add x11 lib

.github/workflows/test_build.yml

@@ -467,6 +467,43 @@ jobs:
         with:
           name: test-scenario-execution-pybullet
           path: test_scenario_execution_pybullet/test.xml
+  test-scenario-execution-x11:
+    needs: [build]
+    runs-on: intellabs-01
+    timeout-minutes: 3
+    container:
+      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - name: Restore cache
+        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
+        with:
+          key: ${{ runner.os }}-build-${{ github.run_number }}
+          path: .
+      - name: Test Scenario Execution X11
+        shell: bash
+        run: |
+          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
+          source install/setup.bash
+          sudo apt -y install mesa-utils
+          Xvfb :1 -screen 0 800x600x16 &
+          export DISPLAY=:1.0
+          ros2 run scenario_execution_ros scenario_execution_ros  libs/scenario_execution_x11/scenarios/example_capture.osc -t -o test_scenario_execution_x11
+          find test_scenario_execution_x11
+      - name: Upload result
+        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
+        if: always()
+        with:
+          name: test-scenario-execution-x11
+          path: test_scenario_execution_x11/test.xml
+      - name: Upload video
+        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
+        if: always()
+        with:
+          name: test-scenario-execution-x11
+          path: test_scenario_execution_x11/capture.mp4
   tests:
     needs: 
     - test-scenario-execution
@@ -482,6 +519,7 @@ jobs:
     - test-scenario-execution-gazebo
     - test-scenario-execution-nav2
     - test-scenario-execution-pybullet
+    - test-scenario-execution-x11
     runs-on: intellabs-01
     if: ${{ always() }}
     permissions:

libs/scenario_execution_x11/MANIFEST.in

@@ -0,0 +1 @@
+include scenario_execution_x11/lib_osc/*.osc

libs/scenario_execution_x11/README.md

@@ -0,0 +1,16 @@
+# Scenario Execution Library for X11
+
+The `scenario_execution_x11` package provides actions to interact with the X window system.
+
+It provides the following scenario execution library:
+
+- `x11.osc`: Actions specific to x11 window system
+
+
+# Run Example
+
+``` bash
+colcon build
+sudo apt install mesa-utils
+ros2 run scenario_execution_ros scenario_execution_ros  libs/scenario_execution_x11/scenarios/example_capture.osc -t
+```

libs/scenario_execution_x11/package.xml

@@ -0,0 +1,18 @@
+<?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>scenario_execution_x11</name>
+  <version>1.2.0</version>
+  <description>Scenario Execution library for X11</description>
+  <author email="[email protected]">Intel Labs</author>
+  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <license file="../../LICENSE">Apache-2.0</license>
+
+  <depend>scenario_execution</depend>
+
+  <exec_depend>ffmpeg</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

libs/scenario_execution_x11/scenario_execution_x11/__init__.py

@@ -0,0 +1,21 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from . import actions
+
+__all__ = [
+    'actions'
+]

libs/scenario_execution_x11/scenario_execution_x11/actions/__init__.py

@@ -0,0 +1,15 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0

libs/scenario_execution_x11/scenario_execution_x11/actions/capture_screen.py

@@ -0,0 +1,86 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from enum import Enum
+
+
+from geometry_msgs.msg import PoseWithCovarianceStamped
+from lifecycle_msgs.srv import GetState
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.time import Time
+from rclpy.duration import Duration
+from tf2_ros import Buffer
+from datetime import datetime, timedelta
+import py_trees
+import os
+
+from scenario_execution_ros.actions.common import get_pose_stamped, NamespacedTransformListener
+from scenario_execution.actions.run_process import RunProcess
+import signal
+
+class CaptureScreenState(Enum):
+    IDLE = 1
+    CAPTURING = 2
+    DONE = 11
+    FAILURE = 12
+
+class CaptureScreen(RunProcess):
+
+    def __init__(self, output_filename: str, frame_rate: float):
+        super().__init__("", wait_for_shutdown=True)
+        self.current_state = CaptureScreenState.IDLE
+        self.output_dir = "."
+
+    def setup(self, **kwargs):
+        if "DISPLAY" not in os.environ:
+            raise ValueError("capture_screen() requires environment variable 'DISPLAY' to be set.")
+
+        if kwargs['output_dir']:
+            if not os.path.exists(kwargs['output_dir']):
+                raise ValueError(
+                    f"Specified destination dir '{kwargs['output_dir']}' does not exist")
+            self.output_dir = kwargs['output_dir']
+
+    def execute(self, output_filename: str, frame_rate: float): # pylint: disable=arguments-differ
+        cmd = ["ffmpeg", 
+               "-f", "x11grab", 
+               "-draw_mouse", "0", 
+               "-framerate", str(frame_rate),
+               "-i", os.environ["DISPLAY"],
+               "-c:v", "libx264",
+               "-preset", "veryfast",
+               "-f", "mp4",
+               "-nostdin",
+               "-y", os.path.join(self.output_dir, output_filename)]
+        self.set_command(cmd)
+
+    def get_logger_stdout(self):
+        return self.logger.debug
+
+    def get_logger_stderr(self):
+        return self.logger.debug
+
+    def on_executed(self):
+        self.current_state = CaptureScreenState.CAPTURING
+        self.feedback_message = f"Capturing screen..."  # pylint: disable= attribute-defined-outside-init
+
+    def on_process_finished(self, ret):
+        if self.current_state == CaptureScreenState.CAPTURING:
+            self.feedback_message = f"Capturing screen failed. {self.output[-1]}"  # pylint: disable= attribute-defined-outside-init
+            return py_trees.common.Status.FAILURE

libs/scenario_execution_x11/scenario_execution_x11/get_osc_library.py

@@ -0,0 +1,19 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+def get_osc_library():
+    return 'scenario_execution_x11', 'x11.osc'

libs/scenario_execution_x11/scenario_execution_x11/lib_osc/x11.osc

@@ -0,0 +1,6 @@
+import osc.standard.base
+
+action capture_screen:
+    # create video from screen capture
+    output_filename: string = "capture.mp4" # the initial pose to set during initialization
+    frame_rate: float = 25.0             # framerate of the resulting video

libs/scenario_execution_x11/scenarios/example_capture.osc

@@ -0,0 +1,10 @@
+import osc.helpers
+import osc.x11
+
+scenario example_x11:
+    do parallel:
+        capture_screen()
+        run_process("glxgears")
+        serial:
+            wait elapsed(10s)
+            emit end

libs/scenario_execution_x11/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/scenario_execution_x11
+[install]
+install_scripts=$base/lib/scenario_execution_x11

libs/scenario_execution_x11/setup.py

@@ -0,0 +1,47 @@
+# Copyright (C) 2024 Intel Corporation
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from setuptools import find_namespace_packages, setup
+
+PACKAGE_NAME = 'scenario_execution_x11'
+
+setup(
+    name=PACKAGE_NAME,
+    version='1.2.0',
+    packages=find_namespace_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml'])
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Intel Labs',
+    maintainer_email='[email protected]',
+    description='Scenario Execution library for X11',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    include_package_data=True,
+    entry_points={
+        'scenario_execution.actions': [
+            'capture_screen = scenario_execution_x11.actions.capture_screen:CaptureScreen',
+        ],
+        'scenario_execution.osc_libraries': [
+            'x11 = '
+            'scenario_execution_x11.get_osc_library:get_osc_library',
+        ]
+    },
+)