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
298
rclcpp_components/test/test_component_manager_api.cpp
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298
rclcpp_components/test/test_component_manager_api.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 <gtest/gtest.h>
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#include <memory>
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#include <string>
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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 "component_manager.hpp"
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using namespace std::chrono_literals;
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class TestComponentManager : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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};
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TEST_F(TestComponentManager, load_components)
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{
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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auto node = rclcpp::Node::make_shared("test_component_manager");
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auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(manager);
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exec->add_node(node);
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auto client = node->create_client<composition_interfaces::srv::LoadNode>(
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"/ComponentManager/_container/load_node");
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if (!client->wait_for_service(20s)) {
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ASSERT_TRUE(false) << "service not available after waiting";
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponentFoo";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
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EXPECT_EQ(result.get()->unique_id, 1u);
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponentBar";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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EXPECT_EQ(result.get()->full_node_name, "/test_component_bar");
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EXPECT_EQ(result.get()->unique_id, 2u);
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}
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// Test remapping the node name
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{
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponentFoo";
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request->node_name = "test_component_baz";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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EXPECT_EQ(result.get()->full_node_name, "/test_component_baz");
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EXPECT_EQ(result.get()->unique_id, 3u);
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}
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// Test remapping the node namespace
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{
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponentFoo";
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request->node_namespace = "/ns";
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request->node_name = "test_component_bing";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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EXPECT_EQ(result.get()->full_node_name, "/ns/test_component_bing");
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EXPECT_EQ(result.get()->unique_id, 4u);
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}
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auto node_names = node->get_node_names();
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auto find_in_nodes = [node_names](std::string name) {
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return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
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};
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EXPECT_TRUE(find_in_nodes("test_component_foo"));
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EXPECT_TRUE(find_in_nodes("test_component_bar"));
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EXPECT_TRUE(find_in_nodes("test_component_baz"));
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EXPECT_TRUE(find_in_nodes("test_component_bing"));
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}
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TEST_F(TestComponentManager, load_invalid_components)
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{
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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auto node = rclcpp::Node::make_shared("test_component_manager");
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auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(manager);
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exec->add_node(node);
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auto client = node->create_client<composition_interfaces::srv::LoadNode>(
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"/ComponentManager/_container/load_node");
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if (!client->wait_for_service(20s)) {
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ASSERT_TRUE(false) << "service not available after waiting";
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}
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{
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// Valid package, but invalid class name.
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponent";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, false);
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EXPECT_EQ(result.get()->error_message, "Failed to find class with the requested plugin name.");
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EXPECT_EQ(result.get()->full_node_name, "");
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EXPECT_EQ(result.get()->unique_id, 0u);
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}
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{
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// Invalid package, but valid class name.
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components_foo";
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request->plugin_name = "test_rclcpp_components::TestComponentFoo";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, false);
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EXPECT_EQ(result.get()->error_message, "Could not find requested resource in ament index");
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EXPECT_EQ(result.get()->full_node_name, "");
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EXPECT_EQ(result.get()->unique_id, 0u);
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}
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}
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TEST_F(TestComponentManager, list_components)
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{
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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auto node = rclcpp::Node::make_shared("test_component_manager");
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auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(manager);
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exec->add_node(node);
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{
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auto client = node->create_client<composition_interfaces::srv::LoadNode>(
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"/ComponentManager/_container/load_node");
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if (!client->wait_for_service(20s)) {
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ASSERT_TRUE(false) << "service not available after waiting";
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponentFoo";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
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EXPECT_EQ(result.get()->unique_id, 1u);
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}
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}
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{
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auto client = node->create_client<composition_interfaces::srv::ListNodes>(
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"/ComponentManager/_container/list_nodes");
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if (!client->wait_for_service(20s)) {
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ASSERT_TRUE(false) << "service not available after waiting";
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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auto node_names = result.get()->full_node_names;
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auto unique_ids = result.get()->unique_ids;
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EXPECT_EQ(node_names.size(), 1u);
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EXPECT_EQ(node_names[0], "/test_component_foo");
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EXPECT_EQ(unique_ids.size(), 1u);
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EXPECT_EQ(unique_ids[0], 1u);
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}
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}
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}
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TEST_F(TestComponentManager, unload_component)
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{
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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auto node = rclcpp::Node::make_shared("test_component_manager");
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auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(manager);
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exec->add_node(node);
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{
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auto client = node->create_client<composition_interfaces::srv::LoadNode>(
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"/ComponentManager/_container/load_node");
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if (!client->wait_for_service(20s)) {
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ASSERT_TRUE(false) << "service not available after waiting";
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
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request->package_name = "rclcpp_components";
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request->plugin_name = "test_rclcpp_components::TestComponentFoo";
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
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EXPECT_EQ(result.get()->unique_id, 1u);
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}
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}
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auto node_names = node->get_node_names();
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auto find_in_nodes = [node_names](std::string name) {
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return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
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};
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EXPECT_TRUE(find_in_nodes("test_component_foo"));
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{
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auto client = node->create_client<composition_interfaces::srv::UnloadNode>(
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"/ComponentManager/_container/unload_node");
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if (!client->wait_for_service(20s)) {
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ASSERT_TRUE(false) << "service not available after waiting";
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
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request->unique_id = 1;
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, true);
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EXPECT_EQ(result.get()->error_message, "");
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}
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{
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auto request = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
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request->unique_id = 1;
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auto result = client->async_send_request(request);
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auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
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EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
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EXPECT_EQ(result.get()->success, false);
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EXPECT_EQ(result.get()->error_message, "No node found with unique_id: 1");
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}
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}
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}
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