Merge Dev to main for release 0.4.0 (#74)

* Add logging dependency (#32)

* Changing yamato host flavor to large (#33)

* Amanda/read chunks (#36)

* s.send to s.sendall

* Increase default timeout

* Timeout as argument on instantiation

* Update version number (#38)

* Laurie/topic list (#41)

* Updating Contribution Content (#44)

* Contributing guidelines

* Issue templates

* PR feedback

* Updated per later changes (#45)

* Adding PR template (#46)

* One persistent connection for all messages sent to Unity

* make UnityService accessible from ros_tcp_endpoint (#49)

* Don't keep retrying on success (#50)

* Resolve conflicts for merging dev to main

* Queue module was renamed in Python 3 (#53)

* Update package.xml (#54)

* RosConnection 2.0 (#57)

* Remove outdated handshake references

* Fix sending response to unity service (#59)

* add changelog (#60)

* Forum links to README, config.yml (#61)

* Send empty message on connection start (#58)

* add test coverage for python scripts (#62)

* fix the bug (#64)

* Minor bug fixes (#65)

* Add Tests and Linter (#63)

* Add tests for tcp sender

* Add linter and pre-commit hooks

* Reformat with python black

* Add tests

* Add tests for server, client, publisher, subscriber, ros_service, unity_service, thread_pauser

* Fix pre-commit-config file name; Add client tests

* Add github workflow check

* Formatting

* Resolve conflicts (#66)

* Fix bug (#68)

* Fix bug

* Temporarily remove publisher test

Co-authored-by: Shuo Diao <[email protected]>

* update version to 0.4.0 (#69)

Co-authored-by: Devin Miller (Unity) <[email protected]>
Co-authored-by: Amanda <[email protected]>
Co-authored-by: LaurieCheers-unity <[email protected]>
Co-authored-by: Hamid Younesy <[email protected]>
Co-authored-by: peifeng-unity <[email protected]>

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Unity Robotics Forum
+    url: https://forum.unity.com/forums/robotics.623/
+    about: Discussions and questions about Unity Robotics tools, demos, or integrations.

.github/PULL_REQUEST_TEMPLATE.md

@@ -16,7 +16,7 @@ Provide any relevant links here.
 
 ## Testing and Verification
 
-Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
 
 ### Test Configuration:
 - Unity Version: [e.g. Unity 2020.2.0f1]
@@ -27,8 +27,9 @@ Please describe the tests that you ran to verify your changes. Please also provi
 ## Checklist
 - [ ] Ensured this PR is up-to-date with the `dev` branch
 - [ ] Created this PR to target the `dev` branch
-- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
+- [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/blob/main/CONTRIBUTING.md)
 - [ ] Added tests that prove my fix is effective or that my feature works
+- [ ] Updated the [Changelog](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/blob/dev/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/blob/dev/CHANGELOG.md#unreleased)
 - [ ] Updated the documentation as appropriate
 
 ## Other comments

.github/workflows/pre-commit.yaml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+    pull_request:
+
+jobs:
+    pre-commit:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v2
+            - uses: actions/setup-python@v2
+              with:
+                  python-version: 3.7.x
+            - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,12 @@
+repos:
+-   repo: https://github.com/python/black
+    rev: 19.3b0
+    hooks:
+    -   id: black
+        args: [--line-length=100]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+    -   id: trailing-whitespace
+        name: trailing-whitespace-markdown
+        types: [markdown]

.yamato/yamato-config.yml

@@ -4,13 +4,26 @@ agent:
     image: robotics/ci-ubuntu20:latest
     flavor: i1.large
 commands:
-    - source /opt/ros/noetic/setup.bash && echo "ROS_DISTRO == $ROS_DISTRO" &&
-        cd .. && mkdir -p catkin_ws/src && cp -r ./ROS-TCP-Endpoint catkin_ws/src &&
-        cd catkin_ws && catkin_make && source devel/setup.bash && python3 -m pytest
+    # run unit tests and save test results in /home/bokken/build/output/Unity-Technologies/ROS-TCP-Endpoint
+    - command: |
+        source /opt/ros/noetic/setup.bash && echo "ROS_DISTRO == $ROS_DISTRO"
+        cd .. && mkdir -p catkin_ws/src && cp -r ./ROS-TCP-Endpoint catkin_ws/src
+        cd catkin_ws && catkin_make && source devel/setup.bash
+        cd src/ROS-TCP-Endpoint
+        python3 -m pytest --cov=. --cov-report xml:../../../ROS-TCP-Endpoint/test-results/coverage.xml --cov-report html:../../../ROS-TCP-Endpoint/test-results/coverage.html test/
+    # check the test coverage
+    - command: |
+        linecoverage=$(head -2 test-results/coverage.xml | grep -Eo 'line-rate="[0-9]+([.][0-9]+)?"' | grep -Eo "[0-9]+([.][0-9]+)?")
+        echo "Line coverage: $linecoverage"
+        if (( $(echo "$linecoverage < 0.3" | bc -l) )); then exit 1; fi
 triggers:
     cancel_old_ci: true
     expression: |
         (pull_request.target eq "main"  AND
         NOT pull_request.push.changes.all match "**/*.md") OR
-        (push.branch eq "dev" AND
-        NOT push.changes.all match "**/*.md")
+        (pull_request.target eq "dev" AND
+        NOT pull_request.push.changes.all match "**/*.md")
+artifacts:
+    logs:
+        paths:
+            - "test-results/**/*"

CHANGELOG.md

@@ -0,0 +1,47 @@
+# Changelog
+
+All notable changes to this repository will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+### Upgrade Notes
+
+### Known Issues
+
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+## [0.4.0] - 2021-05-27
+
+Note: the logs only reflects the changes from version 0.3.0
+
+### Upgrade Notes
+
+RosConnection 2.0: maintain a single constant connection from Unity to the Endpoint. This is more efficient than opening one connection per message, and it eliminates a whole bunch of user issues caused by ROS being unable to connect to Unity due to firewalls, proxies, etc.
+
+### Known Issues
+
+### Added
+
+Add a link to the Robotics forum, and add a config.yml to add a link in the Github Issues page
+
+Add linter, unit tests, and test coverage reporting
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+Remove outdated handshake references
+
+### Fixed

CMakeLists.txt

@@ -9,9 +9,15 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_python_setup()
 
-add_message_files(DIRECTORY msg)
+add_message_files(FILES
+	RosUnityError.msg
+	RosUnitySrvMessage.msg
+	RosUnitySysCommand.msg
+)
 
-add_service_files(DIRECTORY srv)
+add_service_files(FILES
+	RosUnityTopicList.srv
+)
 
 generate_messages(DEPENDENCIES std_msgs)
 

CONTRIBUTING.md

@@ -1,7 +1,7 @@
 # Contribution Guidelines
 
-Thank you for your interest in contributing to Unity Robotics! To facilitate your 
-contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
 can be easily integrated.
 
 ## Communication
@@ -40,10 +40,10 @@ We run continuous integration on all PRs; all tests must be passing before the P
 
 All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
 
-All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
-Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/[email protected]/manual/index.html) 
-can be used to format, encode, and lint your code according to the standard Unity 
-development conventions. Be aware that these Unity conventions will supersede the 
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/[email protected]/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
 Microsoft C# Coding Conventions where applicable.
 
 Please note that even if the code you are changing does not adhere to these guidelines,
@@ -60,5 +60,5 @@ email us at [[email protected]](mailto:[email protected]).
 
 ## Contribution review
 
-Once you have a change ready following the above ground rules, simply make a 
+Once you have a change ready following the above ground rules, simply make a
 pull request in GitHub.

README.md

@@ -10,16 +10,17 @@ Instructions and examples on how to use this ROS package can be found on the [Un
 
 ## Community and Feedback
 
-The Unity Robotics projects are open-source and we encourage and welcome contributions. 
-If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+The Unity Robotics projects are open-source and we encourage and welcome contributions.
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
 and [code of conduct](CODE_OF_CONDUCT.md).
 
 ## Support
-For general questions, feedback, or feature requests, connect directly with the 
-Robotics team at [[email protected]](mailto:[email protected]).
+For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
+
+For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/issues) using the provided templates and the Robotics team will investigate as soon as possible.
 
-For bugs or other issues, please file a GitHub issue and the Robotics team will 
-investigate the issue as soon as possible.
+For any other questions or feedback, connect directly with the
+Robotics team at [[email protected]](mailto:[email protected]).
 
 ## License
 [Apache License 2.0](LICENSE)

config/params.yaml

@@ -1 +1 @@
-ROS_IP: 127.0.0.1
+ROS_IP: 127.0.0.1

msg/RosUnitySrvMessage.msg

@@ -0,0 +1,4 @@
+int32 srv_id
+bool is_request
+string topic
+uint8[] payload

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ros_tcp_endpoint</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>Acts as the bridge between Unity messages sent via Websocket and ROS messages.</description>
 
   <maintainer email="[email protected]">Unity Robotics</maintainer>

requirements.txt

@@ -0,0 +1,3 @@
+black
+pre-commit
+pytest-cov

setup.py

@@ -4,8 +4,6 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
-setup_args = generate_distutils_setup(
-    packages=['ros_tcp_endpoint'],
-    package_dir={'': 'src'})
+setup_args = generate_distutils_setup(packages=["ros_tcp_endpoint"], package_dir={"": "src"})
 
 setup(**setup_args)