Split interfaces from library

.github/workflows/main.yml

@@ -3,16 +3,35 @@ name: CI
 on: [push, pull_request, workflow_dispatch]
 
 jobs:
+  matrix:
+    name: Determine modified packages
+    runs-on: ubuntu-latest
+    outputs:
+      packages: ${{ steps.modified-packages.outputs.packages }}
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 300
+      - name: Commit Range
+        id: commit-range
+        uses: tue-robotics/tue-env/ci/commit-range@master
+      - name: Modified packages
+        id: modified-packages
+        uses: tue-robotics/tue-env/ci/modified-packages@master
+        with:
+          commit-range: ${{ steps.commit-range.outputs.commit-range }}
   tue-ci:
-    name: TUe CI - ${{ github.event_name }} (${{ matrix.ros_distro }})
+    name: TUe CI - ${{ matrix.package }} (${{ matrix.ros_distro }})
     runs-on: ubuntu-latest
+    needs: matrix
     strategy:
       fail-fast: false
       matrix:
         ros_distro: [humble, jazzy, rolling-u24]
+        package: ${{ fromJson(needs.matrix.outputs.packages) }}
     steps:
       - name: TUe CI
         uses: tue-robotics/tue-env/ci/main@master
         with:
           image: ghcr.io/tue-robotics/tue-env-ros-${{ matrix.ros_distro }}
-          package: ${{ github.event.repository.name }}
+          package: ${{ matrix.package }}

CMakeLists.txt → code_profiler/CMakeLists.txt

@@ -14,18 +14,12 @@ endif()
 find_package(Threads REQUIRED)
 
 find_package(ament_cmake REQUIRED)
+find_package(code_profiler_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-# 1. This internally creates a target "code_profiler"
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Statistics.msg"
-  DEPENDENCIES std_msgs
-)
 
 # 2. Give the library a unique name (Project name + _lib)
-add_library(${PROJECT_NAME}_lib SHARED
+add_library(${PROJECT_NAME} SHARED
   src/loop_timer.cpp
   src/profiler.cpp
   src/profiling/ProfileLog.cpp
@@ -37,31 +31,30 @@ add_library(${PROJECT_NAME}_lib SHARED
 )
 
 # Link the typesupport of custom messages
-rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-target_link_libraries(${PROJECT_NAME}_lib
+target_link_libraries(${PROJECT_NAME}
   PRIVATE
-    ${cpp_typesupport_target}
+    code_profiler_interfaces::code_profiler_interfaces__rosidl_typesupport_cpp
     rclcpp::rclcpp
     std_msgs::std_msgs__rosidl_typesupport_cpp
 )
-target_include_directories(${PROJECT_NAME}_lib PUBLIC
+target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
 
 # 3. Executables (Make sure they are all defined before the install step)
 add_executable(profiler_test src/main.cpp)
-target_link_libraries(profiler_test ${PROJECT_NAME}_lib Threads::Threads)
+target_link_libraries(profiler_test ${PROJECT_NAME} Threads::Threads)
 
 add_executable(test_loop_timer test/test_loop_timer.cpp)
-target_link_libraries(test_loop_timer ${PROJECT_NAME}_lib)
+target_link_libraries(test_loop_timer ${PROJECT_NAME})
 
 add_executable(test_profiler test/test_profiler.cpp)
-target_link_libraries(test_profiler ${PROJECT_NAME}_lib)
+target_link_libraries(test_profiler ${PROJECT_NAME})
 
 # 4. Installation
 install(
-  TARGETS ${PROJECT_NAME}_lib
+  TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
@@ -88,7 +81,7 @@ install(
 
 # 5. Export
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(rclcpp std_msgs rosidl_default_runtime)
+ament_export_dependencies(code_profiler_interfaces rclcpp std_msgs)
 
 # 6. Testing and Linting
 if(BUILD_TESTING)
@@ -103,7 +96,7 @@ if(BUILD_TESTING)
   )
   ament_clang_tidy(
     CONFIG_FILE ${tue_lint_config_DIR}/../config/.clang-tidy
-    # --fix-errors
+    --clang-tidy-version=21
     ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_BINARY_DIR}/compile_commands.json)
   ament_lint_cmake(MAX_LINE_LENGTH 120 "--filter=
     +convention/filename,

include/profiling/StatsPublisher.h → code_profiler/include/profiling/StatsPublisher.h

@@ -1,7 +1,7 @@
-#ifndef CODE_PROFILER_STATS_PUBLISHER_H_
-#define CODE_PROFILER_STATS_PUBLISHER_H_
+#ifndef code_profiler_STATS_PUBLISHER_H_
+#define code_profiler_STATS_PUBLISHER_H_
 
-#include <code_profiler/msg/statistics.hpp>
+#include <code_profiler_interfaces/msg/statistics.hpp>
 #include <map>
 #include <rclcpp/rclcpp.hpp>
 #include <stack>
@@ -26,7 +26,7 @@ class StatsPublisher
 public:
     StatsPublisher();
 
-    virtual ~StatsPublisher();
+    virtual ~StatsPublisher() = default;
 
     void initialize(rclcpp::Node* node);
 
@@ -37,7 +37,7 @@ class StatsPublisher
     void publish() const;
 
 protected:
-    rclcpp::Publisher<code_profiler::msg::Statistics>::SharedPtr pub_stats_;
+    rclcpp::Publisher<code_profiler_interfaces::msg::Statistics>::SharedPtr pub_stats_;
 
     std::map<std::string, Timer> timers_;
 

package.xml → code_profiler/package.xml

@@ -14,25 +14,24 @@
   <author>Tim de Jager</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
+  <depend>code_profiler_interfaces</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>rclpy</exec_depend>
 
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_clang_tidy</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>
   <test_depend>ament_cmake_xmllint</test_depend>
+  <test_depend>clang-format-21</test_depend>
+  <test_depend>clang-tidy-21</test_depend>
   <test_depend>tue_lint_config</test_depend>
 
   <doc_depend>doxygen</doc_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
     <rosdoc config="rosdoc.yaml" />

src/profiling/StatsPublisher.cpp → code_profiler/src/profiling/StatsPublisher.cpp

@@ -1,6 +1,6 @@
 #include "profiling/StatsPublisher.h"
 
-#include <code_profiler/msg/statistics.hpp>
+#include <code_profiler_interfaces/msg/statistics.hpp>
 #include <iostream>
 #include <rclcpp/rclcpp.hpp>
 
@@ -10,10 +10,6 @@ StatsPublisher::StatsPublisher() : node_(nullptr) {}
 
 // ----------------------------------------------------------------------------------------------------
 
-StatsPublisher::~StatsPublisher() = default;
-
-// ----------------------------------------------------------------------------------------------------
-
 void StatsPublisher::initialize(rclcpp::Node* node)
 {
     if (!node)
@@ -23,7 +19,7 @@ void StatsPublisher::initialize(rclcpp::Node* node)
     }
 
     node_ = node;
-    pub_stats_ = node_->create_publisher<code_profiler::msg::Statistics>("profiler_stats", 1);
+    pub_stats_ = node_->create_publisher<code_profiler_interfaces::msg::Statistics>("profiler_stats", 1);
 }
 
 // ----------------------------------------------------------------------------------------------------
@@ -69,7 +65,7 @@ void StatsPublisher::publish() const
         return;
     }
 
-    code_profiler::msg::Statistics msg;
+    code_profiler_interfaces::msg::Statistics msg;
     for (const auto& timer : timers_)
     {
         msg.labels.push_back(timer.first);

code_profiler_interfaces/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.5)
+project(code_profiler_interfaces)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Werror=all)
+  add_compile_options(-Wextra -Werror=extra)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Statistics.msg"
+  DEPENDENCIES builtin_interfaces
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

code_profiler_interfaces/README.md

@@ -0,0 +1,33 @@
+# code_profiler
+
+[![CI](https://github.com/tue-robotics/code_profiler/actions/workflows/main.yml/badge.svg)](https://github.com/tue-robotics/code_profiler/actions/workflows/main.yml)
+
+Various classes to profile code in different ways, including some additional loop statistics.
+
+## ROS2 Compatibility
+
+This package has been fully migrated to ROS2. It provides profiling utilities that can be used standalone or integrated with ROS2 nodes.
+
+## Key Components
+
+- **Profiler**: Core profiling class for timing code sections
+- **LoopTimer**: Timer with Kahan summation for accurate loop timing
+- **ProfilePublisher**: ROS2 publisher for profiling data (requires `rclcpp::Node*`)
+- **StatsPublisher**: ROS2 publisher for statistics messages (requires `rclcpp::Node*`)
+- **liveprofile**: Python script for live visualization of profiling data
+
+## Usage with ROS2
+
+The `ProfilePublisher` and `StatsPublisher` classes are designed to be usable by other libraries. They accept an `rclcpp::Node*` pointer during initialization:
+
+```cpp
+#include <tue/profiling/profiler.h>
+#include <tue/profiling/ros/profile_publisher.h>
+
+// In your node class
+tue::Profiler profiler("my_profiler");
+tue::ProfilePublisher publisher(profiler, this);  // 'this' is your rclcpp::Node*
+
+// Later, publish profiling data
+publisher.publish();
+```

code_profiler_interfaces/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>code_profiler_interfaces</name>
+  <version>0.1.0</version>
+  <description>Various classes to profile code in different ways. Including some additonal loop statistics.</description>
+
+  <maintainer email="MatthijsBurgh@outlook.com">Matthijs van der Burgh</maintainer>
+
+  <license>BSD</license>
+
+  <author email="MatthijsBurgh@outlook.com">Matthijs van der Burgh</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rosdoc config="rosdoc.yaml" />
+  </export>
+
+</package>

code_profiler_interfaces/rosdoc.yaml

@@ -0,0 +1,7 @@
+- builder: doxygen
+  name: C++ API
+  output_dir: cpp
+  file_patterns: '*.c *.cpp *.h *.hpp'
+  tab_size: 4
+  use_mdfile_as_mainpage: README.md
+  exclude_patterns: 'msg/* scripts/* test/*'