Make Component Manager public (#1065)
* make functions public & virtual Signed-off-by: Karsten Knese <karsten@openrobotics.org> * flexible resource index for cmake macros Signed-off-by: Karsten Knese <karsten@openrobotics.org> * review comments Signed-off-by: Karsten Knese <karsten@openrobotics.org> * remove superfluous include Signed-off-by: Karsten Knese <karsten@openrobotics.org> * remove wrong dllexort Signed-off-by: Karsten Knese <karsten@openrobotics.org> * check for empty plugin & executable args Signed-off-by: Karsten Knese <karsten@openrobotics.org> * remove commented lines Signed-off-by: Karsten Knese <karsten@openrobotics.org> * fix typo Signed-off-by: Karsten Knese <karsten@openrobotics.org> * relax macro constraints Signed-off-by: Karsten Knese <karsten@openrobotics.org>
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Karsten Knese
GitHub
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commit
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11 changed files with 146 additions and 40 deletions
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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__COMPONENT_MANAGER_HPP__
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#define RCLCPP_COMPONENTS__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 "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/executor.hpp"
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#include "rclcpp/node_options.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_components/node_factory.hpp"
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#include "rclcpp_components/visibility_control.hpp"
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namespace class_loader
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{
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class ClassLoader;
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} // namespace class_loader
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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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RCLCPP_COMPONENTS_PUBLIC
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ComponentManager(
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std::weak_ptr<rclcpp::executor::Executor> executor,
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std::string node_name = "ComponentManager",
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const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
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RCLCPP_COMPONENTS_PUBLIC
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virtual ~ComponentManager();
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/// Return a list of valid loadable components in a given package.
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RCLCPP_COMPONENTS_PUBLIC
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virtual std::vector<ComponentResource>
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get_component_resources(
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const std::string & package_name,
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const std::string & resource_index = "rclcpp_components") const;
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RCLCPP_COMPONENTS_PUBLIC
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virtual std::shared_ptr<rclcpp_components::NodeFactory>
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create_component_factory(const ComponentResource & resource);
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protected:
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RCLCPP_COMPONENTS_PUBLIC
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virtual 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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RCLCPP_COMPONENTS_PUBLIC
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virtual 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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RCLCPP_COMPONENTS_PUBLIC
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virtual 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 // RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
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@ -0,0 +1,56 @@
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// Copyright 2020 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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/* This header must be included by all rclcpp headers which declare symbols
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* which are defined in the rclcpp library. When not building the rclcpp
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* library, i.e. when using the headers in other package's code, the contents
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* of this header change the visibility of certain symbols which the rclcpp
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* library cannot have, but the consuming code must have inorder to link.
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*/
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#ifndef RCLCPP_COMPONENTS__VISIBILITY_CONTROL_HPP_
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#define RCLCPP_COMPONENTS__VISIBILITY_CONTROL_HPP_
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef __GNUC__
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#define RCLCPP_COMPONENTS_EXPORT __attribute__ ((dllexport))
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#define RCLCPP_COMPONENTS_IMPORT __attribute__ ((dllimport))
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#else
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#define RCLCPP_COMPONENTS_EXPORT __declspec(dllexport)
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#define RCLCPP_COMPONENTS_IMPORT __declspec(dllimport)
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#endif
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#ifdef RCLCPP_COMPONENTS_BUILDING_LIBRARY
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#define RCLCPP_COMPONENTS_PUBLIC RCLCPP_COMPONENTS_EXPORT
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#else
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#define RCLCPP_COMPONENTS_PUBLIC RCLCPP_COMPONENTS_IMPORT
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#endif
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#define RCLCPP_COMPONENTS_PUBLIC_TYPE RCLCPP_COMPONENTS_PUBLIC
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#define RCLCPP_COMPONENTS_LOCAL
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#else
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#define RCLCPP_COMPONENTS_EXPORT __attribute__ ((visibility("default")))
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#define RCLCPP_COMPONENTS_IMPORT
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#if __GNUC__ >= 4
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#define RCLCPP_COMPONENTS_PUBLIC __attribute__ ((visibility("default")))
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#define RCLCPP_COMPONENTS_LOCAL __attribute__ ((visibility("hidden")))
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#else
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#define RCLCPP_COMPONENTS_PUBLIC
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#define RCLCPP_COMPONENTS_LOCAL
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#endif
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#define RCLCPP_COMPONENTS_PUBLIC_TYPE
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#endif
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#endif // RCLCPP_COMPONENTS__VISIBILITY_CONTROL_HPP_
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