Feature/extra services

.gitmodules

@@ -83,16 +83,15 @@
 [submodule "vendor/mathematics_toolbox"]
 	path = vendor/mathematics_toolbox
 	url = git@github.com:dlr-ts/mathematics_toolbox.git
-
 [submodule "vendor/ros2_observer"]
 	path = vendor/ros2_observer
 	url = git@github.com:dlr-ts/ros2_observer.git
 [submodule "tools/lichtblick/lichtblick"]
 	path = tools/lichtblick/lichtblick
 	url = https://github.com/Lichtblick-Suite/lichtblick.git
-[submodule "vendor/libOpenDRIVE/libOpenDRIVE"]
-	path = vendor/libOpenDRIVE/libOpenDRIVE
-	url = git@github.com:pageldev/libOpenDRIVE.git
+[submodule "ros2_workspace/src/vendor/libOpenDRIVE"]
+	path = ros2_workspace/src/vendor/libOpenDRIVE
+	url = https://github.com/DLR-TS/libopendrive.git
 [submodule "ros2_workspace/src/vendor/osqp-eigen"]
 	path = ros2_workspace/src/vendor/osqp_eigen
 	url = https://github.com/robotology/osqp-eigen.git
@@ -102,9 +101,6 @@
 [submodule "ros2_workspace/src/vendor/osqp"]
 	path = ros2_workspace/src/vendor/osqp/osqp
 	url = https://github.com/osqp/osqp.git
-[submodule "ros2_workspace/src/vendor/libOpenDRIVE"]
-	path = ros2_workspace/src/vendor/libOpenDRIVE
-	url = git@github.com:pageldev/libOpenDRIVE.git
 [submodule "ros2_workspace/src/vendor/qdldl"]
 	path = ros2_workspace/src/vendor/osqp/qdldl
 	url = git@github.com:osqp/qdldl.git

adore.env

@@ -91,18 +91,62 @@ MQTT_BRIDGE_ENABLE=false
 
 # MQTT_BROKER_HOST: Hostname or IP of the MQTT broker the bridge connects to.
 # - Default: localhost
-MQTT_BROKER_HOST=localhost
+#MQTT_BROKER_HOST=localhost
 
 # MQTT_BROKER_PORT: Port of the MQTT broker.
 # - Default: 1883
-MQTT_BROKER_PORT=1883
+#MQTT_BROKER_PORT=1883
+
+# MQTT_BRIDGE_CONFIG: Path to the mqtt_message_bridge config file.
+# - Single source of truth for the bridge connection (host, port, TLS, certs,
+#   topic mappings). Relative cert names resolve against MQTT_BRIDGE_CERT_DIR and
+#   env_file resolves relative to this file.
+# - Default: ${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/bridge_config.yaml
+MQTT_BRIDGE_CONFIG=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/bridge_config.yaml
+
+# MQTT_BRIDGE_CERT_DIR: Directory holding the broker CA and client certs.
+# - Relative cert names in MQTT_BRIDGE_CONFIG resolve against this directory.
+# - Default: ${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/certs
+MQTT_BRIDGE_CERT_DIR=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/certs
 
 # MQTT_LOCAL_BROKER_ENABLE: Start a local Mosquitto broker in Docker on the host.
 # - Set to "true" to launch eclipse-mosquitto alongside the CLI container.
 # - Set to "false" or leave unset to use an external broker.
 # - Default: false
 MQTT_LOCAL_BROKER_ENABLE=false
 
+# gRPC Bridge Configuration
+# =========================
+# The ADORe CLI optionally runs the grpc_message_bridge ROS node as a host
+# process. It is a gRPC CLIENT that dials a remote endpoint over an
+# OAuth2-authenticated channel and bridges ROS2 topics to/from it. Logs are
+# written to ${LOG_DIRECTORY}/grpc/.
+#
+# GRPC_BRIDGE_ENABLE: Start the grpc_message_bridge ROS node on the host.
+# - Default: false
+GRPC_BRIDGE_ENABLE=false
+
+# GRPC_BRIDGE_CONFIG: Path to the stream/topic mapping config.
+GRPC_BRIDGE_CONFIG=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/grpc_message_bridge/config/bridge_config.yaml
+
+# GRPC_BRIDGE_PROTO_PATH: Generated python stubs added to PYTHONPATH at runtime.
+# - Produced by the package build from the proto submodule.
+GRPC_BRIDGE_PROTO_PATH=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/grpc_message_bridge/proto/generated
+
+# GRPC_ENDPOINT: host:port of the remote gRPC service the bridge dials.
+#GRPC_ENDPOINT=some_grpc_service.com:443
+
+# AUTH_ENDPOINT: OAuth2 token URL. Leave unset for an insecure local channel.
+#AUTH_ENDPOINT=https://some_oath_provider.com/auth/token
+
+# GRPC_BRIDGE_SECRETS: Optional env file holding CLIENT_ID and CLIENT_SECRET.
+# - Sourced by the start script if present; keeps OAuth secrets out of adore.env.
+GRPC_BRIDGE_SECRETS=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/grpc_message_bridge/.secrets.env
+
+# GRPC_BRIDGE_HOST / GRPC_BRIDGE_PORT: local grpc server bind for server-side streams.
+#GRPC_BRIDGE_HOST=0.0.0.0
+#GRPC_BRIDGE_PORT=50051
+
 # RMW_IMPLEMENTATION: ROS2 middleware to use.
 # - rmw_fastrtps_cpp: FastDDS (default, no router needed)
 # - rmw_cyclonedds_cpp: CycloneDDS (no router needed)

ros2_workspace/src/adore_interfaces/grpc_message_bridge/.gitignore

@@ -0,0 +1,3 @@
+.secrets.env
+proto/generated
+proto/

ros2_workspace/src/adore_interfaces/grpc_message_bridge/.secrets.env.template

@@ -0,0 +1,4 @@
+AUTH_ENDPOINT=https://some_oath_provider.com/auth/token
+GRPC_ENDPOINT=some_grpc_service.com:443
+CLIENT_ID=some_client_id
+CLIENT_SECRET=some_super_secret_secret

ros2_workspace/src/adore_interfaces/grpc_message_bridge/Dockerfile

@@ -0,0 +1,23 @@
+ARG ROS_DISTRO=jazzy
+FROM ros:${ROS_DISTRO}-ros-base
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-grpcio \
+    python3-yaml \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --no-cache-dir --break-system-packages grpcio-tools protobuf
+
+WORKDIR /ws
+COPY . /ws/src/grpc_message_bridge/
+
+ENV PYTHONPATH=/ws/src/grpc_message_bridge/proto/generated
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    cd /ws && \
+    colcon build --packages-select grpc_message_bridge
+
+COPY docker-entrypoint.sh /docker-entrypoint.sh
+RUN chmod +x /docker-entrypoint.sh
+ENTRYPOINT ["/docker-entrypoint.sh"]

ros2_workspace/src/adore_interfaces/grpc_message_bridge/Makefile

@@ -0,0 +1,123 @@
+PACKAGE      ?= grpc_message_bridge
+PROTO_ROOT   ?= $(PWD)/proto
+PROTO_OUT    ?= $(PWD)/proto/generated
+
+PROTO_SOURCES := \
+  $(PROTO_ROOT)/messages/common.proto \
+  $(PROTO_ROOT)/messages/events.proto \
+  $(PROTO_ROOT)/messages/telemetry.proto \
+  $(PROTO_ROOT)/messages/signaling.proto \
+  $(PROTO_ROOT)/messages/commands.proto \
+  $(PROTO_ROOT)/messages/config/sensors.proto \
+  $(PROTO_ROOT)/messages/config/vehicle.proto \
+  $(PROTO_ROOT)/vehicle/stream.proto \
+  $(PROTO_ROOT)/client/notifications.proto \
+  $(PROTO_ROOT)/client/stream.proto
+
+IMAGE_NAME    ?= grpc_message_bridge
+IMAGE_TAG     ?= latest
+ROS_DISTRO    ?= jazzy
+GRPC_HOST     ?= 0.0.0.0
+GRPC_PORT     ?= 50051
+BRIDGE_CONFIG ?= $(PWD)/config/bridge_config.yaml
+SECRETS_ENV   ?= $(PWD)/.secrets.env
+
+.PHONY: help
+help:
+	@echo "Targets:"
+	@echo "  gen_proto   Regenerate Python stubs from proto/"
+	@echo "  build       Build Docker image"
+	@echo "  start       Start bridge container (alias for run)"
+	@echo "  run         Start bridge container"
+	@echo "  stop        Stop bridge container"
+	@echo "  restart     Stop then start"
+	@echo "  logs        Tail bridge container logs (Ctrl-C to exit)"
+	@echo "  crash       Show logs from last exited container"
+	@echo "  test        Run integration test suite inside the container"
+	@echo "  inspect     Subscribe and print live data  (DURATION=30 VEHICLE=MV-001 TYPE=ALL)"
+	@echo "              SCENARIO=N to run a single scenario"
+	@echo "  clean       Stop + remove image"
+
+.PHONY: gen_proto
+gen_proto:
+	@mkdir -p \
+		$(PROTO_OUT)/messages/config \
+		$(PROTO_OUT)/vehicle \
+		$(PROTO_OUT)/client
+	python3 -m grpc_tools.protoc \
+		-I$(PROTO_ROOT) \
+		$(shell python3 -m grpc_tools.protoc --version > /dev/null 2>&1 && \
+		  python3 -c "import grpc_tools,os; print('-I'+os.path.join(os.path.dirname(grpc_tools.__file__),'_proto'))") \
+		--python_out=$(PROTO_OUT) \
+		--grpc_python_out=$(PROTO_OUT) \
+		$(PROTO_SOURCES)
+	@for d in $(PROTO_OUT) \
+	           $(PROTO_OUT)/messages \
+	           $(PROTO_OUT)/messages/config \
+	           $(PROTO_OUT)/vehicle \
+	           $(PROTO_OUT)/client; do \
+		touch $$d/__init__.py; \
+	done
+	@echo "Stubs written to $(PROTO_OUT)"
+
+.PHONY: build
+build:
+	docker build \
+		--build-arg ROS_DISTRO=$(ROS_DISTRO) \
+		-t $(IMAGE_NAME):$(IMAGE_TAG) .
+
+.PHONY: start run
+start run:
+	@test -f $(SECRETS_ENV) || (echo "ERROR: $(SECRETS_ENV) not found"; exit 1)
+	-docker stop grpc-bridge 2>/dev/null || true
+	docker run --rm -d \
+		--name grpc-bridge \
+		--network host \
+		--env-file $(SECRETS_ENV) \
+		-v $(BRIDGE_CONFIG):/config/bridge_config.yaml:ro \
+		-e BRIDGE_CONFIG_PATH=/config/bridge_config.yaml \
+		-e GRPC_HOST=$(GRPC_HOST) \
+		-e GRPC_PORT=$(GRPC_PORT) \
+		$(IMAGE_NAME):$(IMAGE_TAG)
+
+.PHONY: stop
+stop:
+	-docker stop grpc-bridge 2>/dev/null || true
+
+.PHONY: restart
+restart: stop start
+
+.PHONY: logs
+logs:
+	docker logs -f grpc-bridge
+
+.PHONY: crash
+crash:
+	docker logs $$(docker ps -aq --filter name=grpc-bridge | head -1) 2>&1 || \
+	  echo "No exited grpc-bridge container found"
+
+.PHONY: inspect
+inspect:
+	@test -f $(SECRETS_ENV) || (echo "ERROR: $(SECRETS_ENV) not found"; exit 1)
+	docker run --rm -it \
+		--network host \
+		--env-file $(SECRETS_ENV) \
+		-e PYTHONPATH=/ws/src/grpc_message_bridge/proto/generated \
+		$(IMAGE_NAME):$(IMAGE_TAG) \
+		python3 /ws/src/grpc_message_bridge/tools/test_integration.py \
+		--inspect --duration $(or $(DURATION),30) $(if $(VEHICLE),--vehicle $(VEHICLE),) $(if $(TYPE),--type $(TYPE),)
+
+.PHONY: test
+test:
+	@test -f $(SECRETS_ENV) || (echo "ERROR: $(SECRETS_ENV) not found"; exit 1)
+	docker run --rm \
+		--network host \
+		--env-file $(SECRETS_ENV) \
+		-e PYTHONPATH=/ws/src/grpc_message_bridge/proto/generated \
+		$(IMAGE_NAME):$(IMAGE_TAG) \
+		python3 /ws/src/grpc_message_bridge/tools/test_integration.py
+
+.PHONY: clean
+clean: stop
+	docker rmi $(IMAGE_NAME):$(IMAGE_TAG) 2>/dev/null || true
+	docker builder prune -f

ros2_workspace/src/adore_interfaces/grpc_message_bridge/README.md

@@ -0,0 +1,106 @@
+# grpc_message_bridge
+
+## Setup
+
+```bash
+cp .secrets.env.template .secrets.env
+# fill in CLIENT_SECRET
+make build
+```
+
+## Run
+
+```bash
+make start
+make stop
+make restart
+make logs
+```
+
+## Inspect live data
+
+Subscribe and pretty-print incoming messages from the supervision backend.
+
+```bash
+# All message types, 30s (default)
+make inspect
+
+# Telemetry only, 60s
+make inspect TYPE=TELEMETRY DURATION=60
+
+# Notifications only, 120s
+make inspect TYPE=NOTIFICATIONS DURATION=120
+
+# All types, specific vehicles
+make inspect TYPE=ALL VEHICLE="MV-001 MV-002"
+
+# Combine
+make inspect TYPE=TELEMETRY DURATION=300 VEHICLE=MV-001
+```
+
+`TYPE` options: `ALL` (default) · `TELEMETRY` · `NOTIFICATIONS`
+
+## Test
+
+```bash
+# All 7 scenarios
+make test
+
+# Single scenario
+make test SCENARIO=4
+```
+
+## ROS topics
+
+All messages are JSON strings on `std_msgs/msg/String`.
+
+### Incoming (supervision backend → ROS)
+
+| Topic | Content |
+|---|---|
+| `/supervision/telemetry` | `VehicleTelemetryUpdate` -- vehicle id, state, position, velocity, battery, obstacles |
+| `/supervision/notifications` | `NotificationMessage` -- id, vehicle id, type, severity, title, message |
+| `/supervision/ack/rx` | `Ack` -- success, error_msg |
+| `/supervision/signaling/rx` | `SignalMessage` -- WebRTC signaling (offer/answer/ICE) |
+
+### Outgoing (ROS → supervision backend)
+
+| Topic | Content |
+|---|---|
+| `/supervision/subscription` | `SubscriptionRequest` -- type (TELEMETRY/NOTIFICATIONS/ALL), vehicle_ids |
+| `/supervision/ack/tx` | `Ack` |
+| `/supervision/signaling/tx` | `SignalMessage` |
+
+### Examples
+
+Subscribe to telemetry:
+```bash
+ros2 topic echo /supervision/telemetry
+```
+
+Subscribe to notifications:
+```bash
+ros2 topic echo /supervision/notifications
+```
+
+Send a subscription request (all vehicles, telemetry only):
+```bash
+ros2 topic pub --once /supervision/subscription std_msgs/msg/String \
+  '{"data": "{\"type\": \"TELEMETRY\", \"vehicleIds\": []}"}'
+```
+
+Send a subscription request filtered to specific vehicles:
+```bash
+ros2 topic pub --once /supervision/subscription std_msgs/msg/String \
+  '{"data": "{\"type\": \"ALL\", \"vehicleIds\": [\"MV-001\", \"MV-002\"]}"}'
+```
+
+List all active bridge topics:
+```bash
+ros2 topic list | grep supervision
+```
+
+Check message rate:
+```bash
+ros2 topic hz /supervision/telemetry
+```

ros2_workspace/src/adore_interfaces/grpc_message_bridge/config/bridge_config.yaml

@@ -0,0 +1,12 @@
+enabled_streams:
+  - client.ClientService.ClientStream
+
+client_streams:
+  - stream: client.ClientService.ClientStream
+    # The gateway streams nothing until it receives a SubscriptionRequest.
+    # Replayed on every reconnect. An empty payload leaves the oneof unset.
+    initial_send:
+      - field: subscription
+        payload:
+          type: ALL
+          vehicle_ids: []

ros2_workspace/src/adore_interfaces/grpc_message_bridge/docker-compose.yaml

@@ -0,0 +1,14 @@
+services:
+  bridge:
+    build: .
+    image: grpc_message_bridge:latest
+    network_mode: host
+    env_file:
+      - .secrets.env
+    environment:
+      BRIDGE_CONFIG_PATH: /config/bridge_config.yaml
+      GRPC_HOST: "0.0.0.0"
+      GRPC_PORT: "50051"
+    volumes:
+      - ./config/bridge_config.yaml:/config/bridge_config.yaml:ro
+    restart: unless-stopped