On branch main

 Initial commit

nao_led_interfaces/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(nao_led_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/LedIndexes.msg"
+  "msg/LedModes.msg"
+  "action/LedsPlay.action"
+  DEPENDENCIES geometry_msgs
+ )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

nao_led_interfaces/action/LedsPlay.action

@@ -0,0 +1,16 @@
+# Request: 
+uint8[2] leds
+uint8 mode
+float32 frequency
+std_msgs/ColorRGBA[8] colors 		# max 8 colors for eyes
+float32[12] intensities				# max 12 leds for head
+float32 duration #seconds
+---
+# Result
+bool success
+
+---
+#Feedback
+
+
+

nao_led_interfaces/msg/LedIndexes.msg

@@ -0,0 +1,9 @@
+uint8 HEAD=0
+uint8 REYE=1
+uint8 LEYE=2
+uint8 REAR=3
+uint8 LEAR=4
+uint8 CHEST=5
+uint8 RFOOT=6
+uint8 LFOOT=7
+uint8 NUMLEDS=8

nao_led_interfaces/msg/LedModes.msg

@@ -0,0 +1,3 @@
+uint8 STEADY=0
+uint8 BLINKING=1
+uint8 LOOP=2

nao_led_interfaces/package.xml

@@ -0,0 +1,24 @@
+<?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>nao_led_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="bnontn89@gmail.com">antbono</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

nao_led_server/CMakeLists.txt

@@ -0,0 +1,123 @@
+cmake_minimum_required(VERSION 3.8)
+project(nao_led_server)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(nao_led_interfaces REQUIRED)
+find_package(nao_lola_sensor_msgs REQUIRED)
+find_package(nao_lola_command_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rcutils REQUIRED)
+
+
+# Include Cpp "include" directory
+include_directories(include)
+
+
+#################### LED SERVER ###########################
+add_library(led_server SHARED
+  src/led_action_server.cpp)
+
+target_include_directories(led_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_definitions(led_server
+  PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
+
+rclcpp_components_register_node(led_server
+  PLUGIN "nao_led_action_server::LedsPlayActionServer" 
+  EXECUTABLE led_action_server
+)
+
+set(LED_SERVER_INCLUDE_DEPENDS
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components"
+  "nao_lola_command_msgs"
+  "nao_lola_sensor_msgs"
+  "nao_led_interfaces"
+  "std_msgs")
+
+ament_target_dependencies(led_server ${LED_SERVER_INCLUDE_DEPENDS})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${LED_SERVER_INCLUDE_DEPENDS})
+
+install(
+  DIRECTORY include/
+  DESTINATION include)
+install(
+  TARGETS led_server
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include)
+
+#################### LED CLIENT ###########################
+add_library(led_client SHARED
+  src/led_action_client.cpp
+)
+
+target_include_directories(led_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_definitions(led_client
+  PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
+
+rclcpp_components_register_node(led_client
+  PLUGIN "nao_led_action_client::LedsPlayActionClient" 
+  EXECUTABLE led_action_client
+)
+
+set(LED_CLIENT_INCLUDE_DEPENDS
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components"
+  "nao_lola_command_msgs"
+  "nao_lola_sensor_msgs"
+  "nao_led_interfaces"
+  "std_msgs"
+  )
+
+ament_target_dependencies(led_client ${LED_CLIENT_INCLUDE_DEPENDS})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${LED_CLIENT_INCLUDE_DEPENDS})
+
+install(
+  DIRECTORY include/
+  DESTINATION include)
+install(
+  TARGETS led_client
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include)
+
+
+
+
+#################### TEST ###############################
+if(BUILD_TESTING)
+find_package(ament_lint_auto REQUIRED)
+# the following line skips the linter which checks for copyrights
+# comment the line when a copyright and license is added to all source files
+set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

nao_led_server/include/nao_led_server/led_action_client.hpp

@@ -0,0 +1,85 @@
+// Copyright 2024 Antonio Bono
+//
+// 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 NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_
+#define NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_
+
+#include <functional>
+#include <future>
+#include <memory>
+#include <string>
+#include <sstream>
+
+#include "ament_index_cpp/get_package_share_directory.hpp"
+#include "boost/filesystem.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+#include "nao_lola_command_msgs/msg/head_leds.hpp"
+#include "nao_lola_command_msgs/msg/right_eye_leds.hpp"
+#include "nao_lola_command_msgs/msg/left_eye_leds.hpp"
+#include "nao_lola_command_msgs/msg/right_ear_leds.hpp"
+#include "nao_lola_command_msgs/msg/left_ear_leds.hpp"
+#include "nao_lola_command_msgs/msg/chest_led.hpp"
+#include "nao_lola_command_msgs/msg/right_foot_led.hpp"
+#include "nao_lola_command_msgs/msg/left_foot_led.hpp"
+
+#include "nao_led_interfaces/action/leds_play.hpp"
+#include "nao_led_interfaces/msg/led_indexes.hpp"
+#include "nao_led_interfaces/msg/led_modes.hpp"
+#include "nao_led_interfaces/action/leds_play.hpp"
+
+#include "std_msgs/msg/color_rgba.hpp"
+
+namespace nao_led_action_client {
+
+class LedsPlayActionClient : public rclcpp::Node {
+  public:
+	explicit LedsPlayActionClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
+	virtual ~LedsPlayActionClient();
+
+	void eyesStatic( bool flag );
+	void headStatic( bool flag );
+	void earsStatic( bool flag );
+	void chestStatic( bool flag );
+	void earsLoop( bool flag );
+	void headLoop( bool flag );
+	void eyesLoop( bool flag );
+
+  private:
+
+	void goalResponseCallback(
+	    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr & goal_handle);
+	void feedbackCallback(
+	    rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
+	    const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
+	void resultCallback(
+	    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult & result);
+
+
+	rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr client_ptr_;
+
+	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr head_goal_handle_;
+	//std::shared_future<nao_led_interfaces::action::LedsPlay::Impl::CancelGoalService::Response::SharedPtr> head_goal_handle_;
+	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr eyes_goal_handle_;
+	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr ears_goal_handle_;
+
+
+}; // LedsPlayActionClient
+
+} // nao_led_action_client
+
+#endif // NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_