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Add zenoh service files & generators (#116)
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* Add zenoh service files & generators
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@civerachb-cpr
civerachb-cpr authored Jan 13, 2025
1 parent 0e7d3f9 commit ef8bdab
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Showing 3 changed files with 88 additions and 37 deletions.
3 changes: 3 additions & 0 deletions clearpath_robot/scripts/generate
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ source /etc/clearpath/setup.bash
# Generate discovery server start file
ros2 run clearpath_generator_common generate_discovery_server

# Generate Zenoh router start file
ros2 run clearpath_generator_common generate_zenoh_router

# Generate vcan bridge start file
ros2 run clearpath_generator_common generate_vcan

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108 changes: 71 additions & 37 deletions clearpath_robot/scripts/install
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@ from ament_index_python.packages import get_package_share_directory

import os

import robot_upstart.providers


class VirtualCANProvider(robot_upstart.providers.Generic):
def post_install(self):
Expand All @@ -55,16 +57,16 @@ class VirtualCANProvider(robot_upstart.providers.Generic):
with open(vcan_bridge_path) as f:
vcan_bridge_contents = f.read()
return {
"/lib/systemd/system/clearpath-vcan.service": {
"content": vcan_service_contents,
"mode": 0o644
'/lib/systemd/system/clearpath-vcan.service': {
'content': vcan_service_contents,
'mode': 0o644
},
"/usr/sbin/clearpath-vcan-bridge": {
"content": vcan_bridge_contents,
"mode": 0o755
'/usr/sbin/clearpath-vcan-bridge': {
'content': vcan_bridge_contents,
'mode': 0o755
},
"/etc/systemd/system/clearpath-robot.service.wants/clearpath-vcan.service": {
"symlink": "/lib/systemd/system/clearpath-vcan.service"
'/etc/systemd/system/clearpath-robot.service.wants/clearpath-vcan.service': {
'symlink': '/lib/systemd/system/clearpath-vcan.service'
},
}

Expand All @@ -86,12 +88,12 @@ class PlatformProvider(robot_upstart.providers.Generic):
line = 'User={0}\n'.format(clearpath_config.system.username)
platform_service_contents += line
return {
"/lib/systemd/system/clearpath-platform.service": {
"content": platform_service_contents,
"mode": 0o644
'/lib/systemd/system/clearpath-platform.service': {
'content': platform_service_contents,
'mode': 0o644
},
"/etc/systemd/system/clearpath-robot.service.wants/clearpath-platform.service": {
"symlink": "/lib/systemd/system/clearpath-platform.service"
'/etc/systemd/system/clearpath-robot.service.wants/clearpath-platform.service': {
'symlink': '/lib/systemd/system/clearpath-platform.service'
}
}

Expand All @@ -113,12 +115,12 @@ class SensorsProvider(robot_upstart.providers.Generic):
line = 'User={0}\n'.format(clearpath_config.system.username)
sensors_service_contents += line
return {
"/lib/systemd/system/clearpath-sensors.service": {
"content": sensors_service_contents,
"mode": 0o644
'/lib/systemd/system/clearpath-sensors.service': {
'content': sensors_service_contents,
'mode': 0o644
},
"/etc/systemd/system/clearpath-robot.service.wants/clearpath-sensors.service": {
"symlink": "/lib/systemd/system/clearpath-sensors.service"
'/etc/systemd/system/clearpath-robot.service.wants/clearpath-sensors.service': {
'symlink': '/lib/systemd/system/clearpath-sensors.service'
}
}

Expand All @@ -140,12 +142,12 @@ class ManipulatorsProvider(robot_upstart.providers.Generic):
line = 'User={0}\n'.format(clearpath_config.system.username)
manipulators_service_contents += line
return {
"/lib/systemd/system/clearpath-manipulators.service": {
"content": manipulators_service_contents,
"mode": 0o644
'/lib/systemd/system/clearpath-manipulators.service': {
'content': manipulators_service_contents,
'mode': 0o644
},
"/etc/systemd/system/clearpath-robot.service.wants/clearpath-manipulators.service": {
"symlink": "/lib/systemd/system/clearpath-manipulators.service"
'/etc/systemd/system/clearpath-robot.service.wants/clearpath-manipulators.service': {
'symlink': '/lib/systemd/system/clearpath-manipulators.service'
}
}

Expand All @@ -168,16 +170,44 @@ class DiscoveryServerProvider(robot_upstart.providers.Generic):
discovery_service_contents += line

return {
"/lib/systemd/system/clearpath-discovery.service": {
"content": discovery_service_contents,
"mode": 0o644
'/lib/systemd/system/clearpath-discovery.service': {
'content': discovery_service_contents,
'mode': 0o644
},
"/etc/systemd/system/clearpath-robot.service.wants/clearpath-discovery.service": {
"symlink": "/lib/systemd/system/clearpath-discovery.service"
'/etc/systemd/system/clearpath-robot.service.wants/clearpath-discovery.service': {
'symlink': '/lib/systemd/system/clearpath-discovery.service'
}
}


class ZenohRouterServiceProvider(robot_upstart.providers.Generic):
def post_install(self):
pass

def generate_install(self):
zenoh_router_service_path = os.path.join(
get_package_share_directory('clearpath_robot'),
'services/clearpath-zenoh-router.service')
with open(zenoh_router_service_path) as f:
zenoh_router_service_contents: str = ''
zenoh_router_lines = f.readlines()
for line in zenoh_router_lines:
# Replace User with username from config
if 'User=' in line:
line = f'User={clearpath_config.system.username}\n'
zenoh_router_service_contents += line

return {
'/lib/systemd/system/clearpath-zenoh-router.service': {
'content': zenoh_router_service_contents,
'mode': 0o644
},
'/etc/systemd/system/clearpath-robot.service.wants/clearpath-zenoh-router.service': {
'symlink': '/lib/systemd/system/clearpath-zenoh-router.service'
}
}


class RobotProvider(robot_upstart.providers.Generic):
def post_install(self):
pass
Expand Down Expand Up @@ -206,17 +236,17 @@ class RobotProvider(robot_upstart.providers.Generic):
with open(robot_service_exec_contents_path) as f:
robot_service_exec_contents = f.read()
return {
"/lib/systemd/system/clearpath-robot.service": {
"content": robot_service_contents,
"mode": 0o644
'/lib/systemd/system/clearpath-robot.service': {
'content': robot_service_contents,
'mode': 0o644
},
"/usr/sbin/clearpath-robot-generate": {
"content": robot_service_execpre_contents,
"mode": 0o755
'/usr/sbin/clearpath-robot-generate': {
'content': robot_service_execpre_contents,
'mode': 0o755
},
"/usr/sbin/clearpath-robot-check": {
"content": robot_service_exec_contents,
"mode": 0o755
'/usr/sbin/clearpath-robot-check': {
'content': robot_service_exec_contents,
'mode': 0o755
}
}

Expand Down Expand Up @@ -297,6 +327,10 @@ manipulators_extras.install(Provider=ManipulatorsProvider)
discovery_server = robot_upstart.Job(workspace_setup=workspace_setup)
discovery_server.install(Provider=DiscoveryServerProvider)

# Zenoh Router
zenoh_router = robot_upstart.Job(workspace_setup=workspace_setup)
zenoh_router.install(Provider=ZenohRouterServiceProvider)

# Virtual CAN Bridge
vcan_bridge = robot_upstart.Job(workspace_setup=workspace_setup)
vcan_bridge.install(Provider=VirtualCANProvider)
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14 changes: 14 additions & 0 deletions clearpath_robot/services/clearpath-zenoh-router.service
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
[Unit]
Description="Clearpath Zenoh router service"
PartOf=clearpath-robot.service
After=clearpath-robot.service

[Service]
User=administrator
Type=simple
Restart=on-failure
RestartSec=1
ExecStart=/bin/bash -e /etc/clearpath/zenoh-router-start

[Install]
WantedBy=clearpath-robot.service

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