robocup_ssl_msgsのproto2ros化

crane_visualization_interfaces/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>crane_visualization_interfaces</name>
   <version>0.1.0</version>
-  <description>Message types for CON-SAI visualization</description>
+  <description>crane_visualization_interfaces</description>
   <maintainer email="[email protected]">ibis-ssl</maintainer>
   <license>MIT</license>
 

robocup_ssl_interfaces/CMakeLists.txt

@@ -0,0 +1,100 @@
+cmake_minimum_required(VERSION 3.5)
+project(robocup_ssl_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++20
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -g -Wno-deprecated-declarations)
+endif()
+
+find_package(Protobuf REQUIRED)
+
+file(GLOB proto_files "proto/*.proto")
+message(WARNING ${proto_files})
+
+#add_subdirectory(proto)
+
+# find dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+protobuf_generate(
+        LANGUAGE python
+        OUT_VAR proto_py_sources
+        PROTOS ${proto_files}
+)
+
+message(WARNING "protobuf_generate python!")
+
+protobuf_generate(
+        LANGUAGE cpp
+        OUT_VAR proto_cpp_sources
+        PROTOS ${proto_files}
+)
+
+message(WARNING "protobuf_generate cpp!")
+
+add_library(${PROJECT_NAME}_proto SHARED ${proto_cpp_sources})
+#target_include_directories(${PROJECT_NAME}_proto PUBLIC "${CMAKE_CURRENT_BINARY_DIR}")
+target_compile_options(${PROJECT_NAME}_proto PUBLIC -Wno-deprecated-declarations)
+target_link_libraries(${PROJECT_NAME}_proto protobuf::libprotobuf)
+
+#add_custom_target(
+#        ${PROJECT_NAME}_proto_gen ALL DEPENDS
+#        ${proto_py_sources}
+#        ${proto_cpp_sources}
+#)
+
+### proto -> ROS msg
+proto2ros_generate(
+        ${PROJECT_NAME}_messages_gen
+        PROTOS ${proto_files}
+#        IMPORT_DIRS proto
+        INTERFACES_OUT_VAR ros_messages
+        PYTHON_OUT_VAR py_sources
+        CPP_OUT_VAR cpp_sources
+        INCLUDE_OUT_VAR cpp_include_dir
+        APPEND_PYTHONPATH "${CMAKE_CURRENT_BINARY_DIR}/proto"
+#        DEPENDS ${PROJECT_NAME}_proto_gen
+)
+
+message(WARNING "proto2ros_generate!")
+
+## ROS msg -> C++ / Python
+rosidl_generate_interfaces(
+        ${PROJECT_NAME} ${ros_messages}
+        DEPENDENCIES builtin_interfaces proto2ros
+)
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_messages_gen)
+
+message(WARNING "rosidl_generate_interfaces!")
+
+#rosidl_generated_python_package_add(
+#        ${PROJECT_NAME}_additional_modules
+#        MODULES ${proto_py_sources} ${py_sources}
+#        PACKAGES ${PROJECT_NAME}
+#        DESTINATION ${PROJECT_NAME}
+#)
+
+# C++ファイルインストール
+set(cpp_headers ${cpp_sources} ${proto_cpp_sources})
+list(FILTER cpp_headers INCLUDE REGEX ".*\.(hpp|h)$")
+install(
+        FILES ${cpp_headers}
+        DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

robocup_ssl_interfaces/package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robocup_ssl_interfaces</name>
+  <version>0.1.0</version>
+  <description>robocup_ssl_interfaces</description>
+  <maintainer email="[email protected]">ibis-ssl</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>proto2ros</depend>
+  <depend>protobuf-dev</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>python3-protobuf</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>crane_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

robocup_ssl_interfaces/proto/CMakeLists.txt

@@ -0,0 +1,26 @@
+find_package(Protobuf REQUIRED)
+
+protobuf_generate(
+    LANGUAGE python
+    OUT_VAR proto_py_sources
+    PROTOS ${proto_files}
+)
+
+protobuf_generate(
+    LANGUAGE cpp
+    OUT_VAR proto_cpp_sources
+    PROTOS ${proto_files}
+)
+
+add_library(${PROJECT_NAME}_proto SHARED ${proto_cpp_sources})
+#target_include_directories(${PROJECT_NAME}_proto PUBLIC "${CMAKE_CURRENT_BINARY_DIR}")
+target_compile_options(${PROJECT_NAME}_proto PUBLIC -Wno-deprecated-declarations)
+target_link_libraries(${PROJECT_NAME}_proto protobuf::libprotobuf)
+
+add_custom_target(
+    ${PROJECT_NAME}_proto_gen ALL DEPENDS
+    ${proto_py_sources}
+    ${proto_cpp_sources}
+)
+
+set(PROTO_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}" PARENT_SCOPE)

robocup_ssl_interfaces/proto/ssl_gc_common.proto

@@ -0,0 +1,28 @@
+syntax = "proto3";
+
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
+
+// Team is either blue or yellow
+enum Team {
+    // team not set
+    UNKNOWN = 0;
+    // yellow team
+    YELLOW = 1;
+    // blue team
+    BLUE = 2;
+}
+
+// RobotId is the combination of a team and a robot id
+message RobotId {
+    // the robot number
+    optional uint32 id = 1;
+    // the team that the robot belongs to
+    optional Team team = 2;
+}
+
+// Division denotes the current division, which influences some rules
+enum Division {
+    DIV_UNKNOWN = 0;
+    DIV_A = 1;
+    DIV_B = 2;
+}