feat(order_execution): adds OrderManager

vda5050_core/CMakeLists.txt

@@ -8,81 +8,91 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(PahoMqttCpp REQUIRED)
 find_package(fmt REQUIRED)
+find_package(vda5050_types REQUIRED)
 
 include(GNUInstallDirs)
 
 add_library(mqtt_client src/vda5050_core/mqtt_client/paho_mqtt_client.cpp)
-target_link_libraries(mqtt_client
-  PRIVATE
-    PahoMqttCpp::paho-mqttpp3
-)
+target_link_libraries(mqtt_client PRIVATE PahoMqttCpp::paho-mqttpp3)
 target_include_directories(mqtt_client
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 
 add_library(logger src/vda5050_core/logger/logger.cpp)
-target_link_libraries(logger
-  PRIVATE
-    fmt::fmt
-)
+target_link_libraries(logger PRIVATE fmt::fmt)
 target_include_directories(logger
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
+  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
-)
+target_link_libraries(vda5050_core INTERFACE mqtt_client logger)
 target_include_directories(vda5050_core
-  INTERFACE
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
-
-install(
-  DIRECTORY include/vda5050_core
-  DESTINATION include
-)
-
-install(
-  TARGETS
-    mqtt_client
-    logger
-    vda5050_core
+  INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+            $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+add_library(order_graph_element src/vda5050_core/order_execution/order_graph_element.cpp)
+target_include_directories(order_graph_element
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+add_library(edge src/vda5050_core/order_execution/edge.cpp)
+target_include_directories(edge
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(edge order_graph_element)
+
+add_library(node src/vda5050_core/order_execution/node.cpp)
+target_include_directories(node
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(node order_graph_element)
+
+add_library(order src/vda5050_core/order_execution/order.cpp)
+target_include_directories(order
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(order edge node)
+
+add_library(order_manager src/vda5050_core/order_execution/order_manager.cpp)
+target_include_directories(order_manager
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(order_manager order vda5050_types::vda5050_types)
+
+target_link_libraries(vda5050_core
+  INTERFACE order_graph_element edge node order order_manager)
+
+install(DIRECTORY include/vda5050_core DESTINATION include)
+
+install(TARGETS
+  mqtt_client
+  logger
+  order_graph_element
+  edge
+  node
+  order
+  order_manager
+  vda5050_core
   EXPORT export_vda5050_core
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-)
+  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
-install(
-  EXPORT export_vda5050_core
+install(EXPORT export_vda5050_core
   DESTINATION share/${PROJECT_NAME}/cmake
-  NAMESPACE vda5050_core::
-)
+  NAMESPACE vda5050_core::)
 
 ament_export_targets(export_vda5050_core HAS_LIBRARY_TARGET)
-ament_export_dependencies(PahoMqttCpp)
+ament_export_dependencies(PahoMqttCpp fmt)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_cppcheck REQUIRED)
   ament_cppcheck()
-
   find_package(ament_cmake_cpplint REQUIRED)
   ament_cpplint()
-
   find_package(ament_cmake_clang_format REQUIRED)
-  ament_clang_format(
-    CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../.clang-format"
-  )
-
+  ament_clang_format(CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../.clang-format")
   find_package(ament_cmake_copyright REQUIRED)
   ament_copyright()
 
@@ -91,9 +101,18 @@ if(BUILD_TESTING)
     test/unit/mqtt_client/test_mqtt_client_interface.cpp
     test/unit/logger/test_logger.cpp
     test/unit/logger/test_default_logger.cpp
-    test/integration/mqtt_client/test_paho_mqtt_client.cpp
-  )
+    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_gmock(${PROJECT_NAME}_test_OrderManager
+    test/unit/order_manager/test_order_manager.cpp)
+  target_include_directories(${PROJECT_NAME}_test_OrderManager
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+           $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+  target_link_libraries(${PROJECT_NAME}_test_OrderManager
+    edge node order_graph_element order_manager)
 endif()
 
 ament_package()

vda5050_core/include/vda5050_core/order_execution/edge.hpp

@@ -0,0 +1,78 @@
+/**
+ * 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__ORDER_EXECUTION__EDGE_HPP_
+#define VDA5050_CORE__ORDER_EXECUTION__EDGE_HPP_
+
+#include <cstdint>
+#include <string>
+#include <memory>
+
+#include "vda5050_core/order_execution/order_graph_element.hpp"
+
+namespace vda5050_core {
+
+namespace edge {
+
+/// \brief Class representing a VDA5050 Edge
+class Edge : public order_graph_element::OrderGraphElement
+{
+public:
+  /// \brief Edge constructor
+  ///
+  /// \param sequence_id uint32 indicating the sequence number of this edge in an order.
+  /// \param released Boolean indicating true if this edge is part of the base, false if it is part of the horizon.
+  /// \param edge_id String that uniquely identifies this edge.
+  /// \param start_node_id String indicating the first node of the order that this edge belongs to.
+  /// \param end_node_id String indicating the last node of the order that this edge belongs to.
+  Edge(
+    uint32_t sequence_id, bool released, std::string edge_id,
+    std::string start_node_id, std::string end_node_id);
+
+  using Ptr = std::shared_ptr<Edge>;
+
+  std::string edge_id() const
+  {
+    return edge_id_;
+  }
+
+  std::string start_node_id() const
+  {
+    return start_node_id_;
+  }
+
+  std::string end_node_id() const
+  {
+    return end_node_id_;
+  }
+
+private:
+  /// \brief String that uniquely identifies this edge.
+  std::string edge_id_;
+
+  /// \brief String indicating the first node of the order that this edge belongs to.
+  std::string start_node_id_;
+
+  /// \brief String indicating the last node of the order that this edge belongs to.
+  std::string end_node_id_;
+};
+
+}  // namespace edge
+}  // namespace vda5050_core
+
+#endif  // VDA5050_CORE__ORDER_EXECUTION__EDGE_HPP_

vda5050_core/include/vda5050_core/order_execution/node.hpp

@@ -0,0 +1,69 @@
+/**
+ * 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__ORDER_EXECUTION__NODE_HPP_
+#define VDA5050_CORE__ORDER_EXECUTION__NODE_HPP_
+
+#include <cstdint>
+#include <string>
+#include <memory>
+
+#include "vda5050_core/order_execution/order_graph_element.hpp"
+
+namespace vda5050_core {
+
+namespace node {
+
+/// \brief Class that represents a VDA5050 Node
+class Node : public order_graph_element::OrderGraphElement
+{
+public:
+  /// TODO (shawnkchan) addd shared_ptr to Node class
+  // using Ptr = std::shared_ptr<Node>;
+  /// \brief Node constructor
+  ///
+  /// \param sequence_id uint32 indicating the sequence number of this node in an order
+  /// \param released Boolean indicating true if this node is part of the base, false if it is part of the horizon
+  /// \param node_id String that uniquely identifies this node.
+  Node(uint32_t sequence_id, bool released, std::string node_id);
+
+  using Ptr = std::shared_ptr<Node>;
+
+  std::string node_id() const
+  {
+    return node_id_;
+  }
+
+  bool released() const
+  {
+    return released_;
+  }
+
+  uint32_t sequence_id() const
+  {
+    return sequence_id_;
+  }
+
+private:
+  /// \brief String that uniquely identifies this node.
+  std::string node_id_;
+};
+
+}  // namespace node
+}  // namespace vda5050_core
+#endif  // VDA5050_CORE__ORDER_EXECUTION__NODE_HPP_