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Merge pull request #1 from mkassimi98/ft/1stversion_w_srt
Ft/1stversion w srt
2 parents 0e66c7f + ac29602 commit 5154acc

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‎.clang-format‎

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---
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BasedOnStyle: LLVM
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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ColumnLimit: 100
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PointerAlignment: Left
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SortIncludes: CaseSensitive
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AlignTrailingComments: true
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AllowShortFunctionsOnASingleLine: Empty
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BreakBeforeBraces: Attach
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Standard: c++17
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...

‎.clang-tidy‎

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Checks: >
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-*,
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bugprone-*,
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performance-*,
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readability-*,
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modernize-*,
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cppcoreguidelines-*
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WarningsAsErrors: ''
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HeaderFilterRegex: '.*'
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FormatStyle: file

‎.editorconfig‎

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root = true
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[*]
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charset = utf-8
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end_of_line = lf
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insert_final_newline = true
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indent_style = space
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indent_size = 2
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trim_trailing_whitespace = true
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[*.{cpp,hpp,py,xml,yaml,yml,cmake,txt,md}]
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indent_size = 2
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[Makefile]
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indent_style = tab

‎.github/workflows/ci.yml‎

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name: ros2-gst-video-bridge-ci
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on:
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pull_request:
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push:
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branches: ["main", "ft/1stversion_w_srt"]
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schedule:
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- cron: "0 3 * * *"
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jobs:
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build-and-test:
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runs-on: ubuntu-22.04
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Setup ROS 2 Humble
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: humble
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- name: Build
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run: |
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source /opt/ros/humble/setup.bash
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colcon build --event-handlers console_direct+
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- name: Test
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run: |
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source /opt/ros/humble/setup.bash
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colcon test --event-handlers console_direct+
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colcon test-result --all --verbose
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nightly-matrix:
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if: github.event_name == 'schedule'
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runs-on: ubuntu-22.04
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Setup ROS 2 Humble
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: humble
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- name: Build
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run: |
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source /opt/ros/humble/setup.bash
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colcon build --event-handlers console_direct+
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- name: Run matrix
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run: |
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chmod +x src/ros2_gst_video_bridge/scripts/run_transport_codec_matrix.zsh
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src/ros2_gst_video_bridge/scripts/run_transport_codec_matrix.zsh "$PWD" /tmp/matrix.csv
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- name: Upload report
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uses: actions/upload-artifact@v4
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with:
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name: transport-codec-matrix-report
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path: /tmp/matrix.csv

‎.gitignore‎

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devel/
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logs/
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# ROS 2 / colcon
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build/
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bin/
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lib/
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msg_gen/
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srv_gen/
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msg/*Action.msg
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msg/*ActionFeedback.msg
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msg/*ActionGoal.msg
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msg/*ActionResult.msg
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msg/*Feedback.msg
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msg/*Goal.msg
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msg/*Result.msg
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msg/_*.py
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build_isolated/
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devel_isolated/
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install/
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log/
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# Generated by dynamic reconfigure
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*.cfgc
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/cfg/cpp/
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/cfg/*.py
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# Ignore generated docs
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*.dox
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*.wikidoc
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# eclipse stuff
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.project
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.cproject
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# qcreator stuff
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CMakeLists.txt.user
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srv/_*.py
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*.pcd
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# Python
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__pycache__/
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*.pyc
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qtcreator-*
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*.user
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/planning/cfg
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/planning/docs
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/planning/src
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# C/C++ build systems
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*.o
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*.so
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*.a
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*.dSYM/
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compile_commands.json
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# Editors / IDEs
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.vscode/
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.idea/
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*.user
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*.swp
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*~
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# Emacs
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.#*
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# Catkin custom files
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CATKIN_IGNORE
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# Local planning
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TODO.md

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(ros2_gst_video_bridge)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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option(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_TIDY "Enable clang-tidy during C++ compilation" ON)
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option(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_FORMAT_CHECK "Enable clang-format check target" ON)
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option(ROS2_GST_VIDEO_BRIDGE_ENABLE_AMENT_LINT "Enable ament_lint_auto checks" OFF)
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if(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_TIDY)
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find_program(CLANG_TIDY_EXE NAMES clang-tidy clang-tidy-18 clang-tidy-17 clang-tidy-16 clang-tidy-15)
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if(CLANG_TIDY_EXE)
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set(CMAKE_CXX_CLANG_TIDY ${CLANG_TIDY_EXE})
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message(STATUS "clang-tidy enabled: ${CLANG_TIDY_EXE}")
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else()
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message(WARNING "clang-tidy requested but not found. Continuing without clang-tidy.")
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endif()
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(ros2_gst_video_bridge_msgs REQUIRED)
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-app-1.0)
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if(ROS2_GST_VIDEO_BRIDGE_ENABLE_CLANG_FORMAT_CHECK)
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find_program(CLANG_FORMAT_EXE NAMES clang-format clang-format-18 clang-format-17 clang-format-16 clang-format-15)
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if(CLANG_FORMAT_EXE)
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file(GLOB_RECURSE ROS2_GST_VIDEO_BRIDGE_FORMAT_FILES CONFIGURE_DEPENDS
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"${CMAKE_CURRENT_SOURCE_DIR}/include/*.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/*.cc"
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)
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add_custom_target(clang_format_check
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COMMAND ${CLANG_FORMAT_EXE} --dry-run --Werror ${ROS2_GST_VIDEO_BRIDGE_FORMAT_FILES}
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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COMMENT "Running clang-format check on C++ source files"
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VERBATIM
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)
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else()
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message(WARNING "clang-format check requested but clang-format was not found.")
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endif()
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endif()
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add_executable(gst_video_bridge_node
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src/main.cc
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src/gst_video_bridge_node.cc
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src/node/core.cc
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src/node/lifecycle.cc
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src/node/modes.cc
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src/node/streaming.cc
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src/node/recovery.cc
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src/node/fallback.cc
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src/node/observability.cc
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src/core/config_loader.cc
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src/core/pipeline_builder.cc
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src/runtime/capability_probe.cc
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src/runtime/topic_introspector.cc
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src/runtime/stream_engine.cc
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src/runtime/metrics_publisher.cc
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)
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target_include_directories(gst_video_bridge_node
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PRIVATE
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include
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${GSTREAMER_INCLUDE_DIRS}
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)
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target_link_libraries(gst_video_bridge_node
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${GSTREAMER_LIBRARIES}
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)
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target_compile_options(gst_video_bridge_node PRIVATE ${GSTREAMER_CFLAGS_OTHER})
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ament_target_dependencies(gst_video_bridge_node
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rclcpp
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sensor_msgs
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std_msgs
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ros2_gst_video_bridge_msgs
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)
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install(TARGETS gst_video_bridge_node
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(test_config_loader test/test_config_loader.cpp src/core/config_loader.cc)
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target_include_directories(test_config_loader PRIVATE include)
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ament_target_dependencies(test_config_loader rclcpp)
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ament_add_gtest(test_pipeline_builder test/test_pipeline_builder.cpp src/core/pipeline_builder.cc)
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target_include_directories(test_pipeline_builder PRIVATE include)
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add_test(
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NAME smoke_runtime_validate_config
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COMMAND $<TARGET_FILE:gst_video_bridge_node> --ros-args -p runtime.mode:=validate_config)
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add_test(
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NAME smoke_runtime_list_capabilities
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COMMAND $<TARGET_FILE:gst_video_bridge_node> --ros-args -p runtime.mode:=list_capabilities)
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add_test(
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NAME smoke_launch_minimal_show_args
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COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge_minimal.launch.py --show-args)
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add_test(
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NAME smoke_launch_advanced_show_args
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COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge_advanced.launch.py --show-args)
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add_test(
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NAME smoke_launch_compat_show_args
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COMMAND ros2 launch ros2_gst_video_bridge gst_video_bridge.launch.py --show-args)
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set_tests_properties(smoke_runtime_validate_config PROPERTIES TIMEOUT 20)
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set_tests_properties(smoke_runtime_list_capabilities PROPERTIES TIMEOUT 20)
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set_tests_properties(smoke_launch_minimal_show_args PROPERTIES TIMEOUT 20)
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set_tests_properties(smoke_launch_advanced_show_args PROPERTIES TIMEOUT 20)
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set_tests_properties(smoke_launch_compat_show_args PROPERTIES TIMEOUT 20)
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if(ROS2_GST_VIDEO_BRIDGE_ENABLE_AMENT_LINT)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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endif()
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ament_package()

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