Update example

config/all_disable.yaml

@@ -0,0 +1,26 @@
+# Configuration that disables everything
+# Allows us to overload the config:=... arguments such that we only launch certain nodes (useful for integration testing)
+network_systems:
+  can_transceiver_node:
+    ros__parameters:
+      enabled: false
+
+  can_transceiver_sim_node:
+    ros__parameters:
+      enabled: false
+
+  cached_fib_subscriber:
+    ros__parameters:
+      enabled: false
+
+  local_transceiver_node:
+    ros__parameters:
+      enabled: false
+
+  mock_ais_node:
+    ros__parameters:
+      enabled: false
+
+  remote_transceiver_node:
+    ros__parameters:
+      enabled: false

config/default_prod_en.yaml

@@ -8,7 +8,7 @@ network_systems:
     ros__parameters:
       enabled: false
 
-  cached_fib_subscriber:
+  cached_fib_node:
     ros__parameters:
       enabled: false
 

config/example/example_en.yaml

@@ -1,5 +1,5 @@
 # Configuration that enables the cached_fib example module
 network_systems:
-  cached_fib_subscriber:
+  cached_fib_node:
     ros__parameters:
       enabled: true

launch/main_launch.py

@@ -86,7 +86,7 @@ def get_cached_fib_description(context: LaunchContext) -> Node:
     Returns:
         Node: The node object that launches the cached_fib node.
     """
-    node_name = "cached_fib_subscriber"
+    node_name = "cached_fib_node"
     ros_parameters = [
         global_launch_config,
         {"mode": LaunchConfiguration("mode")},

projects/example/CMakeLists.txt

@@ -19,7 +19,7 @@ make_lib(${module} "${srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")
 # Create module ROS executable
 set(bin_srcs
     ${srcs}
-    ${CMAKE_CURRENT_LIST_DIR}/src/cached_fib_subscriber.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/cached_fib_ros_intf.cpp
 )
 make_exe(${module} "${bin_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")
 

projects/example/README.md

@@ -2,8 +2,12 @@
 
 This is a simple example program to showcase and evaluate the workspace structure for Network Systems.
 
-Run it with `ros2 run network_systems example`, and publish to it using
-    `ros2 topic pub /cached_fib std_msgs/msg/UInt64 "{data: <some number>}" --once`.
+Run it with `ros2 run network_systems example --ros-args -p enabled:=true`.
 
-Alternatively, using launch files run `ros2 launch network_systems example`, and publish to it using
-    `ros2 topic pub /example/cached_fib std_msgs/msg/UInt64 "{data: <some number>}" --once`.
+Alternatively, using launch files run `ros2 launch network_systems main_launch.py config:=example/example_en.yaml`.
+
+Publish to the topic using: `ros2 topic pub cached_fib_in std_msgs/msg/UInt64 "{data: <some number>}" --once`. Run it
+without the `--once` flag to repeatedly publish.
+
+The output will be shown in the terminal where the example is running. You can also see the output by running
+`ros2 topic echo cached_fib_out` before sending the publish command.

projects/example/inc/cached_fib.h

@@ -3,7 +3,8 @@
 #include <string>
 #include <vector>
 
-constexpr auto CACHED_FIB_TOPIC = "cached_fib";
+constexpr auto CACHED_FIB_TOPIC_IN  = "cached_fib_in";
+constexpr auto CACHED_FIB_TOPIC_OUT = "cached_fib_out";
 
 class CachedFib
 {

projects/example/src/cached_fib_ros_intf.cpp

@@ -0,0 +1,57 @@
+// Include this module
+#include "cached_fib.h"
+// Include ROS headers
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/u_int64.hpp>
+
+namespace
+{
+constexpr int ROS_Q_SIZE    = 10;
+constexpr int INIT_FIB_SIZE = 5;
+}  // namespace
+
+class CachedFibNode : public rclcpp::Node
+{
+public:
+    explicit CachedFibNode(const std::size_t initSize) : Node("cached_fib_node"), c_fib_(initSize)
+    {
+        this->declare_parameter("enabled", false);
+        bool enabled = this->get_parameter("enabled").as_bool();
+        if (enabled) {
+            RCLCPP_INFO(this->get_logger(), "Running example cached fib node");
+
+            // This registers a callback function that gets called whenever CACHED_FIB_TOPIC_IN gets updated
+            sub_ = this->create_subscription<std_msgs::msg::UInt64>(
+              CACHED_FIB_TOPIC_IN, ROS_Q_SIZE, std::bind(&CachedFibNode::subCb, this, std::placeholders::_1));
+
+            pub_ = this->create_publisher<std_msgs::msg::UInt64>(CACHED_FIB_TOPIC_OUT, ROS_Q_SIZE);
+        }
+    }
+
+private:
+    CachedFib                                              c_fib_;
+    rclcpp::Subscription<std_msgs::msg::UInt64>::SharedPtr sub_;
+    rclcpp::Publisher<std_msgs::msg::UInt64>::SharedPtr    pub_;
+
+    /**
+     * @brief Callback function that runs whenever the subscribed topic is updated
+     *
+     * @param in_msg msg that was sent to the topic
+     */
+    void subCb(const std_msgs::msg::UInt64::SharedPtr in_msg)
+    {
+        int fibNum = this->c_fib_.getFib(in_msg->data);
+        RCLCPP_INFO(this->get_logger(), "Fib num for '%lu' is '%d'", in_msg->data, fibNum);
+        std_msgs::msg::UInt64 out_msg{};
+        out_msg.data = fibNum;
+        pub_->publish(out_msg);
+    }
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<CachedFibNode>(INIT_FIB_SIZE));
+    rclcpp::shutdown();
+    return 0;
+}