feat: add autoware_node and autoware_control_center

[xmfcx]

Signed-off-by: M. Fatih Cırıt mfc@leodrive.ai

Description

Related Discussion: https://github.com/orgs/autowarefoundation/discussions/3194
Old PR: #57

This PR is for creating the base class for all the future Autoware Core nodes to inherit from.

This node will be inheriting from the rclcpp_lifecycle::LifecycleNode with (LifeCycle Readme).

I'll be taking ros2 nav2 stack as reference too while combining Lifecycle and Composable node concepts.

• https://navigation.ros.org/concepts/index.html#lifecycle-nodes-and-bond
• https://navigation.ros.org/configuration/packages/configuring-lifecycle.html
• https://github.com/ros-planning/navigation2/blob/main/nav2_util/include/nav2_util/lifecycle_node.hpp

While developing this PR, I am going to explore ideas mentioned in previous conversations in the Autoware community.

Related links

Related links

• Autoware.Auto discussions: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/821
• Discuss Implementing LifeCycleNode Support on Autoware.Auto Nodes - https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/282
• Autoware Diagnostics and Monitoring - https://gist.github.com/xmfcx/7eaae9750d6317a3a2aa23745ac99444

Communication architecture

Communication architecture

Registration Service

Service server: ACC

Service client: AutowareNode

Roles:

• Register the AutowareNode in ACC
• Receive the UUID for the AutowareNode
• If already registered, return error

sequenceDiagram
    participant acc as Autoware Control Center
    participant node as node_a

    Note right of node: cli_reg
    node ->>+ acc: name: node_a
    Note left of acc: srv_reg

    acc ->> acc: generate a UUID for the node_a
    acc ->> acc: create a bond between acc and node_a


    Note left of acc: srv_reg
    acc -->>- node: UUID and registration success bool
    Note right of node: cli_reg

Heart beat bond

https://github.com/ros/bond_core/blob/ros2/ros2_migration_readme.md Slow

https://github.com/ros-safety/software_watchdogs

https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html

https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-events

Roles:

• As long as the AutowareNode is alive, it reports with this bond
• If the AutowareNode dies, it triggers the on_broken callback

Reporting service

Service server: ACC

Service client: AutowareNode

Roles:

• Reporting state of the AutowareNode to the ACC
  • Warning
  • Error

Control service

Service server: AutowareNode

Service client: ACC

Roles:

• Shutting down the AutowareNode
• Toggle AutowareNode between active-inactive?

Tasks

• Implement registration service
  • Define the interface
  • Create the client
  • Create the service
  • Make them communicate
  • Generate UUID
  • Send UUID
• Implement control service
• Implement reporting service
• Implement watchdog - heartbeat

Tests performed

PR Review Items

Notes for reviewers

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[codecov]

Codecov Report

Attention: Patch coverage is 13.97059% with 351 lines in your changes are missing coverage. Please review.

Please upload report for BASE (main@9989140). Learn more about missing BASE report.

❗ Current head e4f5fca differs from pull request most recent head ed2efdb

Please upload reports for the commit ed2efdb to get more accurate results.

Files	Patch %	Lines
...are_control_center/src/autoware_control_center.cpp	19.25%	65 Missing and 44 partials ⚠️
common/autoware_node/src/autoware_node.cpp	0.00%	94 Missing ⚠️
...ntrol_center/test/test_autoware_control_center.cpp	14.66%	6 Missing and 58 partials ⚠️
...utoware_control_center/test/test_node_registry.cpp	18.42%	0 Missing and 31 partials ⚠️
common/test_node/src/test_pub.cpp	0.00%	22 Missing ⚠️
...mmon/autoware_control_center/src/node_registry.cpp	56.52%	3 Missing and 7 partials ⚠️
common/test_node/src/test_node.cpp	0.00%	10 Missing ⚠️
...ontrol_center/src/autoware_control_center_node.cpp	0.00%	9 Missing ⚠️
...utoware_control_center/autoware_control_center.hpp	0.00%	1 Missing ⚠️
.../include/autoware_control_center/node_registry.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main      #73   +/-   ##
=======================================
  Coverage        ?   13.97%           
=======================================
  Files           ?       10           
  Lines           ?      408           
  Branches        ?      189           
=======================================
  Hits            ?       57           
  Misses          ?      211           
  Partials        ?      140           

Flag	Coverage Δ
differential	13.97% <13.97%> (?)

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[xmfcx]

@JianKangEgon I've also added you as an assignee too, after talking with @liuXinGangChina
If you have any questions, please let me know.

[JianKangEgon]

@JianKangEgon I've also added you as an assignee too, after talking with @liuXinGangChina If you have any questions, please let me know.

OK, thanks @xmfcx

[xmfcx]

@Tom-Li-Lee to be assigned too.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[xmfcx]

Priority list:

1. Registering the node to ACC
   1. De-register / Re-register
   2. Handle different orders of launching
2. Heartbeat/liveliness for the nodes, reports in last call milliseconds
3. Receive error states in ACC (through a service call) (Node can report something is wrong with itself)
4. Monitored Sub
   1. Creates a deadline callback which can either send (info/warning/error) through the previously implemented error handling
5. Lifecycle
   1. delayed/controlled activate
   2. shutdown
   3. activate/deactivate cycles

[lexavtanke]

@xmfcx It seems like we have an issue with cpplint related to cpplint/cpplint#184 after we suppress clang-tidy with // NOLINTNEXTLINE(performance-unnecessary-value-param)

[xmfcx]

It seems they have added clang-analyzer- to the list of ignored prefixes for cpplint.

https://github.com/cpplint/cpplint/blob/e3a1938af916506c1cd658c2f464b2837597b81c/cpplint.py#L382-L408

But ours is has a performance- prefix.

Which is not in the error categories listed here:

https://github.com/cpplint/cpplint/blob/e3a1938af916506c1cd658c2f464b2837597b81c/cpplint.py#L295-L364

I couldn't find a way to add our check to this list. Easiest solution is to just add it as // NOLINTNEXTLINE without the name.

Another could be to disable cpplint altogether but I won't do that for now.

Edit:

Oh it seems they have added performance- to the list too with cpplint/cpplint@8eeaf23

• Avoid false positive on other clang-tidy checks cpplint/cpplint#231

will try to use this version.

• Release 1.7.0 cpplint/cpplint#238

We can keep it as // NOLINTNEXTLINE for now and when updated to 1.7.0 or 2.0.0 we can bring it back.

[lexavtanke]

@xmfcx
DCO behaves a bit strange on two commits 8ec287d and 5c03cbb

As both of them have Signed-off-by

[xmfcx]

@lexavtanke we can ignore the DCO checks, as long as the squashed commit has the correct signatures, it is alright. I set it to pass.

Is this ready for review again?

[lexavtanke]

@xmfcx Yes, it is ready. I've changed the info level to debug and remove the startup timer from ACC.