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[Sprint 22/23 | PD-421] - [Enhancement] Use Jitsuyo For Utilities #19

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merged 8 commits into from
Jun 26, 2024
Merged

[Sprint 22/23 | PD-421] - [Enhancement] Use Jitsuyo For Utilities #19

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1d4a404
refactor: use jitsuyo config
Mobilizes Jun 16, 2024
a2c4c6e
refactor: use jitsuyo linux
Mobilizes Jun 16, 2024
dd3bdd6
refactor: change include order
Mobilizes Jun 19, 2024
3df0adc
refactor: small library order fix
Mobilizes Jun 19, 2024
a58adb5
refactor: use jitsuyo to load and save config
Mobilizes Jun 20, 2024
97c670b
refactor: change load config
Mobilizes Jun 21, 2024
e2ce17e
fix: add jitsuyo dependency in xml
Mobilizes Jun 24, 2024
eaa0483
refactor: fix library order
Mobilizes Jun 26, 2024
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11 changes: 6 additions & 5 deletions CMakeLists.txt
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Expand Up @@ -14,6 +14,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake REQUIRED)
find_package(jitsuyo REQUIRED)
find_package(keisan REQUIRED)
find_package(ninshiki_interfaces REQUIRED)
find_package(OpenCV REQUIRED)
Expand All @@ -36,25 +37,22 @@ add_library(${PROJECT_NAME} SHARED
"src/${PROJECT_NAME}/config/grpc/call_data_load_config.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_save_color_setting.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_set_color_setting.cpp"
"src/${PROJECT_NAME}/config/utils/config.cpp"
"src/${PROJECT_NAME}/detector/color_detector.cpp"
"src/${PROJECT_NAME}/detector/dnn_detector.cpp"
"src/${PROJECT_NAME}/detector/lbp_detector.cpp"
"src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp"
"src/${PROJECT_NAME}/utils/color.cpp"
"src/${PROJECT_NAME}/utils/contours.cpp"
"src/${PROJECT_NAME}/utils/circle.cpp"
"src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp"
"src/${PROJECT_NAME}/utils/utils.cpp")
"src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp")

add_library(${PROJECT_NAME}_exported SHARED
"src/${PROJECT_NAME}/detector/color_detector.cpp"
"src/${PROJECT_NAME}/detector/dnn_detector.cpp"
"src/${PROJECT_NAME}/detector/lbp_detector.cpp"
"src/${PROJECT_NAME}/utils/color.cpp"
"src/${PROJECT_NAME}/utils/contours.cpp"
"src/${PROJECT_NAME}/utils/circle.cpp"
"src/${PROJECT_NAME}/utils/utils.cpp")
"src/${PROJECT_NAME}/utils/circle.cpp")

target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
Expand All @@ -65,6 +63,7 @@ target_include_directories(${PROJECT_NAME}_exported PUBLIC
$<INSTALL_INTERFACE:include>)

ament_target_dependencies(${PROJECT_NAME}
jitsuyo
keisan
ninshiki_interfaces
OpenCV
Expand All @@ -75,6 +74,7 @@ ament_target_dependencies(${PROJECT_NAME}
gRPC)

ament_target_dependencies(${PROJECT_NAME}_exported
jitsuyo
keisan
ninshiki_interfaces
OpenCV
Expand Down Expand Up @@ -118,6 +118,7 @@ if(BUILD_TESTING)
endif()

ament_export_dependencies(
jitsuyo
keisan
ninshiki_interfaces
OpenCV
Expand Down
47 changes: 0 additions & 47 deletions include/ninshiki_cpp/config/utils/config.hpp
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1 change: 0 additions & 1 deletion include/ninshiki_cpp/detector/color_detector.hpp
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Expand Up @@ -24,7 +24,6 @@
#include "keisan/geometry/point_2.hpp"
#include "ninshiki_cpp/detector/detector.hpp"
#include "ninshiki_cpp/utils/color.hpp"
#include "ninshiki_cpp/utils/utils.hpp"
#include "ninshiki_interfaces/msg/point.hpp"
#include "ninshiki_interfaces/msg/contour.hpp"
#include "ninshiki_interfaces/msg/contours.hpp"
Expand Down
1 change: 0 additions & 1 deletion include/ninshiki_cpp/detector/detector.hpp
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Expand Up @@ -21,7 +21,6 @@
#ifndef NINSHIKI_CPP__DETECTOR__DETECTOR_HPP_
#define NINSHIKI_CPP__DETECTOR__DETECTOR_HPP_

#include "ninshiki_cpp/utils/utils.hpp"
#include "ninshiki_interfaces/msg/detected_object.hpp"
#include "ninshiki_interfaces/msg/detected_objects.hpp"

Expand Down
1 change: 0 additions & 1 deletion include/ninshiki_cpp/detector/dnn_detector.hpp
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Expand Up @@ -22,7 +22,6 @@
#define NINSHIKI_CPP__DETECTOR__DNN_DETECTOR_HPP_

#include "ninshiki_cpp/detector/detector.hpp"
#include "ninshiki_cpp/utils/utils.hpp"
#include "ninshiki_interfaces/msg/detected_object.hpp"
#include "ninshiki_interfaces/msg/detected_objects.hpp"

Expand Down
1 change: 0 additions & 1 deletion include/ninshiki_cpp/detector/lbp_detector.hpp
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Expand Up @@ -22,7 +22,6 @@
#define NINSHIKI_CPP__DETECTOR__LBP_DETECTOR_HPP_

#include "ninshiki_cpp/detector/detector.hpp"
#include "ninshiki_cpp/utils/utils.hpp"
#include "ninshiki_interfaces/msg/detected_object.hpp"
#include "ninshiki_interfaces/msg/detected_objects.hpp"

Expand Down
43 changes: 0 additions & 43 deletions include/ninshiki_cpp/utils/utils.hpp
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -7,6 +7,7 @@
<maintainer email="[email protected]">Nathanael</maintainer>
<license>MIT License</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>jitsuyo</depend>
<depend>keisan</depend>
<depend>libopencv-dev</depend>
<depend>ninshiki_interfaces</depend>
Expand Down
11 changes: 8 additions & 3 deletions src/ninshiki_cpp/config/grpc/call_data_get_color_setting.cpp
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Expand Up @@ -19,7 +19,8 @@
// THE SOFTWARE.

#include "ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp"
#include "ninshiki_cpp/config/utils/config.hpp"

#include "jitsuyo/config.hpp"
#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
#include "ninshiki_interfaces/ninshiki.pb.h"
#include "rclcpp/rclcpp.hpp"
Expand All @@ -46,8 +47,12 @@ void CallDataGetColorSetting::WaitForRequest()

void CallDataGetColorSetting::HandleRequest()
{
Config config(path_);
reply_.set_json_color(config.get_color_setting("color"));
nlohmann::json data;
if (!jitsuyo::load_config(path_, "color_classifier.json", data)) {
RCLCPP_ERROR(rclcpp::get_logger("Get config"), "Failed to load config!");
return;
}
reply_.set_json_color(data.dump());
RCLCPP_INFO(rclcpp::get_logger("Get config"), "config has been sent!");
}
} // namespace ninshiki_cpp
3 changes: 2 additions & 1 deletion src/ninshiki_cpp/config/grpc/call_data_load_config.cpp
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Expand Up @@ -19,9 +19,10 @@
// THE SOFTWARE.

#include "ninshiki_cpp/config/grpc/call_data_load_config.hpp"
#include "ninshiki_cpp/config/utils/config.hpp"

#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
#include "ninshiki_interfaces/ninshiki.pb.h"
#include "nlohmann/json.hpp"
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#include "rclcpp/rclcpp.hpp"

namespace ninshiki_cpp
Expand Down
6 changes: 3 additions & 3 deletions src/ninshiki_cpp/config/grpc/call_data_save_color_setting.cpp
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Expand Up @@ -19,7 +19,8 @@
// THE SOFTWARE.

#include "ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp"
#include "ninshiki_cpp/config/utils/config.hpp"

#include "jitsuyo/config.hpp"
#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
#include "ninshiki_interfaces/ninshiki.pb.h"
#include "nlohmann/json.hpp"
Expand Down Expand Up @@ -47,12 +48,11 @@ void CallDataSaveColorSetting::WaitForRequest()

void CallDataSaveColorSetting::HandleRequest()
{
Config config(path_);
try {
std::string json_string = request_.json_color();
nlohmann::json color_data = nlohmann::json::parse(json_string);

config.save_color_setting(color_data);
jitsuyo::save_config(path_, "color_classifier.json", color_data);
RCLCPP_INFO(rclcpp::get_logger("Save config"), "config has been saved!");
} catch (nlohmann::json::exception & e) {
RCLCPP_ERROR(rclcpp::get_logger("Save config"), e.what());
Expand Down
4 changes: 2 additions & 2 deletions src/ninshiki_cpp/config/grpc/call_data_set_color_setting.cpp
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Expand Up @@ -19,9 +19,10 @@
// THE SOFTWARE.

#include "ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp"
#include "ninshiki_cpp/config/utils/config.hpp"

#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
#include "ninshiki_interfaces/ninshiki.pb.h"
#include "nlohmann/json.hpp"
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#include "rclcpp/rclcpp.hpp"

namespace ninshiki_cpp
Expand All @@ -46,7 +47,6 @@ void CallDataSetColorSetting::WaitForRequest()

void CallDataSetColorSetting::HandleRequest()
{
Config config(path_);
try {
utils::Color color(
request_.name(),
Expand Down
10 changes: 7 additions & 3 deletions src/ninshiki_cpp/config/grpc/config.cpp
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Expand Up @@ -18,14 +18,14 @@
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.

#include "jitsuyo/config.hpp"
#include "rclcpp/rclcpp.hpp"
#include "ninshiki_cpp/config/grpc/call_data_base.hpp"
#include "ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp"
#include "ninshiki_cpp/config/grpc/call_data_load_config.hpp"
#include "ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp"
#include "ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp"
#include "ninshiki_cpp/config/grpc/config.hpp"
#include "ninshiki_cpp/config/utils/config.hpp"

#include <chrono>
#include <csignal>
Expand Down Expand Up @@ -54,9 +54,13 @@ void ConfigGrpc::SignIntHandler(int signum)

void ConfigGrpc::Run(const std::string & path, std::shared_ptr<ninshiki_cpp::detector::ColorDetector> color_detection)
{
Config config(path);
nlohmann::json grpc_config;
if (!jitsuyo::load_config(path, "grpc.json", grpc_config)) {
RCLCPP_ERROR(rclcpp::get_logger("ConfigGrpc"), "Failed to load grpc config");
return;
}
std::string server_address =
absl::StrFormat("0.0.0.0:%d", config.get_grpc_config()["port"].get<uint16_t>());
absl::StrFormat("0.0.0.0:%d", grpc_config["port"].get<uint16_t>());

ServerBuilder builder;
builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
Expand Down
58 changes: 0 additions & 58 deletions src/ninshiki_cpp/config/utils/config.cpp
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