Finish removing mission control

ihmc-communication/src/main/java/us/ihmc/communication/ROS2Tools.java

@@ -28,7 +28,7 @@
  *    <li>{@link FootstepPlannerAPI}</li>
  *    <li>{@link us.ihmc.communication.controllerAPI.ControllerAPI}</li>
  *    <li>{@link HumanoidControllerAPI}</li>
- *    <li>{@link MissionControlAPI}</li>
+ *    <li>{@link SystemMonitorAPI}</li>
  *    <li>{@link PerceptionAPI}</li>
  *    <li>{@link SakeHandAPI}</li>
  *    <li>{@link StateEstimatorAPI}</li>

ihmc-communication/src/main/java/us/ihmc/communication/SystemMonitorAPI.java

@@ -0,0 +1,54 @@
+package us.ihmc.communication;
+
+import std_msgs.msg.dds.Empty;
+import system_monitor_msgs.msg.dds.SystemResourceUsageMessage;
+import system_monitor_msgs.msg.dds.SystemServiceActionMessage;
+import system_monitor_msgs.msg.dds.SystemServiceLogRefreshMessage;
+import system_monitor_msgs.msg.dds.SystemServiceStatusMessage;
+import us.ihmc.ros2.ROS2QosProfile;
+import us.ihmc.ros2.ROS2Topic;
+
+import java.util.UUID;
+
+public final class SystemMonitorAPI
+{
+   /**
+    * Get system resource usage topic
+    * @param instanceId an identifier unique per machine
+    * @return the ROS2Topic the daemon will use for system resource usage messages
+    */
+   public static ROS2Topic<SystemResourceUsageMessage> getSystemResourceUsageTopic(UUID instanceId)
+   {
+      String topicId = instanceId.toString().replace("-", ""); // ROS2 topic names cannot have dashes
+      return ROS2Tools.IHMC_ROOT.withModule("system_monitor").withSuffix(topicId).withTypeName(SystemResourceUsageMessage.class);
+   }
+
+   /**
+    * Get system service status topic
+    * @param instanceId an identifier unique per machine
+    * @return the ROS2Topic the daemon will use for system service status messages
+    */
+   public static ROS2Topic<SystemServiceStatusMessage> getSystemServiceStatusTopic(UUID instanceId)
+   {
+      String topicId = instanceId.toString().replace("-", ""); // ROS2 topic names cannot have dashes
+      return ROS2Tools.IHMC_ROOT.withModule("system_monitor").withSuffix(topicId).withQoS(ROS2QosProfile.RELIABLE()).withTypeName(SystemServiceStatusMessage.class);
+   }
+
+   public static ROS2Topic<SystemServiceActionMessage> getSystemServiceActionTopic(UUID instanceId)
+   {
+      String topicId = instanceId.toString().replace("-", ""); // ROS2 topic names cannot have dashes
+      return ROS2Tools.IHMC_ROOT.withModule("system_monitor").withSuffix(topicId).withTypeName(SystemServiceActionMessage.class);
+   }
+
+   public static ROS2Topic<Empty> getSystemRebootTopic(UUID instanceId)
+   {
+      String topicId = instanceId.toString().replace("-", ""); // ROS2 topic names cannot have dashes
+      return ROS2Tools.IHMC_ROOT.withModule("system_monitor").withSuffix(topicId).withTypeName(Empty.class);
+   }
+
+   public static ROS2Topic<SystemServiceLogRefreshMessage> getSystemServiceLogRefreshTopic(UUID instanceId)
+   {
+      String topicId = instanceId.toString().replace("-", ""); // ROS2 topic names cannot have dashes
+      return ROS2Tools.IHMC_ROOT.withModule("system_monitor").withSuffix(topicId).withTypeName(SystemServiceLogRefreshMessage.class);
+   }
+}

ihmc-communication/src/main/java/us/ihmc/communication/util/NetworkPorts.java

@@ -63,22 +63,9 @@ public class NetworkPorts
 
    public static final NetworkPorts BEHAVIOR_MODULE_YOVARIABLESERVER_PORT = new NetworkPorts(6036, "behavior_module_yovariableserver");
 
-   // Mission control ports
-   public static final NetworkPorts MISSION_CONTROL_SERVER_PORT = new NetworkPorts(2046, "mission_control_server");
-   public static final NetworkPorts MISSION_CONTROL_CPU0_TEST_PORT = new NetworkPorts(2147, "mission_control_cpu0_test");
-   public static final NetworkPorts MISSION_CONTROL_CPU1_TEST_PORT = new NetworkPorts(2148, "mission_control_cpu1_test");
-//   public static final NetworkPorts MISSION_CONTROL_CPU2_TEST_PORT = new NetworkPorts(2149, "mission_control_cpu2_test");
-   public static final NetworkPorts MISSION_CONTROL_JETSON_TEST_PORT = new NetworkPorts(2150, "mission_control_jetson_test");
-
    // Teleop ports
    public static final NetworkPorts XBOX_CONTROLLER_TELEOP_PORT = new NetworkPorts(3001, "xbox_controller_teleop");
 
-   // Dynamic ports for testing purposes
-   public static NetworkPorts createMissionControlIntraprocessPort(NetworkPorts port)
-   {
-      return new NetworkPorts(port.getPort() + 100, port.getName() + "_intraprocess");
-   }
-
    public static NetworkPorts createRandomTestPort(Random random)
    {
       int port = random.nextInt(65535 - 1025) + 1025;

ihmc-interfaces/build.gradle.kts

@@ -49,7 +49,7 @@ generatorDependencies {
 
 val generator = us.ihmc.ros2.rosidl.ROS2InterfaceGenerator()
 val msg_packages = listOf("ihmc_common_msgs",
-                          "mission_control_msgs",
+                          "system_monitor_msgs",
                           "controller_msgs",
                           "toolbox_msgs",
                           "quadruped_msgs",

ihmc-interfaces/src/main/generated-idl/mission_control_msgs/msg/SystemAvailableMessage_.idl → ihmc-interfaces/src/main/generated-idl/system_monitor_msgs/msg/SystemAvailableMessage_.idl

@@ -1,14 +1,14 @@
-#ifndef __mission_control_msgs__msg__SystemAvailableMessage__idl__
-#define __mission_control_msgs__msg__SystemAvailableMessage__idl__
+#ifndef __system_monitor_msgs__msg__SystemAvailableMessage__idl__
+#define __system_monitor_msgs__msg__SystemAvailableMessage__idl__
 
-module mission_control_msgs
+module system_monitor_msgs
 {
   module msg
   {
     module dds
     {
 
-      @TypeCode(type="mission_control_msgs::msg::dds_::SystemAvailableMessage_")
+      @TypeCode(type="system_monitor_msgs::msg::dds_::SystemAvailableMessage_")
       struct SystemAvailableMessage
       {
         /**
@@ -20,7 +20,6 @@ module mission_control_msgs
          * A random ID for the topic name for messages from this machine
          * We do not use the hostname because we don't want to assume the hostname is normalized
          * to the format of topic names (i.e. hostnames might contain spaces, end with numbers, etc)
-         * Generated in ihmc-high-level-behaviors/src/mission-control/java/us/ihmc/missionControl/MissionControlDaemon.java
          */
         string instance_id;
       };