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Merge pull request #2 from WATonomous/eddy/tests_and_basic_config_loading
adding testing lib and config parsing
2 parents bce73cb + c639e77 commit 9daca9b

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‎.gitignore‎

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@@ -15,3 +15,6 @@ CLAUDE.md
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.vscode/browse.vc.db
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.vscode/browse.vc.db-shm
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.vscode/browse.vc.db-wal
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# Python Artifacts
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__pycache__/

‎robot_mcp_common_msg_plugins/robot_common_msg_plugins/COLCON_IGNORE‎

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‎robot_mcp_common_msg_plugins/robot_mcp_geometry_msg_plugins/COLCON_IGNORE‎

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‎robot_mcp_common_msg_plugins/robot_mcp_nav_msg_plugins/COLCON_IGNORE‎

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‎robot_mcp_common_msg_plugins/robot_mcp_sensor_msg_plugins/COLCON_IGNORE‎

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‎robot_mcp_common_msg_plugins/robot_mcp_std_msg_plugins/COLCON_IGNORE‎

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‎robot_mcp_server/CMakeLists.txt‎

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@@ -35,42 +35,79 @@ find_package(nlohmann_json REQUIRED)
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set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
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# Server library (to be populated with source files in later phases)
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# add_library(${PROJECT_NAME} SHARED
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# # src files will go here
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# )
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# target_include_directories(${PROJECT_NAME} PUBLIC
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# $<BUILD_INTERFACE:${include_dir}>
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# $<INSTALL_INTERFACE:include>
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# )
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# target_link_libraries(${PROJECT_NAME}
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# PUBLIC
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# robot_mcp_msg_pluginlib::robot_mcp_msg_pluginlib
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# PRIVATE
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# rclcpp::rclcpp
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# rclcpp_lifecycle::rclcpp_lifecycle
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# rclcpp_action::rclcpp_action
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# rclcpp_components::rclcpp_components
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# ${std_msgs_TARGETS}
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# pluginlib::pluginlib
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# nlohmann_json::nlohmann_json
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# )
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#
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# install(TARGETS ${PROJECT_NAME}
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# EXPORT ${PROJECT_NAME}Targets
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# ARCHIVE DESTINATION lib
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# LIBRARY DESTINATION lib
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# RUNTIME DESTINATION bin
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# )
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#
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# install(EXPORT ${PROJECT_NAME}Targets
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# NAMESPACE ${PROJECT_NAME}::
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# DESTINATION share/${PROJECT_NAME}/cmake
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# )
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# Server library
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add_library(${PROJECT_NAME} SHARED
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src/robot_mcp_server_node.cpp
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src/mcp_config/config_parser.cpp
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${include_dir}>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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robot_mcp_msg_pluginlib::robot_mcp_msg_pluginlib
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PRIVATE
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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rclcpp_action::rclcpp_action
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rclcpp_components::component
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${std_msgs_TARGETS}
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pluginlib::pluginlib
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nlohmann_json::nlohmann_json
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)
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# Register as a rclcpp_components component
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "robot_mcp::MCPServerNode"
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EXECUTABLE ${PROJECT_NAME}_node
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)
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}Targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(EXPORT ${PROJECT_NAME}Targets
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION share/${PROJECT_NAME}/cmake
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)
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install(DIRECTORY include/
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DESTINATION include
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)
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# ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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# Install test configuration files
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install(DIRECTORY test_mcp_config/
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DESTINATION share/${PROJECT_NAME}/test_mcp_config
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)
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if(BUILD_TESTING)
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# Find robot_mcp_test package
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find_package(robot_mcp_test REQUIRED)
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find_package(launch_testing_ament_cmake REQUIRED)
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# Include the custom test function
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include(${robot_mcp_test_DIR}/add_robot_mcp_test.cmake)
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# Add lifecycle tests
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add_robot_mcp_test(test_lifecycle
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test/test_lifecycle.cpp
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LIBRARIES
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${PROJECT_NAME}
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)
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# Add configuration parser launch tests
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add_launch_test(
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test_mcp_config/test_complete_config.py
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)
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add_launch_test(
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test_mcp_config/test_minimal_config.py
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)
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endif()
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ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_package()

‎robot_mcp_server/include/robot_mcp_server/mcp_config/config_parser.hpp‎

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// Copyright (c) 2025-present WATonomous. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Copyright 2025 WATonomous
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef ROBOT_MCP_CONFIG_PARSER_HPP_
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#define ROBOT_MCP_CONFIG_PARSER_HPP_
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#include <map>
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#include <memory>
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#include <string>
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#include <vector>
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include "robot_mcp_server/mcp_config/config_types.hpp"
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namespace robot_mcp::config
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{
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/**
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* @brief Exception thrown when configuration parsing fails
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*/
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class ConfigParseException : public std::runtime_error
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{
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public:
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explicit ConfigParseException(const std::string & message)
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: std::runtime_error(message)
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{}
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};
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/**
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* @brief Parser for MCP server configuration from ROS2 parameters
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*
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* This class reads ROS2 parameters and constructs a MCPServerConfig object.
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* It handles parameter validation and provides detailed error messages.
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*/
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class ConfigParser
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{
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public:
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/**
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* @brief Parse configuration from a ROS2 node's parameters
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*
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* @param node ROS2 lifecycle node to read parameters from
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* @return Parsed configuration
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* @throws ConfigParseException if parsing fails
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*/
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static MCPServerConfig parse(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
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/**
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* @brief Validate a configuration object
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*
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* Checks for:
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* - Duplicate names
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* - Invalid port numbers
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* - Missing required fields
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* - Invalid resource group references
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*
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* @param config Configuration to validate
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* @throws ConfigParseException if validation fails
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*/
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static void validate(const MCPServerConfig & config);
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private:
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/**
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* @brief Parse server configuration
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*/
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static ServerConfig parseServerConfig(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
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/**
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* @brief Parse topic configurations
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*/
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static std::vector<TopicConfig> parseTopics(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
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/**
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* @brief Parse service configurations
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*/
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static std::vector<ServiceConfig> parseServices(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
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/**
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* @brief Parse action configurations
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*/
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static std::vector<ActionConfig> parseActions(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
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/**
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* @brief Parse resource group configurations
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*/
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static std::map<std::string, ResourceGroupConfig> parseResourceGroups(
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rclcpp_lifecycle::LifecycleNode::SharedPtr node);
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/**
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* @brief Parse conflict resolution string to enum
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*/
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static ConflictResolution parseConflictResolution(const std::string & str);
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};
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} // namespace robot_mcp::config
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#endif // ROBOT_MCP_CONFIG_PARSER_HPP_

‎robot_mcp_server/include/robot_mcp_server/mcp_config/config_types.hpp‎

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// Copyright (c) 2025-present WATonomous. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Copyright 2025 WATonomous
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef ROBOT_MCP_CONFIG_TYPES_HPP_
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#define ROBOT_MCP_CONFIG_TYPES_HPP_
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#include <map>
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#include <optional>
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#include <string>
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#include <vector>
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namespace robot_mcp::config
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{
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/**
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* @brief Conflict resolution strategy for resource groups
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*/
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enum class ConflictResolution
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{
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ERROR, ///< Return error if conflict occurs
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CANCEL, ///< Cancel existing operation and start new one
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QUEUE ///< Queue new operation until current one completes
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};
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/**
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* @brief Configuration for HTTP server
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*/
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struct ServerConfig
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{
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std::string host{"0.0.0.0"}; ///< Server host address
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int port{8080}; ///< Server port number
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std::optional<std::string> api_key; ///< Optional API key for authentication
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int max_connections{100}; ///< Maximum concurrent connections
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int timeout_ms{30000}; ///< Request timeout in milliseconds
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bool enable_cors{true}; ///< Enable CORS headers
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};
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/**
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* @brief Configuration for a topic (publish/subscribe)
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*/
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struct TopicConfig
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{
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std::string name; ///< Friendly name for MCP
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std::string topic; ///< ROS2 topic name
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std::string msg_type; ///< ROS2 message type (e.g., "std_msgs/msg/String")
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std::string plugin; ///< Plugin class name
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bool subscribe{true}; ///< Subscribe and cache messages
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bool publish{true}; ///< Allow publishing to this topic
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std::vector<std::string> resource_groups; ///< Resource groups this topic belongs to
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};
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/**
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* @brief Configuration for a service (call/response)
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*/
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struct ServiceConfig
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{
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std::string name; ///< Friendly name for MCP
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std::string service; ///< ROS2 service name
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std::string srv_type; ///< ROS2 service type
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std::string plugin; ///< Plugin class name
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int timeout_ms{5000}; ///< Service call timeout
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std::vector<std::string> resource_groups; ///< Resource groups this service belongs to
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};
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/**
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* @brief Configuration for an action (goal/feedback/result)
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*/
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struct ActionConfig
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{
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std::string name; ///< Friendly name for MCP
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std::string action; ///< ROS2 action name
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std::string action_type; ///< ROS2 action type
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std::string plugin; ///< Plugin class name
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int timeout_ms{0}; ///< Action timeout (0 = no timeout)
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bool cancellable{true}; ///< Whether action can be cancelled
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std::vector<std::string> resource_groups; ///< Resource groups this action belongs to
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};
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/**
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* @brief Configuration for a resource group
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*
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* Resource groups prevent conflicting operations from running concurrently.
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* For example, multiple navigation commands shouldn't run simultaneously.
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*/
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struct ResourceGroupConfig
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{
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std::string name; ///< Resource group name
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int max_concurrent{1}; ///< Maximum concurrent operations
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bool interruptible{true}; ///< Whether operations can be cancelled
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ConflictResolution conflict_resolution{ConflictResolution::ERROR}; ///< Default conflict handling
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};
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/**
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* @brief Complete MCP server configuration
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*/
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struct MCPServerConfig
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{
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ServerConfig server; ///< HTTP server configuration
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std::vector<TopicConfig> topics; ///< Topics to expose
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std::vector<ServiceConfig> services; ///< Services to expose
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std::vector<ActionConfig> actions; ///< Actions to expose
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std::map<std::string, ResourceGroupConfig> resource_groups; ///< Resource group definitions
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};
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} // namespace robot_mcp::config
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#endif // ROBOT_MCP_CONFIG_TYPES_HPP_

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