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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Michael Carroll
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18 changed files with 1243 additions and 56 deletions
29
rclcpp_components/src/component_container.cpp
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29
rclcpp_components/src/component_container.cpp
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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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#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "component_manager.hpp"
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int main(int argc, char * argv[])
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{
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/// Component container with a single-threaded executor.
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rclcpp::init(argc, argv);
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(node);
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exec->spin();
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}
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29
rclcpp_components/src/component_container_mt.cpp
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rclcpp_components/src/component_container_mt.cpp
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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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#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "component_manager.hpp"
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int main(int argc, char * argv[])
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{
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/// Component container with a multi-threaded executor.
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rclcpp::init(argc, argv);
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auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
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auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(node);
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exec->spin();
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}
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239
rclcpp_components/src/component_manager.cpp
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239
rclcpp_components/src/component_manager.cpp
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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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#include "component_manager.hpp"
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#include <functional>
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#include <memory>
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#include <string>
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#include <vector>
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#include "ament_index_cpp/get_resource.hpp"
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#include "rcpputils/filesystem_helper.hpp"
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#include "rcpputils/split.hpp"
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using namespace std::placeholders;
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namespace rclcpp_components
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{
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ComponentManager::ComponentManager(
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std::weak_ptr<rclcpp::executor::Executor> executor)
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: Node("ComponentManager"),
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executor_(executor)
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{
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loadNode_srv_ = create_service<LoadNode>("~/_container/load_node",
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std::bind(&ComponentManager::OnLoadNode, this, _1, _2, _3));
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unloadNode_srv_ = create_service<UnloadNode>("~/_container/unload_node",
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std::bind(&ComponentManager::OnUnloadNode, this, _1, _2, _3));
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listNodes_srv_ = create_service<ListNodes>("~/_container/list_nodes",
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std::bind(&ComponentManager::OnListNodes, this, _1, _2, _3));
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}
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ComponentManager::~ComponentManager()
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{
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if (node_wrappers_.size()) {
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RCLCPP_DEBUG(get_logger(), "Removing components from executor");
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if (auto exec = executor_.lock()) {
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for (auto & wrapper : node_wrappers_) {
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exec->remove_node(wrapper.second.get_node_base_interface());
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}
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}
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}
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}
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std::vector<ComponentManager::ComponentResource>
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ComponentManager::get_component_resources(const std::string & package_name) const
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{
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std::string content;
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std::string base_path;
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if (!ament_index_cpp::get_resource(
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"rclcpp_components", package_name, content, &base_path))
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{
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throw ComponentManagerException("Could not find requested resource in ament index");
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}
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std::vector<ComponentResource> resources;
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std::vector<std::string> lines = rcpputils::split(content, '\n', true);
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for (const auto & line : lines) {
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std::vector<std::string> parts = rcpputils::split(line, ';');
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if (parts.size() != 2) {
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throw ComponentManagerException("Invalid resource entry");
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}
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std::string library_path = parts[1];
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if (!rcpputils::fs::path(library_path).is_absolute()) {
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library_path = base_path + "/" + library_path;
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}
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resources.push_back({parts[0], library_path});
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}
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return resources;
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}
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std::shared_ptr<rclcpp_components::NodeFactory>
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ComponentManager::create_component_factory(const ComponentResource & resource)
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{
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std::string library_path = resource.second;
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std::string class_name = resource.first;
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std::string fq_class_name = "rclcpp_components::NodeFactoryTemplate<" + class_name + ">";
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class_loader::ClassLoader * loader;
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if (loaders_.find(library_path) == loaders_.end()) {
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RCLCPP_INFO(get_logger(), "Load Library: %s", library_path.c_str());
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try {
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loaders_[library_path] = std::make_unique<class_loader::ClassLoader>(library_path);
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} catch (const std::exception & ex) {
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throw ComponentManagerException("Failed to load library: " + std::string(ex.what()));
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} catch (...) {
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throw ComponentManagerException("Failed to load library");
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}
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}
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loader = loaders_[library_path].get();
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auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
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for (const auto & clazz : classes) {
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RCLCPP_INFO(get_logger(), "Found class: %s", clazz.c_str());
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if (clazz == class_name || clazz == fq_class_name) {
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RCLCPP_INFO(get_logger(), "Instantiate class: %s", clazz.c_str());
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return loader->createInstance<rclcpp_components::NodeFactory>(clazz);
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}
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}
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return {};
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}
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void
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ComponentManager::OnLoadNode(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<LoadNode::Request> request,
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std::shared_ptr<LoadNode::Response> response)
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{
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(void) request_header;
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try {
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auto resources = get_component_resources(request->package_name);
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for (const auto & resource : resources) {
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if (resource.first != request->plugin_name) {
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continue;
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}
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auto factory = create_component_factory(resource);
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if (factory == nullptr) {
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continue;
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}
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std::vector<rclcpp::Parameter> parameters;
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for (const auto & p : request->parameters) {
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parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
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}
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std::vector<std::string> remap_rules {request->remap_rules};
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if (!request->node_name.empty()) {
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remap_rules.push_back("__node:=" + request->node_name);
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}
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if (!request->node_namespace.empty()) {
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remap_rules.push_back("__ns:=" + request->node_namespace);
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}
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auto options = rclcpp::NodeOptions()
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.initial_parameters(parameters)
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.arguments(remap_rules);
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auto node_id = unique_id++;
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if (0 == node_id) {
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// This puts a technical limit on the number of times you can add a component.
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// But even if you could add (and remove) them at 1 kHz (very optimistic rate)
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// it would still be a very long time before you could exhaust the pool of id's:
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// 2^64 / 1000 times per sec / 60 sec / 60 min / 24 hours / 365 days = 584,942,417 years
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// So around 585 million years. Even at 1 GHz, it would take 585 years.
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// I think it's safe to avoid trying to handle overflow.
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// If we roll over then it's most likely a bug.
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throw std::overflow_error("exhausted the unique ids for components in this process");
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}
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try {
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node_wrappers_[node_id] = factory->create_node_instance(options);
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} catch (...) {
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// In the case that the component constructor throws an exception,
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// rethrow into the following catch block.
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throw ComponentManagerException("Component constructor threw an exception");
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}
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auto node = node_wrappers_[node_id].get_node_base_interface();
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if (auto exec = executor_.lock()) {
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exec->add_node(node, true);
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}
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response->full_node_name = node->get_fully_qualified_name();
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response->unique_id = node_id;
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response->success = true;
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return;
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}
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RCLCPP_ERROR(
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get_logger(), "Failed to find class with the requested plugin name '%s' in "
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"the loaded library",
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request->plugin_name.c_str());
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response->error_message = "Failed to find class with the requested plugin name.";
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response->success = false;
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} catch (const ComponentManagerException & ex) {
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RCLCPP_ERROR(get_logger(), ex.what());
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response->error_message = ex.what();
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response->success = false;
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}
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}
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void
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ComponentManager::OnUnloadNode(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<UnloadNode::Request> request,
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std::shared_ptr<UnloadNode::Response> response)
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{
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(void) request_header;
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auto wrapper = node_wrappers_.find(request->unique_id);
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if (wrapper == node_wrappers_.end()) {
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response->success = false;
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std::stringstream ss;
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ss << "No node found with unique_id: " << request->unique_id;
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response->error_message = ss.str();
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RCLCPP_WARN(get_logger(), ss.str());
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} else {
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if (auto exec = executor_.lock()) {
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exec->remove_node(wrapper->second.get_node_base_interface());
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}
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node_wrappers_.erase(wrapper);
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response->success = true;
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}
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}
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void
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ComponentManager::OnListNodes(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<ListNodes::Request> request,
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std::shared_ptr<ListNodes::Response> response)
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{
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(void) request_header;
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(void) request;
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for (auto & wrapper : node_wrappers_) {
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response->unique_ids.push_back(wrapper.first);
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response->full_node_names.push_back(
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wrapper.second.get_node_base_interface()->get_fully_qualified_name());
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}
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}
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} // namespace rclcpp_components
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104
rclcpp_components/src/component_manager.hpp
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104
rclcpp_components/src/component_manager.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 COMPONENT_MANAGER_HPP__
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#define COMPONENT_MANAGER_HPP__
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#include <map>
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include "class_loader/class_loader.hpp"
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#include "rclcpp/executor.hpp"
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#include "rclcpp/node_options.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "composition_interfaces/srv/load_node.hpp"
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#include "composition_interfaces/srv/unload_node.hpp"
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#include "composition_interfaces/srv/list_nodes.hpp"
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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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class ComponentManagerException : public std::runtime_error
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{
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public:
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explicit ComponentManagerException(const std::string & error_desc)
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: std::runtime_error(error_desc) {}
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};
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class ComponentManager : public rclcpp::Node
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{
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public:
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using LoadNode = composition_interfaces::srv::LoadNode;
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using UnloadNode = composition_interfaces::srv::UnloadNode;
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using ListNodes = composition_interfaces::srv::ListNodes;
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/// Represents a component resource.
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/**
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* Is a pair of class name (for class loader) and library path (absolute)
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*/
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using ComponentResource = std::pair<std::string, std::string>;
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ComponentManager(
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std::weak_ptr<rclcpp::executor::Executor> executor);
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~ComponentManager();
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/// Return a list of valid loadable components in a given package.
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std::vector<ComponentResource>
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get_component_resources(const std::string & package_name) const;
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std::shared_ptr<rclcpp_components::NodeFactory>
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create_component_factory(const ComponentResource & resource);
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private:
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void
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OnLoadNode(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<LoadNode::Request> request,
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std::shared_ptr<LoadNode::Response> response);
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void
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OnUnloadNode(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<UnloadNode::Request> request,
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std::shared_ptr<UnloadNode::Response> response);
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void
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OnListNodes(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<ListNodes::Request> request,
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std::shared_ptr<ListNodes::Response> response);
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private:
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std::weak_ptr<rclcpp::executor::Executor> executor_;
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uint64_t unique_id {1};
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std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;
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std::map<uint64_t, rclcpp_components::NodeInstanceWrapper> node_wrappers_;
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rclcpp::Service<LoadNode>::SharedPtr loadNode_srv_;
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rclcpp::Service<UnloadNode>::SharedPtr unloadNode_srv_;
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rclcpp::Service<ListNodes>::SharedPtr listNodes_srv_;
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};
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} // namespace rclcpp_components
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#endif // COMPONENT_MANAGER_HPP__
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