Feat (VDA5050 master) : Initial commit of VDA5050 Master Codebase

vda5050_core/src/vda5050_core/mqtt_client/paho_mqtt_client.cpp

@@ -123,6 +123,7 @@ void PahoMqttClient::connect()
   {
     VDA5050_ERROR_STREAM(
       "Unable to establish MQTT connection: " << e.get_message());
+    throw;
   }
 }
 

vda5050_master/CMakeLists.txt

@@ -0,0 +1,94 @@
+cmake_minimum_required(VERSION 3.8)
+project(vda5050_master)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vda5050_core REQUIRED)
+find_package(vda5050_msgs REQUIRED)
+find_package(vda5050_json_utils REQUIRED)
+find_package(fmt REQUIRED)
+
+add_library(vda5050_master
+  src/agv/agv.cpp
+  src/vda5050_master/master.cpp
+  src/vda5050_master/communication/mqtt.cpp
+  src/vda5050_master/communication/ros2.cpp
+)
+
+ament_target_dependencies(vda5050_master
+  vda5050_core
+  vda5050_msgs
+  vda5050_json_utils
+  fmt
+  rclcpp
+  std_msgs
+)
+
+target_compile_definitions(vda5050_master PRIVATE ENABLE_ROS2)
+
+target_include_directories(vda5050_master PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(vda5050_master PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+
+install(TARGETS vda5050_master
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  ament_cppcheck()
+
+  find_package(ament_cmake_cpplint REQUIRED)
+  set(cpplint_filters
+    "-whitespace/newline"
+  )
+  ament_cpplint(
+    FILTERS "${cpplint_filters}"
+  )
+
+  find_package(ament_cmake_clang_format REQUIRED)
+  ament_clang_format(
+    CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../.clang-format"
+  )
+
+  find_package(ament_cmake_copyright REQUIRED)
+  ament_copyright()
+
+  # find_package(ament_cmake_gtest REQUIRED)
+  # ament_add_gtest(test_mqtt_client
+  #   test/integration/heartbeat.cpp
+  #   test/integration/mqtt_communications.cpp
+  # )
+
+  find_package(ament_cmake_gmock REQUIRED)
+  ament_add_gmock(test_communications
+    test/communication/mqtt/communications.cpp
+    test/communication/ros2/communications.cpp
+    test/communication/vda5050/vda5050_mqtt.cpp
+    test/integration/heartbeat.cpp
+  )
+
+  target_link_libraries(test_communications vda5050_master)
+
+  # AGV unit tests (no external dependencies like MQTT broker)
+  ament_add_gmock(test_agv
+    test/agv/agv_test.cpp
+    test/agv/agv_connection_state_test.cpp
+    test/agv/agv_operational_state_test.cpp
+  )
+  target_link_libraries(test_agv vda5050_master)
+
+endif()
+
+ament_package()

vda5050_master/LICENSE

@@ -0,0 +1,202 @@
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