refactor(orderGraphValidator): Isolate OrderGraphValidator and use vda5050_types

vda5050_core/CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(PahoMqttCpp REQUIRED)
 find_package(fmt REQUIRED)
+find_package(vda5050_types REQUIRED)
 
 include(GNUInstallDirs)
 
@@ -33,11 +34,23 @@ target_include_directories(logger
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
 
+add_library(client src/vda5050_core/client/order/order_graph_validator.cpp)
+target_link_libraries(client
+  PRIVATE
+    vda5050_types::vda5050_types
+)
+target_include_directories(client
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
 add_library(vda5050_core INTERFACE)
 target_link_libraries(vda5050_core
   INTERFACE
     mqtt_client
     logger
+    client
 )
 target_include_directories(vda5050_core
   INTERFACE
@@ -54,6 +67,7 @@ install(
   TARGETS
     mqtt_client
     logger
+    client
     vda5050_core
   EXPORT export_vda5050_core
   LIBRARY DESTINATION lib
@@ -69,14 +83,19 @@ install(
 )
 
 ament_export_targets(export_vda5050_core HAS_LIBRARY_TARGET)
-ament_export_dependencies(PahoMqttCpp fmt)
+ament_export_dependencies(PahoMqttCpp fmt vda5050_types)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_cppcheck REQUIRED)
   ament_cppcheck()
 
   find_package(ament_cmake_cpplint REQUIRED)
-  ament_cpplint()
+  set(cpplint_filters
+    "-whitespace/newline"
+  )
+  ament_cpplint(
+    FILTERS "${cpplint_filters}"
+  )
 
   find_package(ament_cmake_clang_format REQUIRED)
   ament_clang_format(
@@ -94,6 +113,19 @@ if(BUILD_TESTING)
     test/integration/mqtt_client/test_paho_mqtt_client.cpp
   )
   target_link_libraries(test_mqtt_client mqtt_client logger)
+
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(order_graph_validator_test
+    test/unit/order_graph_validator/test_order_graph_validator.cpp
+  )
+  target_link_libraries(order_graph_validator_test
+    vda5050_types::vda5050_types
+    client
+    logger
+  )
+  target_include_directories(order_graph_validator_test
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+           $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 endif()
 
 ament_package()

vda5050_core/include/vda5050_core/client/order/order_graph_validator.hpp

@@ -0,0 +1,62 @@
+/**
+ * Copyright (C) 2025 ROS-Industrial Consortium Asia Pacific
+ * Advanced Remanufacturing and Technology Centre
+ * A*STAR Research Entities (Co. Registration No. 199702110H)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef VDA5050_CORE__CLIENT__ORDER__ORDER_GRAPH_VALIDATOR_HPP_
+#define VDA5050_CORE__CLIENT__ORDER__ORDER_GRAPH_VALIDATOR_HPP_
+
+#include <vector>
+
+#include "vda5050_core/client/order/validation_result.hpp"
+#include "vda5050_types/order.hpp"
+
+namespace vda5050_core {
+namespace client {
+namespace order {
+
+/// \brief Utility class with functions to perform validity checks on the graph
+/// contained in a VDA5050 Order message
+class OrderGraphValidator
+{
+public:
+  /// \brief Checks that the nodes and edges in a VDA5050 Order form a valid
+  /// graph according to the VDA5050 specification sheet.
+  ///
+  /// \return True if nodes and edges create a valid graph, false otherwise
+  static ValidationResult is_valid_graph(const vda5050_types::Order& order);
+
+private:
+  /// \brief Checks that the nodes and edges contained in a VDA5050 Order are
+  /// arranged according to their sequenceId
+  ///
+  /// \return True if nodes and edges are arranged according to their
+  /// sequenceId, false otherwise
+  static ValidationResult is_in_traversal_order(
+    const vda5050_types::Order& order);
+
+  /// \brief Checks that startNodeId and endNodeId of all edges in a VDA5050
+  /// Order match with its the start and end nodeIds
+  ///
+  /// \return True if all edges' startNodeId and endNodId match, false otherwise
+  static ValidationResult is_valid_edges(const vda5050_types::Order& order);
+};
+
+}  // namespace order
+}  // namespace client
+}  // namespace vda5050_core
+
+#endif  // VDA5050_CORE__CLIENT__ORDER__ORDER_GRAPH_VALIDATOR_HPP_

vda5050_core/include/vda5050_core/client/order/validation_result.hpp

@@ -0,0 +1,45 @@
+/**
+ * Copyright (C) 2025 ROS-Industrial Consortium Asia Pacific
+ * Advanced Remanufacturing and Technology Centre
+ * A*STAR Research Entities (Co. Registration No. 199702110H)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef VDA5050_CORE__CLIENT__ORDER__VALIDATION_RESULT_HPP_
+#define VDA5050_CORE__CLIENT__ORDER__VALIDATION_RESULT_HPP_
+
+#include "vector"
+
+#include <vda5050_types/error.hpp>
+
+namespace vda5050_core {
+namespace client {
+namespace order {
+
+/// \brief Struct that details the validity of an order
+struct ValidationResult
+{
+  /// \brief True if an order is valid, false otherwise
+  bool valid;
+
+  /// \brief A vector of error(s) that resulted in an invalid order. Empty if
+  /// order is valid.
+  std::vector<vda5050_types::Error> errors;
+};
+
+}  // namespace order
+}  // namespace client
+}  // namespace vda5050_core
+
+#endif  // VDA5050_CORE__CLIENT__ORDER__VALIDATION_RESULT_HPP_

vda5050_core/package.xml

@@ -9,11 +9,14 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>vda5050_types</build_depend>
+
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_cmake_cpplint</test_depend>
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>vda5050_types</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>