more examples

.gitignore

@@ -1 +1,3 @@
-/target
+/target
+/out
+/_work

Cargo.toml

@@ -20,3 +20,4 @@ dunce = "1.0.2"
 tracing = "0.1.36"
 
 port_check = "0.3"
+which = "8.0.0"

README.md

@@ -18,3 +18,5 @@ available example name (verified :ok_hand:):
 - rust-dataflow-url
 - rust-dataflow-git
 - multiple-daemons(ci run is not implemented yet)
+- [customed-ros2-dataflow](./examples/customed-ros2-dataflow/README.md)
+- zenoh-dataflow

examples/c-dataflow/main.rs

@@ -1,5 +1,5 @@
 use dora_tracing::set_up_tracing;
-use eyre::{bail, Context};
+use eyre::{Context, bail};
 use std::{
     env::consts::{DLL_PREFIX, DLL_SUFFIX, EXE_SUFFIX},
     path::Path,
@@ -8,7 +8,7 @@ use std::{
 #[tokio::main]
 async fn main() -> eyre::Result<()> {
     set_up_tracing("c-dataflow-runner").wrap_err("failed to set up tracing")?;
-    
+
     let dora = std::path::PathBuf::from(std::env::var("DORA").unwrap());
     let root = Path::new(env!("CARGO_MANIFEST_DIR"));
     std::env::set_current_dir(root.join(file!()).parent().unwrap())
@@ -25,7 +25,7 @@ async fn main() -> eyre::Result<()> {
         build_dir.join("node_api.h"),
     )
     .await?;
-    
+
     build_c_node(&dora, "node.c", "c_node").await?;
     build_c_node(&dora, "sink.c", "c_sink").await?;
     build_c_node(&dora, "counter.c", "c_counter").await?;
@@ -39,13 +39,14 @@ async fn main() -> eyre::Result<()> {
 async fn build_package(package: &str) -> eyre::Result<()> {
     let dora = std::env::var("DORA").unwrap();
     let cargo = std::env::var("CARGO").unwrap();
-    
+
     let mut cmd = tokio::process::Command::new("bash");
     let manifest = std::path::PathBuf::from(dora).join("Cargo.toml");
     let manifest = manifest.to_str().unwrap();
-    cmd.args(["-c",
-        &format!("cargo build --release --manifest-path {manifest} --package {package}",
-  )]);
+    cmd.args([
+        "-c",
+        &format!("cargo build --release --manifest-path {manifest} --package {package}",),
+    ]);
     if !cmd.status().await?.success() {
         bail!("failed to compile {package}");
     };
@@ -57,7 +58,8 @@ async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> {
     let dora = std::env::var("DORA").unwrap();
     let mut cmd = tokio::process::Command::new(&cargo);
     cmd.arg("run");
-    cmd.arg("--manifest-path").arg(std::path::PathBuf::from(dora).join("Cargo.toml"));
+    cmd.arg("--manifest-path")
+        .arg(std::path::PathBuf::from(dora).join("Cargo.toml"));
     cmd.arg("--package").arg("dora-cli");
     cmd.arg("--release");
     cmd.arg("--")

examples/cmake-dataflow/main.rs

@@ -1,5 +1,5 @@
 use dora_tracing::set_up_tracing;
-use eyre::{bail, Context};
+use eyre::{Context, bail};
 use std::path::Path;
 
 #[tokio::main]

examples/customed-ros2-dataflow/README.md

@@ -0,0 +1,57 @@
+# ROS2 Integration with Dora
+
+This example demonstrates how to integrate ROS2 nodes with Dora's dataflow framework.
+
+## Prerequisites
+
+- ROS2 installed (tested with ROS2 Jazzy)
+- Dora framework installed
+- Rust toolchain
+- `colcon` build system
+
+## Environment Setup
+
+Set the following environment variables:
+
+```bash
+# Point to your Dora repository
+export DORA=/path/to/dora
+
+# Point to your ROS2 setup script
+export ROS=/opt/ros/jazzy/setup.bash
+```
+
+## Examples
+
+### 1. ROS2 Service Integration (Dora as Server)
+
+```bash
+cargo run --example customed-ros2-dataflow service
+```
+
+Uses `dataflow.yml` and the `add_client` ROS package.
+
+### 2. ROS2 Action Integration (Dora as Client)
+
+```bash
+cargo run --example customed-ros2-dataflow action
+```
+
+Uses `dataflow_action.yml` and the `fibonacci_action_server` ROS package.
+
+## Usage
+
+```
+cargo run --example customed-ros2-dataflow [service|action]
+```
+
+- `service`: Dora acts as a server, terminates after ROS client finishes
+- `action`: Dora acts as a client, terminates the ROS server after completing its work
+
+## Files
+
+- `main.rs` - Example runner
+- `dataflow.yml` - Service example configuration
+- `dataflow_action.yml` - Action example configuration
+- `dora_nodes/src/dora_server.rs` - ROS2 service server implementation
+- `dora_nodes/src/dora_action_client.rs` - ROS2 action client implementation

examples/customed-ros2-dataflow/customed_interfaces/CMakeLists.txt

@@ -18,6 +18,7 @@ rosidl_generate_interfaces(
     "msg/Num.msg"
     "msg/Sphere.msg"
     "srv/AddThreeInts.srv"
+    "action/Fibonacci.action"
     DEPENDENCIES geometry_msgs
 )
 

examples/customed-ros2-dataflow/customed_interfaces/action/Fibonacci.action

@@ -0,0 +1,5 @@
+int32 order
+---
+int32[] sequence
+---
+int32[] partial_sequence

examples/customed-ros2-dataflow/customed_nodes/CMakeLists.txt

@@ -13,20 +13,57 @@ find_package(ament_cmake REQUIRED)
 
 find_package(customed_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_action REQUIRED)
+
+# Three Ints Add Server
 add_executable(add_service src/add_service.cpp)
 ament_target_dependencies(add_service rclcpp customed_interfaces)
 install(TARGETS
     add_service
     DESTINATION
     lib/${PROJECT_NAME})
-
+
+# Three Ints Add Client
 add_executable(add_client src/add_client.cpp)
 ament_target_dependencies(add_client rclcpp customed_interfaces)
 install(TARGETS
     add_client
     DESTINATION
     lib/${PROJECT_NAME})
 
+# Fibonacci Action Server
+add_library(fib_server SHARED src/fib_server.cpp)
+target_include_directories(fib_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(fib_server
+  PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
+ament_target_dependencies(fib_server rclcpp customed_interfaces rclcpp_components rclcpp_action)
+rclcpp_components_register_node(fib_server PLUGIN "customed_nodes::FibonacciActionServer" EXECUTABLE fibonacci_server)
+install(TARGETS
+    fib_server
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+# Fibonacci Action Client
+add_library(fib_client SHARED src/fib_client.cpp)
+target_include_directories(fib_client PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(fib_client
+  PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
+ament_target_dependencies(fib_client rclcpp customed_interfaces rclcpp_components rclcpp_action)
+rclcpp_components_register_node(fib_client PLUGIN "customed_nodes::FibonacciActionClient" EXECUTABLE fibonacci_client)
+install(TARGETS
+    fib_client
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

examples/customed-ros2-dataflow/customed_nodes/include/customed_nodes/visibility_control.hpp

@@ -0,0 +1,44 @@
+#ifndef CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_
+#define CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((dllexport))
+    #define CUSTOM_ACTION_CPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define CUSTOM_ACTION_CPP_EXPORT __declspec(dllexport)
+    #define CUSTOM_ACTION_CPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef CUSTOM_ACTION_CPP_BUILDING_DLL
+    #define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_EXPORT
+  #else
+    #define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_IMPORT
+  #endif
+  #define CUSTOM_ACTION_CPP_PUBLIC_TYPE CUSTOM_ACTION_CPP_PUBLIC
+  #define CUSTOM_ACTION_CPP_LOCAL
+#else
+  #define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((visibility("default")))
+  #define CUSTOM_ACTION_CPP_IMPORT
+  #if __GNUC__ >= 4
+    #define CUSTOM_ACTION_CPP_PUBLIC __attribute__ ((visibility("default")))
+    #define CUSTOM_ACTION_CPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define CUSTOM_ACTION_CPP_PUBLIC
+    #define CUSTOM_ACTION_CPP_LOCAL
+  #endif
+  #define CUSTOM_ACTION_CPP_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_

examples/customed-ros2-dataflow/customed_nodes/package.xml

@@ -10,7 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>customed_interfaces</depend>
-
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_action</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>