Miekale embedded structure (#6)

* updating arch

* Adding embedded directory, changing src -> autonomy

* repairing actions

* merging to main

* actions updates

* fix: naming convention

* Fix code style issues with Autopep8

* Fix code style issues with clang_format

---------

Co-authored-by: WATonomousAdmin <admin@watonomous.ca>

Author: Miekale

.github/templates/check_src_changes/action.yml

@@ -12,59 +12,68 @@ runs:
       with:
         fetch-depth: 0
 
-    - name: Find changed files outside of src directory
-      id: changed-files-outside-src
+    - name: Find changed files outside of development folders
+      id: changed-files-outside-development
       uses: tj-actions/changed-files@v42
       with:
-        files: '!src/**'
+        files: |
+          !autonomy/**
+          !embedded/**
     
-    - name: Find changed files inside src/wato_msgs folder
+    - name: Find changed files inside autonomy/wato_msgs folder
       id: changed-files-wato-msgs
       uses: tj-actions/changed-files@v42
       with:
-        files: src/wato_msgs/**
+        files: autonomy/wato_msgs/**
 
-    - name: Find changed files inside src/controller folder
+    - name: Find changed files inside autonomy/controller folder
       id: changed-files-controller
       uses: tj-actions/changed-files@v42
       with:
-        files: src/controller/**
+        files: autonomy/controller/**
 
-    - name: Get changed files inside src/interfacing folder
+    - name: Get changed files inside autonomy/interfacing folder
       id: changed-files-interfacing
       uses: tj-actions/changed-files@v42
       with:
-        files: src/interfacing/**
+        files: autonomy/interfacing/**
 
-    - name: Get changed files inside src/perception folder
+    - name: Get changed files inside autonomy/perception folder
       id: changed-files-perception
       uses: tj-actions/changed-files@v42
       with:
-        files: src/perception/**
+        files: autonomy/perception/**
 
-    - name: Get changed files inside src/samples folder
+    - name: Get changed files inside autonomy/samples folder
       id: changed-files-samples
       uses: tj-actions/changed-files@v42
       with:
-        files: src/samples/**
+        files: autonomy/samples/**
 
-    - name: Get changed files inside src/simulation folder
+    - name: Get changed files inside autonomy/simulation folder
       id: changed-files-simulation
       uses: tj-actions/changed-files@v42
       with:
-        files: src/simulation/**
+        files: autonomy/simulation/**
+
+    - name: Find changed files inside embedded folder
+      id: changed-files-embedded
+      uses: tj-actions/changed-files@v42
+      with:
+        files: embedded/**
 
     - name: Create list of changed modules
       id: output-changes
       env:
         INFRASTRUCTURE_CHANGED: >
           ${{ steps.changed-files-wato-msgs.outputs.any_changed == 'true' 
-          || steps.changed-files-outside-src.outputs.any_changed == 'true' }}
+          || steps.changed-files-outside-development.outputs.any_changed == 'true' }}
         CONTROLLER_CHANGED: ${{ steps.changed-files-controller.outputs.any_changed }}
         INTERFACING_CHANGED: ${{ steps.changed-files-interfacing.outputs.any_changed }}
         PERCEPTION_CHANGED: ${{ steps.changed-files-perception.outputs.any_changed }}
         SAMPLES_CHANGED: ${{ steps.changed-files-samples.outputs.any_changed }}
         SIMULATION_CHANGED: ${{ steps.changed-files-simulation.outputs.any_changed }}
+        EMBEDDED_CHANGED: ${{ steps.changed-files-embedded.outputs.any_changed }}
 
       run: ${{ github.action_path }}/check_src_changes.sh
       shell: bash

.github/templates/check_src_changes/check_src_changes.sh

@@ -34,14 +34,27 @@ if [ $SIMULATION_CHANGED == 'true' ]; then
     echo "Detected simulation changes"
     MODIFIED_MODULES+="simulation "
 fi
+# Embedded
+if [ $EMBEDDED_CHANGED == 'true' ]; then
+    echo "::notice:: Detected infrastructure changes"
+    MODIFIED_MODULES+="embedded"
+fi 
 
 # Infrastructure
 if [ $INFRASTRUCTURE_CHANGED == 'true' ]; then
     echo "::notice:: Detected infrastructure changes"
-    MODIFIED_MODULES="infrastructure"
+    MODIFIED_MODULES+="infrastructure"
+fi
+
+# Embedded
+if [ $EMBEDDED_CHANGED == 'true' ]; then
+    echo "::notice:: Detected infrastructure changes"
+    MODIFIED_MODULES="embedded"
 else
     echo "::notice:: MODIFIED_MODULES are $MODIFIED_MODULES" 
 fi
 
+
+
 # Output lis
 echo "modified_modules=$MODIFIED_MODULES" >> $GITHUB_OUTPUT

.github/templates/docker_context/docker_context.sh

@@ -13,33 +13,38 @@ json_objects=()
 
 # Check for infrastructure changes
 TEST_ALL=false
-MODIFIED_MODULES="infrastructure"
+
 if [[ $MODIFIED_MODULES = "infrastructure" ]]; then
     TEST_ALL=true
     echo Testing all "$MODULES_DIR"
 fi
 
 # Loop through each module
 while read -r module; do
+
     # Retrieve docker compose service names
     services=$(docker compose -f "$module" --profile deploy --profile develop config --services)
     module_out=$(basename $(echo "$module" | sed -n 's/modules\/docker-compose\.\(.*\)\.yaml/\1/p'))
+
     # Skip simulation module
-    if [[ 'simulation' = $module_out ]]; then
+    # TODO: Add custom handling for embedded testing
+    if [[ 'simulation' = $module_out || 'embedded' = $module_out ]]; then
         continue
     fi
+
     # Only work with modules that are modified
     if [[ $MODIFIED_MODULES != *$module_out* && $TEST_ALL = "false"  ]]; then
         continue
     fi
+
     # Loop through each service
     while read -r service_out; do
         # Temporarily skip perception services that have too large image size
         # if  [[ "$service_out" == "lane_detection" ]] || \
         #     [[ "$service_out" == "camera_object_detection" ]] || \
         #     continue
         # fi
-        # Construct JSON object for each service with module and service name
+
         # TODO: Expose whole profile object to env
         dockerfile=$(docker compose -f "$module" --profile deploy --profile develop config | yq ".services.$service_out.build.dockerfile")
         json_object=$(jq -nc --arg module_out "$module_out" --arg service_out "$service_out" --arg dockerfile "$dockerfile" \
@@ -49,6 +54,7 @@ while read -r module; do
 
     done <<< "$services"
 done <<< "$modules"
+
 # Convert the array of JSON objects to a single JSON array
 json_services=$(jq -nc '[( $ARGS.positional[] | fromjson )]' --args -- ${json_objects[*]})
 

.github/workflows/linting_auto.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v1
         with:
-          python-version: 3.9.21
+          python-version: 3.9.22
 
       - name: Install Python dependencies
         run: pip install autopep8 clang-format

README.md

@@ -16,7 +16,7 @@ humanoid
 ├── modules
 │   └── docker-compose.samples.yaml
 ├── scripts
-├── src
+├── autonomy
 │   ├── perception
 │   ├── wato_msgs
 │   │   └── sample_msgs
@@ -34,6 +34,10 @@ humanoid
 │   ├── controller
 │   ├── interfacing
 │   ├── simulation
+├── embedded
+│   ├── ESP32
+│   ├── STM32
+│   ├── torque-testing
 └── watod
 ```
 ## Documentation
@@ -43,7 +47,7 @@ Before developing please read these documents.
 
 1. [Documentation Structure of Repo](docs/README.md)
 2. [WATO Infrastructure Development Docs](https://github.com/WATonomous/wato_monorepo/tree/main/docs/dev/)
-3. [ROS Node/Core Structure Docs](src/samples/README.md)
+3. [ROS Node/Core Structure Docs](autonomy/samples/README.md)
 
 ## Dependencies:
 - Ubuntu >= 22.04, Windows (WSL), and MacOS.

src/samples/README.md autonomy/samples/README.mdsrc/samples/README.md renamed to autonomy/samples/README.md

@@ -3,18 +3,16 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "sample_msgs/msg/unfiltered.hpp"
 #include "sample_msgs/msg/filtered_array.hpp"
+#include "sample_msgs/msg/unfiltered.hpp"
 
-namespace samples
-{
+namespace samples {
 
 /**
  * Implementation of the internal logic used by the Aggregator Node to
  * calculate the operating frequency of topics.
  */
-class AggregatorCore
-{
+class AggregatorCore {
 public:
   /**
    * Aggregator constructor.
@@ -44,16 +42,14 @@ class AggregatorCore
    *
    * @param msg
    */
-  void add_raw_msg(
-    const sample_msgs::msg::Unfiltered::SharedPtr msg);
+  void add_raw_msg(const sample_msgs::msg::Unfiltered::SharedPtr msg);
   /**
    * Used to keep track of latest timestamp and number of messages received
    * over the "filtered" topic. Should be called before filtered_frequency().
    *
    * @param msg
    */
-  void add_filtered_msg(
-    const sample_msgs::msg::FilteredArray::SharedPtr msg);
+  void add_filtered_msg(const sample_msgs::msg::FilteredArray::SharedPtr msg);
 
 private:
   // Number of message received on "unfiltered" and "filtered" topics.
@@ -70,6 +66,6 @@ class AggregatorCore
   int64_t latest_filtered_time_;
 };
 
-}  // namespace samples
+} // namespace samples
 
-#endif  // AGGREGATOR_CORE_HPP_
+#endif // AGGREGATOR_CORE_HPP_

src/samples/cpp/aggregator/CMakeLists.txt …my/samples/cpp/aggregator/CMakeLists.txtsrc/samples/cpp/aggregator/CMakeLists.txt renamed to autonomy/samples/cpp/aggregator/CMakeLists.txt src/samples/cpp/aggregator/CMakeLists.txt renamed to autonomy/samples/cpp/aggregator/CMakeLists.txt

@@ -3,17 +3,16 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "sample_msgs/msg/unfiltered.hpp"
 #include "sample_msgs/msg/filtered_array.hpp"
+#include "sample_msgs/msg/unfiltered.hpp"
 
 #include "aggregator_core.hpp"
 
 /**
  * Implementation of a ROS2 node that listens to the "unfiltered" and "filtered"
  * topics and echoes the operating frequency of the topic to the console.
  */
-class AggregatorNode : public rclcpp::Node
-{
+class AggregatorNode : public rclcpp::Node {
 public:
   // Configure pubsub nodes to keep last 20 messages.
   // https://docs.ros.org/en/foxy/Concepts/About-Quality-of-Service-Settings.html
@@ -26,31 +25,32 @@ class AggregatorNode : public rclcpp::Node
 
 private:
   /**
-   * A ROS2 subscription node callback used to unpack raw data from the "unfiltered"
-   * topic and echo the operating frequency of the topic to the console.
+   * A ROS2 subscription node callback used to unpack raw data from the
+   * "unfiltered" topic and echo the operating frequency of the topic to the
+   * console.
    *
    * @param msg a raw message from the "unfiltered" topic
    */
-  void unfiltered_callback(
-    const sample_msgs::msg::Unfiltered::SharedPtr msg);
+  void unfiltered_callback(const sample_msgs::msg::Unfiltered::SharedPtr msg);
 
   /**
    * A ROS2 subscription node callback used to unpack processed data from the
-   * "filtered" topic and echo the operating frequency of the topic to the console.
+   * "filtered" topic and echo the operating frequency of the topic to the
+   * console.
    *
    * @param msg a processed message from the "filtered" topic
    */
-  void filtered_callback(
-    const sample_msgs::msg::FilteredArray::SharedPtr msg);
+  void filtered_callback(const sample_msgs::msg::FilteredArray::SharedPtr msg);
 
   // ROS2 subscriber listening to the unfiltered topic.
   rclcpp::Subscription<sample_msgs::msg::Unfiltered>::SharedPtr raw_sub_;
 
   // ROS2 subscriber listening to the filtered topic.
-  rclcpp::Subscription<sample_msgs::msg::FilteredArray>::SharedPtr filtered_sub_;
+  rclcpp::Subscription<sample_msgs::msg::FilteredArray>::SharedPtr
+      filtered_sub_;
 
   // Object containing methods to determine the operating frequency on topics.
   samples::AggregatorCore aggregator_;
 };
 
-#endif  // AGGREGATOR_NODE_HPP_
+#endif // AGGREGATOR_NODE_HPP_