From a5b75ddfd56ec954534a9a2f3b496794bc832cbb Mon Sep 17 00:00:00 2001 From: RonaldsonBellande Date: Sat, 24 May 2025 19:00:57 -0400 Subject: [PATCH] example packages --- example/brsoa_system_config.lua | 82 ------------------- .../example_cpp.cpp} | 6 +- example/example_cpp/package.bellande | 4 + .../example_go.go} | 8 +- .../package.bellande | 2 +- .../Example_java.java} | 6 +- example/example_java/package.bellande | 4 + .../example_python.py} | 6 +- example/example_python/package.bellande | 4 + .../Cargo.toml | 2 +- .../example_rust.rust} | 8 +- example/example_rust/package.bellande | 4 + scripts/example_package.bellos | 12 +-- src/brsoa_create_package.py | 5 +- 14 files changed, 44 insertions(+), 109 deletions(-) delete mode 100644 example/brsoa_system_config.lua rename example/{example_package/example_package.cpp => example_cpp/example_cpp.cpp} (73%) create mode 100644 example/example_cpp/package.bellande rename example/{example_package/example_package.go => example_go/example_go.go} (57%) rename example/{example_package => example_go}/package.bellande (60%) rename example/{example_package/Example_package.java => example_java/Example_java.java} (71%) create mode 100644 example/example_java/package.bellande rename example/{example_package/example_package.py => example_python/example_python.py} (65%) create mode 100644 example/example_python/package.bellande rename example/{example_package => example_rust}/Cargo.toml (81%) rename example/{example_package/example_package.rust => example_rust/example_rust.rust} (63%) create mode 100644 example/example_rust/package.bellande diff --git a/example/brsoa_system_config.lua b/example/brsoa_system_config.lua deleted file mode 100644 index 3f23b3d..0000000 --- a/example/brsoa_system_config.lua +++ /dev/null @@ -1,82 +0,0 @@ --- brsoa_system_config.lua --- Global configuration -global_config = { - max_nodes = 50, - discovery_method = "broadcast", - system_name = "example_system", - log_level = "debug" -} - --- Define nodes to be launched -nodes = { - { - name = "example_node_cpp", - package = "example_package_cpp", - executable = "example_driver_cpp", - language = "cpp", - args = {"--fps=30"}, - env = {SENSOR_TYPE = "lidar"} - }, - { - name = "example_node_py", - package = "example_package_py", - executable = "example_package_py.py", - language = "python", - args = {"--algorithm=detection"}, - env = {PYTHONPATH = "${WORKSPACE}/lib:${WORKSPACE}/include"} - }, - { - name = "example_node_java", - package = "example_ui_package_java", - executable = "ExampleDisplayAppJava", - language = "java", - args = {"--resolution=720p"}, - env = {JAVA_OPTS = "-Xmx1g"} - }, - { - name = "example_node_rust", - package = "example_package_rust", - executable = "example_package_rust", - language = "rust", - args = {"--mode=manual"}, - env = {RUST_BACKTRACE = "1"} - }, - { - name = "example_node_bridge_go", - package = "example_package_go", - executable = "example_package_go", - language = "go", - args = {"--port=9090"}, - env = {GOMAXPROCS = "2"} - } -} - --- Define communication setup -topics = { - { - name = "/example/example", - type = "Example", - queue_size = 5, - publishers = {"example_node"}, - subscribers = {"example1", "example2"} - } -} - --- Define services -services = { - { - name = "/example/example", - type = "Example", - server = "example_server", - clients = {"example_client"} - } -} - --- Define parameters -parameters = { - { - name = "/example/example", - type = "string", - value = global_config.system_name - } -} \ No newline at end of file diff --git a/example/example_package/example_package.cpp b/example/example_cpp/example_cpp.cpp similarity index 73% rename from example/example_package/example_package.cpp rename to example/example_cpp/example_cpp.cpp index 6b68db3..5d22773 100644 --- a/example/example_package/example_package.cpp +++ b/example/example_cpp/example_cpp.cpp @@ -3,19 +3,19 @@ #include #include -class Example_package { +class Example_cpp { public: void run() { while (true) { // TODO: Implement node logic - std::cout << "Running example_package" << std::endl; + std::cout << "Running example_cpp" << std::endl; std::this_thread::sleep_for(std::chrono::seconds(1)); } } }; int main(int argc, char** argv) { - Example_package node; + Example_cpp node; node.run(); return 0; } diff --git a/example/example_cpp/package.bellande b/example/example_cpp/package.bellande new file mode 100644 index 0000000..e8821cf --- /dev/null +++ b/example/example_cpp/package.bellande @@ -0,0 +1,4 @@ +dependencies: +- common_msgs +language: cpp +name: ../exampleexample_cpp diff --git a/example/example_package/example_package.go b/example/example_go/example_go.go similarity index 57% rename from example/example_package/example_package.go rename to example/example_go/example_go.go index d55f184..9a00643 100644 --- a/example/example_package/example_package.go +++ b/example/example_go/example_go.go @@ -6,17 +6,17 @@ import ( "common_msgs" ) -type Example_package struct{} +type Example_go struct{} -func (n *Example_package) Run() { +func (n *Example_go) Run() { for { // TODO: Implement node logic - fmt.Println("Running example_package") + fmt.Println("Running example_go") time.Sleep(1 * time.Second) } } func main() { - node := &Example_package{} + node := &Example_go{} node.Run() } diff --git a/example/example_package/package.bellande b/example/example_go/package.bellande similarity index 60% rename from example/example_package/package.bellande rename to example/example_go/package.bellande index 5222dc8..fd99265 100644 --- a/example/example_package/package.bellande +++ b/example/example_go/package.bellande @@ -1,4 +1,4 @@ dependencies: - common_msgs language: go -name: example_package +name: ../exampleexample_go diff --git a/example/example_package/Example_package.java b/example/example_java/Example_java.java similarity index 71% rename from example/example_package/Example_package.java rename to example/example_java/Example_java.java index fa027d6..7b15b40 100644 --- a/example/example_package/Example_package.java +++ b/example/example_java/Example_java.java @@ -1,10 +1,10 @@ import common_msgs.Messages.*; -public class Example_package { +public class Example_java { public void run() { while (true) { // TODO: Implement node logic - System.out.println("Running example_package"); + System.out.println("Running example_java"); try { Thread.sleep(1000); } catch (InterruptedException e) { @@ -14,7 +14,7 @@ public class Example_package { } public static void main(String[] args) { - Example_package node = new Example_package(); + Example_java node = new Example_java(); node.run(); } } diff --git a/example/example_java/package.bellande b/example/example_java/package.bellande new file mode 100644 index 0000000..9a3b504 --- /dev/null +++ b/example/example_java/package.bellande @@ -0,0 +1,4 @@ +dependencies: +- common_msgs +language: java +name: ../exampleexample_java diff --git a/example/example_package/example_package.py b/example/example_python/example_python.py similarity index 65% rename from example/example_package/example_package.py rename to example/example_python/example_python.py index 300f4c7..c0234a4 100644 --- a/example/example_package/example_package.py +++ b/example/example_python/example_python.py @@ -1,13 +1,13 @@ from common_msgs import * import time -class Example_package: +class Example_python: def run(self): while True: # TODO: Implement node logic - print(f"Running example_package") + print(f"Running example_python") time.sleep(1) if __name__ == "__main__": - node = Example_package() + node = Example_python() node.run() diff --git a/example/example_python/package.bellande b/example/example_python/package.bellande new file mode 100644 index 0000000..be6e66f --- /dev/null +++ b/example/example_python/package.bellande @@ -0,0 +1,4 @@ +dependencies: +- common_msgs +language: python +name: ../exampleexample_python diff --git a/example/example_package/Cargo.toml b/example/example_rust/Cargo.toml similarity index 81% rename from example/example_package/Cargo.toml rename to example/example_rust/Cargo.toml index 7ca93d6..97f8a38 100644 --- a/example/example_package/Cargo.toml +++ b/example/example_rust/Cargo.toml @@ -1,5 +1,5 @@ [package] -name = "example_package" +name = "example_rust" version = "0.1.0" edition = "2021" diff --git a/example/example_package/example_package.rust b/example/example_rust/example_rust.rust similarity index 63% rename from example/example_package/example_package.rust rename to example/example_rust/example_rust.rust index 0e514bf..0476117 100644 --- a/example/example_package/example_package.rust +++ b/example/example_rust/example_rust.rust @@ -1,19 +1,19 @@ use common_msgs::*; use std::{thread, time}; -struct Example_package; +struct Example_rust; -impl Example_package { +impl Example_rust { fn run(&self) { loop { // TODO: Implement node logic - println!("Running example_package"); + println!("Running example_rust"); thread::sleep(time::Duration::from_secs(1)); } } } fn main() { - let node = Example_package{}; + let node = Example_rust{}; node.run(); } diff --git a/example/example_rust/package.bellande b/example/example_rust/package.bellande new file mode 100644 index 0000000..29de7c1 --- /dev/null +++ b/example/example_rust/package.bellande @@ -0,0 +1,4 @@ +dependencies: +- common_msgs +language: rust +name: ../exampleexample_rust diff --git a/scripts/example_package.bellos b/scripts/example_package.bellos index 485259a..0db7c3f 100755 --- a/scripts/example_package.bellos +++ b/scripts/example_package.bellos @@ -1,14 +1,14 @@ -# Example Package for CPP -python3 ../src/brsoa_create_package.py ../example example_package cpp +# Example Package for Cpp +python3 ../src/brsoa_create_package.py ../example example_cpp cpp # Example Package for Python -python3 ../src/brsoa_create_package.py ../example example_package python +python3 ../src/brsoa_create_package.py ../example example_python python # Example Package for Java -python3 ../src/brsoa_create_package.py ../example example_package java +python3 ../src/brsoa_create_package.py ../example example_java java # Example Package for Rust -python3 ../src/brsoa_create_package.py ../example example_package rust +python3 ../src/brsoa_create_package.py ../example example_rust rust # Example Package for Go -python3 ../src/brsoa_create_package.py ../example example_package go +python3 ../src/brsoa_create_package.py ../example example_go go diff --git a/src/brsoa_create_package.py b/src/brsoa_create_package.py index 6ffee1a..e4762f6 100644 --- a/src/brsoa_create_package.py +++ b/src/brsoa_create_package.py @@ -147,7 +147,7 @@ def create_package(directory, package_name, language): # Create package.bellande with open(os.path.join(package_dir, "package.bellande"), "w") as f: - f.write(create_package_bellande(package_name, language, ["common_msgs"])) + f.write(create_package_bellande(directory+package_name, language, ["common_msgs"])) # Create source file source_creators = { @@ -169,9 +169,10 @@ def create_package(directory, package_name, language): source_filename = f"{package_name.capitalize()}.java" elif language == "rust": source_filename = f"{package_name}.rust" - os.makedirs(os.path.join(package_dir, "src"), exist_ok=True) + with open(os.path.join(package_dir, "Cargo.toml"), "w") as f: f.write(f"[package]\nname = \"{package_name}\"\nversion = \"0.1.0\"\nedition = \"2021\"\n\n[dependencies]\ncommon_msgs = {{ path = \"../../build/common_msgs\" }}\n") + elif language == "go": source_filename = f"{package_name}.go"