Add package version API (#22)

* Add package version API

* Fix message type

* Fix ament index

* Modify api name

autoware_iv_external_api_adaptor/CMakeLists.txt

@@ -21,6 +21,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/engage.cpp
   src/initial_pose.cpp
   src/map.cpp
+  src/metadata_packages.cpp
   src/operator.cpp
   src/route.cpp
   src/service.cpp
@@ -35,6 +36,7 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Engage")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::InitialPose")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Map")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Operator")
+rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::MetadataPackages")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Route")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Service")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Start")

autoware_iv_external_api_adaptor/package.xml

@@ -14,6 +14,7 @@
   <depend>autoware_external_api_msgs</depend>
   <depend>autoware_system_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
+  <depend>nlohmann-json-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>

autoware_iv_external_api_adaptor/src/metadata_packages.cpp

@@ -0,0 +1,59 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "metadata_packages.hpp"
+#include <string>
+#include "ament_index_cpp/get_resources.hpp"
+#include "ament_index_cpp/get_resource.hpp"
+#include "nlohmann/json.hpp"
+
+namespace external_api
+{
+
+MetadataPackages::MetadataPackages(const rclcpp::NodeOptions & options)
+: Node("external_api_metadata_packages", options)
+{
+  using namespace std::placeholders;
+  autoware_api_utils::ServiceProxyNodeInterface proxy(this);
+
+  const auto resources = ament_index_cpp::get_resources("autoware_metadata_packages");
+  nlohmann::json json = nlohmann::json::object();
+  for (const auto & resource : resources) {
+    const std::string & package = resource.first;
+    std::string content;
+    ament_index_cpp::get_resource("autoware_metadata_packages", package, content);
+    json[package] = nlohmann::json::parse(content);
+  }
+  metadata_.format = "1";
+  metadata_.json = json.dump();
+
+  group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  srv_ = proxy.create_service<autoware_external_api_msgs::srv::GetMetadataPackages>(
+    "/api/external/get/metadata/packages",
+    std::bind(&MetadataPackages::getVersions, this, _1, _2),
+    rmw_qos_profile_services_default, group_);
+}
+
+void MetadataPackages::getVersions(
+  const autoware_external_api_msgs::srv::GetMetadataPackages::Request::SharedPtr,
+  const autoware_external_api_msgs::srv::GetMetadataPackages::Response::SharedPtr response)
+{
+  response->metadata = metadata_;
+  response->status = autoware_api_utils::response_success();
+}
+
+}  // namespace external_api
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(external_api::MetadataPackages)

autoware_iv_external_api_adaptor/src/metadata_packages.hpp

@@ -0,0 +1,46 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PACKAGE_VERSIONS_HPP_
+#define PACKAGE_VERSIONS_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "autoware_api_utils/autoware_api_utils.hpp"
+#include "autoware_external_api_msgs/srv/get_metadata_packages.hpp"
+
+namespace external_api
+{
+
+class MetadataPackages : public rclcpp::Node
+{
+public:
+  explicit MetadataPackages(const rclcpp::NodeOptions & options);
+
+private:
+  // ros interface
+  rclcpp::CallbackGroup::SharedPtr group_;
+  autoware_api_utils::Service<autoware_external_api_msgs::srv::GetMetadataPackages>::SharedPtr srv_;
+
+  // ros callback
+  void getVersions(
+    const autoware_external_api_msgs::srv::GetMetadataPackages::Request::SharedPtr request,
+    const autoware_external_api_msgs::srv::GetMetadataPackages::Response::SharedPtr response);
+
+  // data
+  autoware_external_api_msgs::msg::MetadataPackages metadata_;
+};
+
+}  // namespace external_api
+
+#endif  // PACKAGE_VERSIONS_HPP_