_utils/include",
                 "/home/ros2/ws/src/modulo_core/include",
                 "/home/ros2/ws/src/modulo_components/include",
-                "/home/ros2/ws/src/modulo_controllers/include"
+                "/home/ros2/ws/src/modulo_controllers/include",
+                "/usr/include"
             ],
             "compilerPath": "/usr/bin/gcc",
             "cStandard": "c17",
-            "cppStandard": "gnu++17",
-            "intelliSenseMode": "linux-gcc-x64"
+            "cppStandard": "c++20",
+            "intelliSenseMode": "linux-gcc-x64",
+            "compilerArgs": [
+                "-std=c++20",
+            ],
         }
     ],
     "version": 4

.vscode/settings.json

@@ -6,6 +6,20 @@
     "editor.rulers": [
         120
     ],
-    "autopep8.args": ["--max-line-length", "120", "--experimental"],
-    "pylint.args": ["--generate-members", "--max-line-length", "120", "-d", "C0114", "-d",  "C0115", "-d", "C0116"]
+    "autopep8.args": [
+        "--max-line-length",
+        "120",
+        "--experimental"
+    ],
+    "pylint.args": [
+        "--generate-members",
+        "--max-line-length",
+        "120",
+        "-d",
+        "C0114",
+        "-d",
+        "C0115",
+        "-d",
+        "C0116"
+    ],
 }

CHANGELOG.md

@@ -43,6 +43,7 @@ Release Versions:
 - release: use updated base image (#139)
 - fix(controllers): remove duplicate function (#140)
 - chore: format repository (#142)
+- feat: add support for generic inputs/outputs (#133)
 
 ## 4.2.2
 

source/modulo_components/CMakeLists.txt

@@ -6,9 +6,9 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# default to C++17
+# default to C++20
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD 20)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -60,4 +60,4 @@ if(BUILD_TESTING)
 
 endif()
 
-ament_auto_package()
+ament_auto_package()

source/modulo_components/include/modulo_components/Component.hpp

@@ -5,9 +5,12 @@
 #include <rclcpp/node.hpp>
 
 #include "modulo_components/ComponentInterface.hpp"
+#include "modulo_core/concepts.hpp"
 
 namespace modulo_components {
 
+using namespace modulo_core::concepts;
+
 /**
  * @class Component
  * @brief A wrapper for rclcpp::Node to simplify application composition through unified component interfaces.
@@ -107,6 +110,14 @@ inline void Component::add_output(
         this->get_logger(), "Adding output '" << parsed_signal_name << "' with topic name '" << topic_name << "'.");
     auto message_pair = this->outputs_.at(parsed_signal_name)->get_message_pair();
     switch (message_pair->get_type()) {
+      case MessageType::ENCODED_STATE: {
+        auto publisher = this->create_publisher<modulo_core::EncodedState>(topic_name, this->get_qos());
+        this->outputs_.at(parsed_signal_name) =
+            std::make_shared<PublisherHandler<rclcpp::Publisher<modulo_core::EncodedState>, modulo_core::EncodedState>>(
+                PublisherType::PUBLISHER, publisher)
+                ->create_publisher_interface(message_pair);
+        break;
+      }
       case MessageType::BOOL: {
         auto publisher = this->create_publisher<std_msgs::msg::Bool>(topic_name, this->get_qos());
         this->outputs_.at(parsed_signal_name) =
@@ -147,17 +158,19 @@ inline void Component::add_output(
                 ->create_publisher_interface(message_pair);
         break;
       }
-      case MessageType::ENCODED_STATE: {
-        auto publisher = this->create_publisher<modulo_core::EncodedState>(topic_name, this->get_qos());
-        this->outputs_.at(parsed_signal_name) =
-            std::make_shared<PublisherHandler<rclcpp::Publisher<modulo_core::EncodedState>, modulo_core::EncodedState>>(
-                PublisherType::PUBLISHER, publisher)
-                ->create_publisher_interface(message_pair);
+      case MessageType::CUSTOM_MESSAGE: {
+        if constexpr (CustomDataT<DataT>) {
+          auto publisher = this->create_publisher<DataT>(topic_name, this->get_qos());
+          this->outputs_.at(parsed_signal_name) =
+              std::make_shared<PublisherHandler<rclcpp::Publisher<DataT>, DataT>>(PublisherType::PUBLISHER, publisher)
+                  ->create_publisher_interface(message_pair);
+        }
         break;
       }
     }
   } catch (const std::exception& ex) {
     RCLCPP_ERROR_STREAM(this->get_logger(), "Failed to add output '" << signal_name << "': " << ex.what());
   }
 }
+
 }// namespace modulo_components

source/modulo_components/include/modulo_components/ComponentInterface.hpp

@@ -694,6 +694,14 @@ inline void ComponentInterface::add_input(
         subscription_interface = subscription_handler->create_subscription_interface(subscription);
         break;
       }
+      case MessageType::CUSTOM_MESSAGE: {
+        auto subscription_handler = std::make_shared<SubscriptionHandler<DataT>>(message_pair);
+        auto subscription = rclcpp::create_subscription<DataT>(
+            this->node_parameters_, this->node_topics_, topic_name, this->qos_,
+            subscription_handler->get_callback(user_callback));
+        subscription_interface = subscription_handler->create_subscription_interface(subscription);
+        break;
+      }
     }
     this->inputs_.insert_or_assign(parsed_signal_name, subscription_interface);
   } catch (const std::exception& ex) {

source/modulo_components/package.xml

@@ -20,7 +20,6 @@
   <depend>modulo_interfaces</depend>
   <depend>modulo_utils</depend>
   <depend>tf2_ros</depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

source/modulo_components/src/LifecycleComponent.cpp

@@ -292,6 +292,8 @@ bool LifecycleComponent::configure_outputs() {
                           ->create_publisher_interface(message_pair);
           break;
         }
+        default:
+          break;
       }
     } catch (const modulo_core::exceptions::CoreException& ex) {
       success = false;

source/modulo_components/test/cpp/test_component.cpp

@@ -1,6 +1,8 @@
 #include <gtest/gtest.h>
 
+#include <geometry_msgs/msg/twist.hpp>
 #include <rclcpp/node_options.hpp>
+#include <sensor_msgs/msg/image.hpp>
 
 #include <modulo_core/EncodedState.hpp>
 
@@ -70,5 +72,24 @@ TEST_F(ComponentTest, AddRemoveOutput) {
   EXPECT_NO_THROW(component_->publish_output("8_teEsTt_#1@3"));
   EXPECT_NO_THROW(component_->publish_output("test_13"));
   EXPECT_THROW(component_->publish_output(""), modulo_core::exceptions::CoreException);
+
+  auto std_msg_data = std::make_shared<std_msgs::msg::String>();
+  std_msg_data->data = "foo";
+  component_->add_output("custom_msg_test", std_msg_data);
+  EXPECT_TRUE(component_->outputs_.find("custom_msg_test") != component_->outputs_.end());
+  EXPECT_NO_THROW(component_->outputs_.at("custom_msg_test")->publish());
+  EXPECT_THROW(component_->publish_output("custom_msg_test"), modulo_core::exceptions::CoreException);
+
+  auto geometry_msg_data = std::make_shared<geometry_msgs::msg::Twist>();
+  component_->add_output("geometry_msg_test", geometry_msg_data);
+  EXPECT_TRUE(component_->outputs_.find("geometry_msg_test") != component_->outputs_.end());
+  EXPECT_NO_THROW(component_->outputs_.at("geometry_msg_test")->publish());
+  EXPECT_THROW(component_->publish_output("geometry_msg_test"), modulo_core::exceptions::CoreException);
+
+  auto sensor_msg_data = std::make_shared<sensor_msgs::msg::Image>();
+  component_->add_output("sensor_msg_test", sensor_msg_data);
+  EXPECT_TRUE(component_->outputs_.find("sensor_msg_test") != component_->outputs_.end());
+  EXPECT_NO_THROW(component_->outputs_.at("sensor_msg_test")->publish());
+  EXPECT_THROW(component_->publish_output("sensor_msg_test"), modulo_core::exceptions::CoreException);
 }
 }// namespace modulo_components

source/modulo_components/test/cpp/test_component_interface.cpp

@@ -8,6 +8,8 @@
 
 #include "test_modulo_components/component_public_interfaces.hpp"
 
+#include <sensor_msgs/msg/image.hpp>
+
 namespace modulo_components {
 
 using namespace std::chrono_literals;
@@ -107,6 +109,13 @@ TYPED_TEST(ComponentInterfaceTest, AddRemoveInput) {
   // remove input
   this->component_->remove_input("test_13");
   EXPECT_TRUE(this->component_->inputs_.find("test_13") == this->component_->inputs_.end());
+
+  auto sensor_msg_data = std::make_shared<sensor_msgs::msg::Image>();
+  sensor_msg_data->height = 480;
+  EXPECT_NO_THROW(this->component_->add_input("sensor_msg_data", sensor_msg_data));
+  EXPECT_FALSE(this->component_->inputs_.find("sensor_msg_data") == this->component_->inputs_.end());
+  //   EXPECT_EQ(
+  //       this->component_->template get_parameter_value<sensor_msgs::msg::Image>("sensor_msg_data"), *sensor_msg_data);
 }
 
 TYPED_TEST(ComponentInterfaceTest, AddInputWithUserCallback) {

source/modulo_components/test/cpp/test_component_interface_parameters.cpp

@@ -4,6 +4,8 @@
 
 #include "test_modulo_components/component_public_interfaces.hpp"
 
+#include <sensor_msgs/msg/image.hpp>
+
 namespace modulo_components {
 
 template<class NodeT>

source/modulo_controllers/CMakeLists.txt

@@ -6,10 +6,10 @@ if (NOT CMAKE_C_STANDARD)
     set(CMAKE_C_STANDARD 99)
 endif ()
 
-# default to C++17
-if (NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 17)
-endif ()
+# default to C++20
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
 
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)

source/modulo_core/CMakeLists.txt

@@ -6,9 +6,9 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# default to C++17
+# default to C++20
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD 20)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")