fix: adaptions for v2.1

test_against_schema.py

@@ -0,0 +1,111 @@
+import json
+import re
+import os
+import sys
+import vda5050_msgs.msg as vda
+
+
+def dromedary(non_dromedary_string) -> str:
+    x = camely(non_dromedary_string)
+    return x[0].lower() + x[1:]
+
+
+def camely(non_camel_string) -> str:
+    return "".join(word[0].upper() + word[1:] for word in non_camel_string.split("_"))
+
+
+def snakey(non_snake_string) -> str:
+    pattern = re.compile(r"(?<!^)(?=[A-Z])")
+    return pattern.sub("_", non_snake_string).lower()
+
+
+def convert_type(ros_type: str) -> str:
+    if ros_type == "uint32":
+        return "integer"
+    if ros_type == "double":
+        return "number"
+    if ros_type.startswith("sequence"):
+        return "array"
+    if ros_type.startswith("vda5050_msgs"):
+        return "object"
+    return ros_type
+
+
+def inferType(schema_type):
+    try:
+        return getattr(vda, camely(schema_type))
+    except AttributeError:
+        if schema_type == "information":
+            return vda.Info
+        raise KeyError(f"Could not infer type for {schema_type}")
+
+
+def checkSchemaAgainstType(schema, type, global_definitions):
+    for field, data_type in type.get_fields_and_field_types().items():
+        dromedary_field = dromedary(field)
+        field_description = f"'{dromedary_field}' of ROS message '{type.__name__}'"
+        if dromedary_field not in schema:
+            raise KeyError(f"{field_description} not in schema")
+        schema_type = schema[dromedary_field]["type"]
+        if isinstance(schema_type, list):
+            print(f"Skip type checking for '{field_description}' as it is a variant ")
+            continue
+        if schema_type != convert_type(data_type):
+            raise TypeError(
+                f"{field_description} should have type {schema_type} but has type {convert_type(data_type)}"
+            )
+    for field, data in schema.items():
+        if snakey(field) not in type.get_fields_and_field_types():
+            raise KeyError(
+                f"Field '{snakey(field)}' not in ROS message '{type.__name__}'"
+            )
+        if data["type"] == "array":
+            if "$ref" in data["items"]:
+                key = data["items"]["$ref"].split("/")[-1]
+                checkSchemaAgainstType(
+                    global_definitions[key]["properties"],
+                    inferType(key),
+                    global_definitions,
+                )
+            else:
+                # if it has a title use title otherwise infer it from field name (removing the plural s)
+                type_guess = data["items"].get("title", field.rstrip("s"))
+                checkSchemaAgainstType(
+                    data["items"]["properties"],
+                    inferType(type_guess),
+                    global_definitions,
+                )
+        elif data["type"] == "object":
+            for sub_field, sub_data in data["properties"].items():
+                if sub_data["type"] == "object":
+                    checkSchemaAgainstType(
+                        sub_data, inferType(sub_data["type"]), global_definitions
+                    )
+                elif sub_data["type"] == "array":
+                    if sub_data["items"]["type"] == "object":
+                        type_guess = sub_data["items"].get(
+                            "title", sub_field.rstrip("s")
+                        )
+                        checkSchemaAgainstType(
+                            sub_data["items"]["properties"],
+                            inferType(type_guess),
+                            global_definitions,
+                        )
+
+
+def checkSchemaFile(schema_file, type):
+    with open(schema_file) as f:
+        schema = json.load(f)
+    checkSchemaAgainstType(schema["properties"], type, schema.get("definitions", {}))
+
+
+if __name__ == "__main__":
+    folder = sys.argv[1]
+    for schema_file in os.listdir(folder):
+        if schema_file == "factsheet.schema":
+            print("Skip Checking Factsheet for now")
+            continue
+        checkSchemaFile(
+            os.path.join(folder, schema_file),
+            getattr(vda, camely(os.path.splitext(schema_file)[0])),
+        )

vda5050_msgs/CMakeLists.txt

@@ -24,16 +24,18 @@ set(msg_files
     "msg/BoundingBoxReference.msg"
     "msg/Connection.msg"
     "msg/ControlPoint.msg"
+    "msg/Corridor.msg"
     "msg/Edge.msg"
     "msg/EdgeState.msg"
     "msg/Error.msg"
     "msg/ErrorReference.msg"
+    "msg/Header.msg"
     "msg/Info.msg"
     "msg/InfoReference.msg"
-    "msg/Header.msg"
     "msg/InstantActions.msg"
     "msg/Load.msg"
     "msg/LoadDimensions.msg"
+    "msg/Map.msg"
     "msg/Node.msg"
     "msg/NodePosition.msg"
     "msg/NodeState.msg"
@@ -46,7 +48,7 @@ set(msg_files
 )
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
-  DEPENDENCIES 
+  DEPENDENCIES
     std_msgs
     builtin_interfaces
 )

vda5050_msgs/msg/ControlPoint.msg

@@ -2,9 +2,5 @@ float64 x           # X coordinate described in the world coordinate system.
 
 float64 y           # Y coordinate described in the world coordinate system.
 
-float64 orientation # [rad] Range [-pi...pi] Orientation of the AGV on this position of the curve.
-                    # The orientation is in world coordinates.
-                    # When not defined the orientation of the AGV will be tangential to the curve.
-
 float64 weight      # Range [0..infinity) The weight with which this control point pulls on the curve.
                     # When not defined, the default will be 1.0

vda5050_msgs/msg/Corridor.msg

@@ -0,0 +1,7 @@
+float64 left_width                  #  Defines the width of the corridor in meters to the left related to the trajectory of the vehicle.
+float64 right_width                 #  Defines the width of the corridor in meters to the right related to the trajectory of the vehicle.
+string corridor_ref_point           #  Defines whether the boundaries are valid for the kinematic center or the contour of the vehicle.
+
+#Enums for corridor_ref_point
+string KINEMATICCENTER="KINEMATICCENTER"
+string CONTOUR="CONTOUR"

vda5050_msgs/msg/Edge.msg

@@ -29,6 +29,8 @@ float64 orientation                 # [rad] Orientation of the AGV on the edge r
                                     # If a trajectory with orientation is defined, follow the trajectories orientation.
                                     # If a trajectory without orientation and the orientation field here is defined,
                                     # apply the orientation to the tangent of the trajectory.
+string orientation_type             # "GLOBAL"- relative to the global project specific map coordinate system;
+                                    # "TANGENTIAL"- tangential to the edge. If not defined, the default value is "TANGENTIAL"
 
 string direction                    # Sets direction at junctions for line-guided vehicles, to be defined initially
                                     # (vehicle individual) Example: left, right, straight, 433MHz
@@ -39,10 +41,15 @@ float64 max_rotation_speed          # [rad/s] Maximum rotation speed Optional: N
 vda5050_msgs/Trajectory trajectory  # Trajectory JSON-object for this edge as a NURBS. Defines the curve on which the
                                     # AGV should move between start_node and end_node. Optional: Can be omitted if AGV
                                     # cannot process trajectories or if AGV plans its own trajectory.
+vda5050_msgs/Corridor corridor      # Definition of boundaries in which a vehicle can deviate from its trajectory, e. g. to avoid obstacles.
 float64 length                      # [m] Length of the path from startNode to endNode. Optional: This value is used
                                     # by lineguided AGVs to decrease their speed before reaching a stop position.
 
 vda5050_msgs/Action[] actions       # Array of action_ids to be executed on the edge. An action triggered by an edge will
                                     # only be active for the time that the AGV is traversing the edge which triggered
                                     # the action. When the AGV leaves the edge, the action will stop and the state
                                     # before entering the edge will be restored.
+
+# Enum for orientation_type
+string GLOBAL="GLOBAL"
+string TANGENTIAL="TANGENTIAL"

vda5050_msgs/msg/Error.msg

@@ -6,7 +6,8 @@ string error_description                      # Error description
 string error_level                            # Enum {warning, fatal} warning: AGV is ready to start (e.g. maintenance
                                               # cycle expiration warning) fatal: AGV is not in running condition, user
                                               # intervention required (e.g. laser scanner is contaminated)
+string error_hint                             # Hint on how to approach or solve the reported error.
 
 # Enums for error_level
-string WARNING="warning"
-string FATAL="fatal"
+string WARNING="WARNING"
+string FATAL="FATAL"

vda5050_msgs/msg/InstantActions.msg

@@ -9,4 +9,4 @@ string manufacturer # Manufacturer of the AGV
 
 string serial_number # Serial Number of the AGV
 
-Action[] instant_actions # List of actions to execute
+Action[] actions # List of actions to execute

vda5050_msgs/msg/Load.msg

@@ -14,4 +14,4 @@ vda5050_msgs/BoundingBoxReference bounding_box_reference  # Point of reference f
 
 vda5050_msgs/LoadDimensions load_dimensions              # Dimensions of the load’s bounding box in meters.
 
-uint32 weight                                           # Absolute weight of the load measured in kg.
+float64 weight                                           # Absolute weight of the load measured in kg.

vda5050_msgs/msg/Map.msg

@@ -0,0 +1,8 @@
+string map_id                # ID of the map describing a defined area of the vehicle's workspace.
+string map_version           # Version of the map.
+string map_description       # Additional information on the map.
+string map_status            # Information on the status of the map indicating, if a map version is currently used on the vehicle. ENABLED: Indicates this map is currently active / used on the AGV. At most one map with the same mapId can have its status set to ENABLED.<br>DISABLED: Indicates this map version is currently not enabled on the AGV and thus could be enabled or deleted by request.
+
+# Enums for map status
+string ENABLED="ENABLED"
+string DISABLED="DISABLED"

vda5050_msgs/msg/State.msg

@@ -51,10 +51,6 @@ vda5050_msgs/AGVPosition agv_position                # Current position of the A
 
 vda5050_msgs/Velocity velocity                      # AGV's velocity in vehicle coordinates
 
-vda5050_msgs/Trajectory trajectory                   # The trajectory is to be communicated as a NURBS and is defined in
-                                                     # chapter 5.1. Optional: AGVs that plan their own path are to
-                                                     # communicate their path via a trajectory object.
-
 vda5050_msgs/Load[] loads                            # Loads that are currently handled by the AGV.
                                                      # Optional: If AGV cannot determine load state, leave the array out of the state.
                                                      # If the  AGV  can determine the  load  state,  but  the  array  is  empty,  the  AGV  is considered unloaded.
@@ -72,11 +68,10 @@ vda5050_msgs/Error[] errors                          # Array of errorobjects. Em
 
 vda5050_msgs/SafetyState safety_state                # Contains all safetyrelated information.
 
-vda5050_msgs/Info[] informations                     # Array of info-objects. An empty array indicates that the AGV has no information.
-                                                     # This should only be used for visualization or debugging – it must not be used for logic in master control
-                                                     # Changed to information with 2.0
-
-
+vda5050_msgs/Info[] information                     # Array of info-objects. An empty array indicates that the AGV has no information.
+                                                    # This should only be used for visualization or debugging – it must not be used for logic in master control
+                                                    # Changed to information with 2.0
+vda5050_msgs/Map[] maps                             #Array of map-objects that are currently stored on the vehicle.
 
                                                      # Enums for operatingMode
 string AUTOMATIC="AUTOMATIC"