Introduce rclcpp_components to implement composition (#665)
* Introduce rclcpp_components package Signed-off-by: Michael Carroll <michael@openrobotics.org> * Keep pointer to NodeWrapper vs NodeInterface. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Remove component registration from rclcpp Signed-off-by: Michael Carroll <michael@openrobotics.org> * Make topics names private-prefix. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Handle name and namespace with remap rules. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Linting. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Change to smart pointers for managing memory. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Update to use rcpputils filesystem/split. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add docs. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add tests around ComponentManager. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Lint. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add overflow check. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix CI. Signed-off-by: Michael Carroll <michael@openrobotics.org>
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18 changed files with 1243 additions and 56 deletions
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rclcpp_components/include/rclcpp_components/node_factory.hpp
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rclcpp_components/include/rclcpp_components/node_factory.hpp
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
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#define RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
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#include "rclcpp_components/node_instance_wrapper.hpp"
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namespace rclcpp_components
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{
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/// The NodeFactory interface is used by the class loader to instantiate components.
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/**
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* The NodeFactory interface serves two purposes:
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* * It allows for classes not derived from `rclcpp::Node` to be used as components.
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* * It allows derived constructors to be called when components are loaded.
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*/
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class NodeFactory
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{
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public:
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NodeFactory() = default;
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virtual ~NodeFactory() = default;
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/// Create an instance of a component
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/**
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* \param[in] options Additional options used in the construction of the component.
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*/
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virtual
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NodeInstanceWrapper
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create_node_instance(const rclcpp::NodeOptions & options) = 0;
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};
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} // namespace rclcpp_components
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#endif // RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__
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#define RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__
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#include <functional>
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#include <memory>
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#include "rclcpp_components/node_factory.hpp"
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namespace rclcpp_components
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{
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/// NodeFactoryTemplate is a convenience class for instantiating components.
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/**
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* The NodeFactoryTemplate class can be used to provide the NodeFactory interface for
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* components that implement a single-argument constructor and `get_node_base_interface`.
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*/
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template<typename NodeT>
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class NodeFactoryTemplate : public NodeFactory
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{
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public:
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NodeFactoryTemplate() = default;
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virtual ~NodeFactoryTemplate() = default;
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/// Create an instance of a component
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/**
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* \param[in] options Additional options used in the construction of the component.
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*/
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NodeInstanceWrapper
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create_node_instance(const rclcpp::NodeOptions & options) override
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{
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auto node = std::make_shared<NodeT>(options);
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return NodeInstanceWrapper(
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node, std::bind(&NodeT::get_node_base_interface, node));
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}
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};
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} // namespace rclcpp_components
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#endif // RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_COMPONENTS__NODE_INSTANCE_WRAPPER_HPP__
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#define RCLCPP_COMPONENTS__NODE_INSTANCE_WRAPPER_HPP__
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#include <functional>
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#include <memory>
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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namespace rclcpp_components
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{
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/// The NodeInstanceWrapper encapsulates the node instance.
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class NodeInstanceWrapper
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{
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public:
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using NodeBaseInterfaceGetter = std::function<
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr(const std::shared_ptr<void> &)>;
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NodeInstanceWrapper()
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: node_instance_(nullptr)
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{}
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NodeInstanceWrapper(
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std::shared_ptr<void> node_instance,
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NodeBaseInterfaceGetter node_base_interface_getter)
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: node_instance_(node_instance), node_base_interface_getter_(node_base_interface_getter)
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{}
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/// Get a type-erased pointer to the original Node instance
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/**
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* This is only for debugging and special cases.
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* For most cases `get_node_base_interface` will be sufficient.
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*
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* \return Shared pointer to the encapsulated Node instance.
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*/
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const std::shared_ptr<void>
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get_node_instance() const
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{
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return node_instance_;
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}
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/// Get NodeBaseInterface pointer for the encapsulated Node Instance.
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/**
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* \return Shared NodeBaseInterface pointer of the encapsulated Node instance.
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*/
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
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get_node_base_interface()
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{
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return node_base_interface_getter_(node_instance_);
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}
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private:
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std::shared_ptr<void> node_instance_;
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NodeBaseInterfaceGetter node_base_interface_getter_;
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};
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} // namespace rclcpp_components
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#endif // RCLCPP_COMPONENTS__NODE_INSTANCE_WRAPPER_HPP__
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_COMPONENTS__REGISTER_NODE_MACRO_HPP__
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#define RCLCPP_COMPONENTS__REGISTER_NODE_MACRO_HPP__
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#include "class_loader/class_loader.hpp"
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#include "rclcpp_components/node_factory_template.hpp"
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/// Register a component that can be dynamically loaded at runtime.
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/**
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* The registration macro should appear once per component per library.
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* The macro should appear in a single translation unit.
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*
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* Valid arguments for NodeClass shall:
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* * Have a constructor that takes a single argument that is a `rclcpp::NodeOptions` instance.
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* * Have a method of of the signature:
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* `rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface`
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*
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* Note: NodeClass does not need to inherit from `rclcpp::Node`, but it is the easiest way.
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*/
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#define RCLCPP_COMPONENTS_REGISTER_NODE(NodeClass) \
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CLASS_LOADER_REGISTER_CLASS(rclcpp_components::NodeFactoryTemplate<NodeClass>, \
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rclcpp_components::NodeFactory)
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#endif // RCLCPP_COMPONENTS__REGISTER_NODE_MACRO_HPP__
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