merge app_manager_utils to app_manager

app_notification_saver/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(app_notification_saver)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  rospy
+)
+
+add_service_files(
+  FILES SaveAppNotification.srv
+)
+
+catkin_python_setup()
+
+generate_messages()
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+)

app_notification_saver/README.md

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+# app_notification_saver
+
+Plugins and nodes to save notification to json file and pass it to `app_notifier`
+
+## `app_manager` plugins
+
+### `app_notification_saver/service_notification_saver`: General notification saver plugin
+
+This plugin saves notification via service call.
+
+#### `plugin_args`: Plugin arguments
+
+`None`
+
+#### `launch_args`: Plugin launch arguments
+
+- `json_path` : JSON path
+
+#### Sample plugin description
+
+```yaml
+plugins:
+  - name: service_notification_saver
+    type: app_notification_saver/service_notification_saver
+    launch_args:
+      json_path: /tmp/app_notification.json
+```
+
+#### Save app notification
+
+You can save app notification with service call.
+
+```bash
+rosservice call /service_notification_saver/save_app_notification "title: 'object recognition'
+stamp:
+  secs: 1627467479
+  nsecs: 13279914
+location: 'kitchen'
+message: 'Dish is found'"
+```
+
+#### Clear app notification
+
+You can also clear app notification.
+
+```bash
+rosservice call /service_notification_saver/clear_app_notification "{}"
+```
+
+### `app_notification_saver/smach_notification_saver`: SMACH notification saver plugin
+
+This plugin saves notification via service call.
+
+#### `plugin_args`: Plugin arguments
+
+`None`
+
+#### `launch_args`: Plugin launch arguments
+
+- `json_path` : JSON path
+- `smach_status_topic`: SMACH status topic name
+
+#### Sample plugin description
+
+```yaml
+plugins:
+  - name: smach_notification_saver
+    type: app_notification_saver/smach_notification_saver
+    launch_args:
+      json_path: /tmp/app_notification.json
+      smach_status_topic: /server_name/smach/container_status
+```
+
+## Nodes
+
+### `service_notification_saver_node.py`: Node for general notification saver
+
+Save notification node via service call.
+
+#### Services
+
+- `~save_app_notification` (`app_notification_saver/SaveAppNotification`)
+
+  Service to save app notification to JSON.
+
+- `~clear_app_notification` (`std_srvs/Empty`)
+
+  Service to clear app notification in JSON.
+
+#### Parameters
+
+- `~json_path` (`String`, default: `/tmp/app_notification.json`)
+
+  Path to json file which contains app notification
+
+#### Sample
+
+##### Launch service_notification_saver node
+
+```bash
+roslaunch app_notification_saver service_notification_saver.launch
+```
+
+##### Save app notification
+
+You can save app notification with service call.
+
+```bash
+rosservice call /service_notification_saver/save_app_notification "title: 'object recognition'
+stamp:
+  secs: 1627467479
+  nsecs: 13279914
+location: 'kitchen'
+message: 'Dish is found'"
+```
+
+##### Clear app notification
+
+You can also clear app notification.
+
+```bash
+rosservice call /service_notification_saver/clear_app_notification "{}"
+```
+
+##### Check output JSON
+
+The sample output of the json file is like below:
+
+```json
+{
+    "object recognition": [
+        {
+            "date": "2021-07-28T19:17:59",
+            "message": "Dish is found",
+            "location": "kitchen"
+        },
+        {
+            "date": "2021-07-28T19:18:09",
+            "message": "Cup is found",
+            "location": "kitchen"
+        }
+    ],
+    "navigation failure": [
+        {
+            "date": "2021-07-28T19:18:29",
+            "message": "Stucked in front of the chair",
+            "location": "living room"
+        }
+    ]
+}
+```
+
+### `smach_notification_saver_node.py`: Node for SMACH notification saver
+
+Save notification of smach state.
+
+#### Subscribe topics
+
+- `~smach/container_status` (`smach_msgs/SmachContainerStatus`, default: `/server_name/smach/container_status`)
+
+  Smach status topic
+
+#### Parameters
+
+- `~json_path` (`String`, default: `/tmp/app_notification.json`)
+
+  Path to json file which contains app notification
+
+#### Sample
+
+##### Launch smach_notification_saver node
+
+```bash
+# Launch only smach_notification_saver node
+roslaunch app_notification_saver smach_notification_saver.launch
+
+# Sample
+# Launch smach_notification_saver node and rosbag
+roslaunch app_notification_saver sample_smach_notification_saver.launch --screen
+```

app_notification_saver/app_notification_saver_plugin.yaml

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+- name: app_notification_saver/service_notification_saver
+  launch: app_notification_saver/service_notification_saver.launch
+  module: null
+- name: app_notification_saver/smach_notification_saver
+  launch: app_notification_saver/smach_notification_saver.launch
+  module: null

app_notification_saver/launch/service_notification_saver.launch

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+<launch>
+  <!-- start: arguments -->
+  <arg name="json_path" default="/tmp/app_notification.json" />
+  <!-- end: arguments -->
+
+  <node name="service_notification_saver" pkg="app_notification_saver"
+        type="service_notification_saver_node.py">
+    <rosparam subst_value="true">
+      json_path: $(arg json_path)
+    </rosparam>
+  </node>
+</launch>

app_notification_saver/launch/smach_notification_saver.launch

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+<launch>
+  <!-- start: arguments -->
+  <arg name="json_path" default="/tmp/app_notification.json" />
+  <arg name="smach_status_topic" default="/server_name/smach/container_status" />
+  <!-- end: arguments -->
+
+  <node name="smach_notification_saver" pkg="app_notification_saver"
+        type="smach_notification_saver_node.py" >
+    <remap from="~smach/container_status" to="$(arg smach_status_topic)" />
+    <rosparam subst_value="true">
+      json_path: $(arg json_path)
+    </rosparam>
+  </node>
+</launch>

app_notification_saver/node_scripts/service_notification_saver_node.py

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+#!/usr/bin/env python
+
+import rospy
+
+from app_notification_saver import ServiceNotificationSaver
+
+
+if __name__ == '__main__':
+    rospy.init_node('service_notification_saver_node')
+    ServiceNotificationSaver()
+    rospy.spin()

app_notification_saver/node_scripts/smach_notification_saver_node.py

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+#!/usr/bin/env python
+
+import rospy
+
+from app_notification_saver import SmachNotificationSaver
+
+if __name__ == '__main__':
+    rospy.init_node('smach_notification_saver_node')
+    SmachNotificationSaver()
+    rospy.spin()

app_notification_saver/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>app_notification_saver</name>
+  <version>1.3.0</version>
+  <description>The app_notification_saver package</description>
+
+  <maintainer email="[email protected]">Shingo Kitagawa</maintainer>
+  <author email="[email protected]">Naoya Yamaguchi</author>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+  <exec_depend>app_manager</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>smach_msgs</exec_depend>
+
+  <export>
+    <app_manager plugin="${prefix}/app_notification_saver_plugin.yaml" />
+  </export>
+</package>

app_notification_saver/sample/sample_smach_notification_saver.launch

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+<launch>
+  <node name="rosbag_play" pkg="rosbag" type="play"
+        args="$(find app_notification_saver)/data/smach.bag --clock"
+        output="screen" required="true" />
+
+  <include file="$(find app_notification_saver)/launch/smach_notification_saver.launch" >
+    <arg name="smach_status_topic" value="/server_name/smach/container_status" />
+  </include>
+</launch>

app_notification_saver/setup.py

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+from catkin_pkg.python_setup import generate_distutils_setup
+from setuptools import find_packages
+from setuptools import setup
+
+
+d = generate_distutils_setup(
+    packages=find_packages('src'),
+    package_dir={'': 'src'},
+)
+
+setup(**d)

app_notification_saver/src/app_notification_saver/__init__.py

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+from app_notification_saver.app_notification_saver_base import AppNotificationSaver  # NOQA
+from app_notification_saver.service_notification_saver import ServiceNotificationSaver  # NOQA
+from app_notification_saver.smach_notification_saver import SmachNotificationSaver  # NOQA

app_notification_saver/src/app_notification_saver/app_notification_saver_base.py

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+import datetime
+import json
+import os
+import rospy
+
+
+class AppNotificationSaver(object):
+    def __init__(self):
+        self.json_path = rospy.get_param(
+            '~json_path', '/tmp/app_notification.json')
+
+    def save_app_notification(self, title, stamp, location, message):
+        """
+        Save app notification to json file.
+
+        Args:
+            title (str)   : Notification title (e.g. object detection, navigation faliure ...) # NOQA
+            stamp (float) : UNIX time when the event occurred
+            location (str): The location where the event occurred
+            message (str) : Notification message
+
+        Returns:
+            Result of whether the json was saved. (bool)
+        """
+        # Load notification json
+        if os.path.exists(self.json_path):
+            with open(self.json_path, 'r') as j:
+                notification = json.load(j)
+        else:
+            notification = {}
+        # Append notification
+        stamp = datetime.datetime.fromtimestamp(stamp)
+        new_notification = {'date': stamp.isoformat(),
+                            'location': location,
+                            'message': message}
+        if title in notification:
+            notification[title].append(new_notification)
+        else:
+            notification[title] = [new_notification]
+        # Dump json
+        with open(self.json_path, 'w') as j:
+            json.dump(notification, j, indent=4)
+        rospy.loginfo(json.dumps(notification, indent=4))

app_notification_saver/src/app_notification_saver/service_notification_saver.py

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+import os
+import rospy
+
+from app_notification_saver import AppNotificationSaver
+
+from app_notification_saver.srv import SaveAppNotification
+from app_notification_saver.srv import SaveAppNotificationResponse
+from std_srvs.srv import Empty
+from std_srvs.srv import EmptyResponse
+
+
+class ServiceNotificationSaver(AppNotificationSaver):
+    def __init__(self):
+        super(ServiceNotificationSaver, self).__init__()
+        rospy.Service(
+            '~save_app_notification',
+            SaveAppNotification,
+            self.save_service_notification_cb)
+        rospy.Service(
+            '~clear_app_notification',
+            Empty,
+            self.clear_app_notification_cb)
+
+    def save_service_notification_cb(self, req):
+        self.save_app_notification(
+            req.title, float(req.stamp.secs), req.location, req.message)
+        return SaveAppNotificationResponse(True)
+
+    def clear_app_notification_cb(self, req):
+        if os.path.exists(self.json_path):
+            os.remove(self.json_path)
+            rospy.loginfo('Remove file {}'.format(self.json_path))
+        return EmptyResponse()