Communication interface for ROS edge broadcaster (#533)

* Communication interface for ROS edge broadcaster

* Fix node_handle

* Fix typo in msg name

Author: christianhelm

supplementary/alica_msgs/CMakeLists.txt

@@ -9,18 +9,25 @@ if (ament_cmake_FOUND)
 
   rosidl_generate_interfaces(${PROJECT_NAME}
     msg/AllocationAuthorityInfo.msg
+    msg/AllocationAuthorityInfoList.msg
     msg/EntryPointRobots.msg
     msg/RoleSwitch.msg
     msg/SolverVar.msg
     msg/SyncReady.msg
+    msg/SyncReadyList.msg
     msg/AlicaEngineInfo.msg
     msg/PlanTreeInfo.msg
+    msg/PlanTreeInfoList.msg
     msg/SolverResult.msg
+    msg/SolverResultList.msg
     msg/SyncData.msg
     msg/SyncTalk.msg
+    msg/SyncTalkList.msg
     msg/StringTuple.msg
     msg/AgentQuery.msg
+    msg/AgentQueryList.msg
     msg/AgentAnnouncement.msg
+    msg/AgentAnnouncementList.msg
   )
 
   ament_export_dependencies(rosidl_default_runtime)
@@ -32,18 +39,25 @@ else (ament_cmake_FOUND)
   add_message_files(
     DIRECTORY msg FILES
     AllocationAuthorityInfo.msg
+    AllocationAuthorityInfoList.msg
     EntryPointRobots.msg
     RoleSwitch.msg
     SolverVar.msg
     SyncReady.msg
+    SyncReadyList.msg
     AlicaEngineInfo.msg
     PlanTreeInfo.msg
+    PlanTreeInfoList.msg
     SolverResult.msg
+    SolverResultList.msg
     SyncData.msg
     SyncTalk.msg
+    SyncTalkList.msg
     StringTuple.msg
     AgentQuery.msg
+    AgentQueryList.msg
     AgentAnnouncement.msg
+    AgentAnnouncementList.msg
   )
 
   generate_messages(

supplementary/alica_msgs/msg/AgentAnnouncementList.msg

@@ -0,0 +1 @@
+AgentAnnouncement[] agent_announcements

supplementary/alica_msgs/msg/AgentQueryList.msg

@@ -0,0 +1 @@
+AgentQuery[] agent_queries

supplementary/alica_msgs/msg/AllocationAuthorityInfoList.msg

@@ -0,0 +1 @@
+AllocationAuthorityInfo[] allocation_authority_infos

supplementary/alica_msgs/msg/PlanTreeInfoList.msg

@@ -0,0 +1 @@
+PlanTreeInfo[] plan_tree_infos

supplementary/alica_msgs/msg/SolverResultList.msg

@@ -0,0 +1 @@
+SolverResult[] solver_results

supplementary/alica_msgs/msg/SyncReadyList.msg

@@ -0,0 +1 @@
+SyncReady[] sync_readies

supplementary/alica_msgs/msg/SyncTalkList.msg

@@ -0,0 +1 @@
+SyncTalk[] sync_talks

supplementary/alica_ros1/alica_ros_proxy/CMakeLists.txt

@@ -33,6 +33,8 @@ include_directories(
 add_library(alica_ros_proxy
 	src/clock/AlicaROSClock.cpp
 	src/communication/AlicaRosCommunication.cpp
+	src/communication/AlicaRosCommunicationCommon.cpp
+	src/communication/AlicaRosEdgeBroadcastCommunication.cpp
   src/logger/AlicaRosLogger.cpp
 )
 

supplementary/alica_ros1/alica_ros_proxy/include/communication/AlicaRosCommunication.h

@@ -1,84 +1,29 @@
 #pragma once
-#include "alica_msgs/AgentAnnouncement.h"
-#include "alica_msgs/AgentQuery.h"
-#include "alica_msgs/AlicaEngineInfo.h"
-#include "alica_msgs/AllocationAuthorityInfo.h"
-#include "alica_msgs/PlanTreeInfo.h"
-#include "alica_msgs/RoleSwitch.h"
-#include "alica_msgs/SolverResult.h"
-#include "alica_msgs/SyncReady.h"
-#include "alica_msgs/SyncTalk.h"
 
-#include <engine/IAlicaCommunication.h>
+#include "communication/AlicaRosCommunicationCommon.h"
 
 #include <ros/callback_queue.h>
 #include <ros/ros.h>
-#include <string>
 
 using namespace alica;
 
 namespace alicaRosProxy
 {
 
-class AlicaRosCommunication : public alica::IAlicaCommunication
+class AlicaRosCommunication : public AlicaRosCommunicationCommon
 {
 public:
     AlicaRosCommunication(const AlicaCommunicationHandlers& callbacks, ros::CallbackQueue& cb_queue = *ros::getGlobalCallbackQueue());
     virtual ~AlicaRosCommunication();
 
-    void tick() override;
-
-    void sendAllocationAuthority(const AllocationAuthorityInfo& aai) const override;
-    void sendAlicaEngineInfo(const AlicaEngineInfo& bi) const override;
-    void sendPlanTreeInfo(const PlanTreeInfo& pti) const override;
-    void sendRoleSwitch(const RoleSwitch& rs, AgentId agentID) const override;
-    void sendSyncReady(const SyncReady& sr) const override;
-    void sendSyncTalk(const SyncTalk& st) const override;
-    void sendSolverResult(const SolverResult& sr) const override;
-    void sendAgentQuery(const AgentQuery& pq) const override;
-    void sendAgentAnnouncement(const AgentAnnouncement& pa) const override;
-    void sendLogMessage(int level, const std::string& message) const override;
-
-    void handleAllocationAuthorityRos(const alica_msgs::AllocationAuthorityInfo& aai);
-    void handlePlanTreeInfoRos(alica_msgs::PlanTreeInfoPtr pti);
-    void handleSyncReadyRos(alica_msgs::SyncReadyPtr sr);
-    void handleSyncTalkRos(alica_msgs::SyncTalkPtr st);
-    void handleSolverResult(const alica_msgs::SolverResult& sr);
-    void handleAgentQuery(const alica_msgs::AgentQuery& pq);
-    void handleAgentAnnouncement(const alica_msgs::AgentAnnouncement& pa);
-
-    void startCommunication() override;
-    void stopCommunication() override;
-
 private:
-    ros::CallbackQueue& _callbackQueue;
-
-    ros::Publisher _alicaEngineInfoPublisher;
-    ros::Publisher _roleSwitchPublisher;
-
-    ros::Publisher _allocationAuthorityInfoPublisher;
-    ros::Subscriber _allocationAuthorityInfoSubscriber;
-
-    ros::Publisher _planTreeInfoPublisher;
-    ros::Subscriber _planTreeInfoSubscriber;
-
-    ros::Publisher _syncReadyPublisher;
     ros::Subscriber _syncReadySubscriber;
-
-    ros::Publisher _syncTalkPublisher;
-    ros::Subscriber _syncTalkSubscriber;
-
-    ros::Publisher _solverResultPublisher;
+    ros::Subscriber _planTreeInfoSubscriber;
     ros::Subscriber _solverResultSubscriber;
-
-    ros::Publisher _presenceQueryPublisher;
-    ros::Subscriber _presenceQuerySubscriber;
-
-    ros::Publisher _presenceAnnouncementPublisher;
     ros::Subscriber _presenceAnnouncementSubscriber;
-
-    ros::NodeHandle _nh;
-    bool _isRunning;
+    ros::Subscriber _allocationAuthorityInfoSubscriber;
+    ros::Subscriber _syncTalkSubscriber;
+    ros::Subscriber _presenceQuerySubscriber;
 };
 
 } /* namespace alicaRosProxy */