From 5ad83ad353e37dd10fd988f43c78d573ee19348a Mon Sep 17 00:00:00 2001
From: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Wed, 17 Apr 2024 07:15:24 +0200
Subject: [PATCH] feat: add modulo interface package (#74)

---
 CHANGELOG.md                                  |  1 +
 source/modulo_interfaces/CMakeLists.txt       | 10 +++++++++
 source/modulo_interfaces/README.md            |  1 +
 source/modulo_interfaces/msg/Predicate.msg    |  2 ++
 .../msg/PredicateCollection.msg               |  6 +++++
 source/modulo_interfaces/package.xml          | 22 +++++++++++++++++++
 source/modulo_interfaces/srv/EmptyTrigger.srv |  3 +++
 .../modulo_interfaces/srv/StringTrigger.srv   |  4 ++++
 8 files changed, 49 insertions(+)
 create mode 100644 source/modulo_interfaces/CMakeLists.txt
 create mode 100644 source/modulo_interfaces/README.md
 create mode 100644 source/modulo_interfaces/msg/Predicate.msg
 create mode 100644 source/modulo_interfaces/msg/PredicateCollection.msg
 create mode 100644 source/modulo_interfaces/package.xml
 create mode 100644 source/modulo_interfaces/srv/EmptyTrigger.srv
 create mode 100644 source/modulo_interfaces/srv/StringTrigger.srv

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b10f46ba7..9c043307d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,7 @@ Release Versions:
 - chore: fix links in readme (#68)
 - feat: add mutex around step callback (#67)
 - feat: add warn log when topics are sanitized (#66)
+- feat: add modulo interface package (#73)
 
 ## 4.0.0
 
diff --git a/source/modulo_interfaces/CMakeLists.txt b/source/modulo_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..88a68779e
--- /dev/null
+++ b/source/modulo_interfaces/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.15)
+project(modulo_interfaces)
+
+find_package(rosidl_default_generators REQUIRED)
+
+file(GLOB MSGS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} msg/*.msg)
+file(GLOB SRVS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} srv/*.srv)
+rosidl_generate_interfaces(${PROJECT_NAME} ${MSGS} ${SRVS})
+
+ament_package()
\ No newline at end of file
diff --git a/source/modulo_interfaces/README.md b/source/modulo_interfaces/README.md
new file mode 100644
index 000000000..c971cb7e2
--- /dev/null
+++ b/source/modulo_interfaces/README.md
@@ -0,0 +1 @@
+# Modulo Interfaces
\ No newline at end of file
diff --git a/source/modulo_interfaces/msg/Predicate.msg b/source/modulo_interfaces/msg/Predicate.msg
new file mode 100644
index 000000000..07c2abee3
--- /dev/null
+++ b/source/modulo_interfaces/msg/Predicate.msg
@@ -0,0 +1,2 @@
+string predicate
+bool value
\ No newline at end of file
diff --git a/source/modulo_interfaces/msg/PredicateCollection.msg b/source/modulo_interfaces/msg/PredicateCollection.msg
new file mode 100644
index 000000000..d59c7f809
--- /dev/null
+++ b/source/modulo_interfaces/msg/PredicateCollection.msg
@@ -0,0 +1,6 @@
+uint8 COMPONENT=1
+uint8 CONTROLLER=2
+
+uint8 type
+string node
+modulo_interfaces/Predicate[] predicates
\ No newline at end of file
diff --git a/source/modulo_interfaces/package.xml b/source/modulo_interfaces/package.xml
new file mode 100644
index 000000000..29be190a0
--- /dev/null
+++ b/source/modulo_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>modulo_interfaces</name>
+  <version>0.1.0</version>
+  <description>Interface package for modulo communication through the ROS framework</description>
+  <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
+  <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rcl_interfaces</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/source/modulo_interfaces/srv/EmptyTrigger.srv b/source/modulo_interfaces/srv/EmptyTrigger.srv
new file mode 100644
index 000000000..cf5bd38fd
--- /dev/null
+++ b/source/modulo_interfaces/srv/EmptyTrigger.srv
@@ -0,0 +1,3 @@
+---
+bool success
+string message
\ No newline at end of file
diff --git a/source/modulo_interfaces/srv/StringTrigger.srv b/source/modulo_interfaces/srv/StringTrigger.srv
new file mode 100644
index 000000000..92d543837
--- /dev/null
+++ b/source/modulo_interfaces/srv/StringTrigger.srv
@@ -0,0 +1,4 @@
+string payload
+---
+bool success
+string message
\ No newline at end of file