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Introduce rclcpp_components to implement composition (#665)

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* 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>
This commit is contained in:
Michael Carroll 2019-04-04 11:16:32 -05:00 • committed by GitHub
parent d11a10a583
commit 0f25f714fe
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18 changed files with 1243 additions and 56 deletions
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rclcpp_components/test/test_component_manager.cpp Normal file
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// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// 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.
#include <gtest/gtest.h>
#include <memory>
#include "component_manager.hpp"
#include "rcpputils/filesystem_helper.hpp"
class TestComponentManager : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
};
TEST_F(TestComponentManager, get_component_resources_invalid)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
EXPECT_THROW(manager->get_component_resources("invalid_package"),
rclcpp_components::ComponentManagerException);
}
TEST_F(TestComponentManager, get_component_resources_valid)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
auto resources = manager->get_component_resources("rclcpp_components");
EXPECT_EQ(3u, resources.size());
EXPECT_EQ("test_rclcpp_components::TestComponentFoo", resources[0].first);
EXPECT_EQ("test_rclcpp_components::TestComponentBar", resources[1].first);
EXPECT_EQ("test_rclcpp_components::TestComponentNoNode", resources[2].first);
EXPECT_TRUE(rcpputils::fs::path(resources[0].second).exists());
EXPECT_TRUE(rcpputils::fs::path(resources[1].second).exists());
EXPECT_TRUE(rcpputils::fs::path(resources[2].second).exists());
}
TEST_F(TestComponentManager, create_component_factory_valid)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
auto resources = manager->get_component_resources("rclcpp_components");
EXPECT_EQ(3u, resources.size());
// Repeated loading should reuse existing class loader and not throw.
EXPECT_NO_THROW(auto factory = manager->create_component_factory(resources[0]););
EXPECT_NO_THROW(auto factory = manager->create_component_factory(resources[0]););
for (const auto & resource : resources) {
auto factory = manager->create_component_factory(resource);
EXPECT_NE(nullptr, factory);
}
}
TEST_F(TestComponentManager, create_component_factory_invalid)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
// Test invalid library
EXPECT_THROW(manager->create_component_factory({"foo_class", "invalid_library.so"}),
rclcpp_components::ComponentManagerException);
// Test valid library with invalid class
auto resources = manager->get_component_resources("rclcpp_components");
auto factory = manager->create_component_factory({"foo_class", resources[0].second});
EXPECT_EQ(nullptr, factory);
}