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Make Component Manager public (#1065)

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* 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>
This commit is contained in:
Karsten Knese 2020-04-15 19:08:04 -07:00 • committed by GitHub
parent 44fa4fe019
commit 50d500e84e
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GPG key ID: 4AEE18F83AFDEB23
11 changed files with 146 additions and 40 deletions
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2
rclcpp_components/src/component_container.cpp
View file

@ -16,7 +16,7 @@
#include "rclcpp/rclcpp.hpp"
#include "component_manager.hpp"
#include "rclcpp_components/component_manager.hpp"
int main(int argc, char * argv[])
{

2
rclcpp_components/src/component_container_mt.cpp
View file

@ -16,7 +16,7 @@
#include "rclcpp/rclcpp.hpp"
#include "component_manager.hpp"
#include "rclcpp_components/component_manager.hpp"
int main(int argc, char * argv[])
{

17
rclcpp_components/src/component_manager.cpp
View file

@ -12,14 +12,16 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include "component_manager.hpp"
#include "rclcpp_components/component_manager.hpp"
#include <functional>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "ament_index_cpp/get_resource.hpp"
#include "class_loader/class_loader.hpp"
#include "rcpputils/filesystem_helper.hpp"
#include "rcpputils/split.hpp"
@ -29,8 +31,10 @@ namespace rclcpp_components
{
ComponentManager::ComponentManager(
std::weak_ptr<rclcpp::executor::Executor> executor)
: Node("ComponentManager"),
std::weak_ptr<rclcpp::executor::Executor> executor,
std::string node_name,
const rclcpp::NodeOptions & node_options)
: Node(std::move(node_name), node_options),
executor_(executor)
{
loadNode_srv_ = create_service<LoadNode>(
@ -57,13 +61,14 @@ ComponentManager::~ComponentManager()
}
std::vector<ComponentManager::ComponentResource>
ComponentManager::get_component_resources(const std::string & package_name) const
ComponentManager::get_component_resources(
const std::string & package_name, const std::string & resource_index) const
{
std::string content;
std::string base_path;
if (
!ament_index_cpp::get_resource(
"rclcpp_components", package_name, content, &base_path))
resource_index, package_name, content, &base_path))
{
throw ComponentManagerException("Could not find requested resource in ament index");
}
@ -176,7 +181,7 @@ ComponentManager::OnLoadNode(
}
}
auto node_id = unique_id++;
auto node_id = unique_id_++;
if (0 == node_id) {
// This puts a technical limit on the number of times you can add a component.

104
rclcpp_components/src/component_manager.hpp
View file

@ -1,104 +0,0 @@
// 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.
#ifndef COMPONENT_MANAGER_HPP__
#define COMPONENT_MANAGER_HPP__
#include <map>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "class_loader/class_loader.hpp"
#include "rclcpp/executor.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/rclcpp.hpp"
#include "composition_interfaces/srv/load_node.hpp"
#include "composition_interfaces/srv/unload_node.hpp"
#include "composition_interfaces/srv/list_nodes.hpp"
#include "rclcpp_components/node_factory.hpp"
namespace rclcpp_components
{
class ComponentManagerException : public std::runtime_error
{
public:
explicit ComponentManagerException(const std::string & error_desc)
: std::runtime_error(error_desc) {}
};
class ComponentManager : public rclcpp::Node
{
public:
using LoadNode = composition_interfaces::srv::LoadNode;
using UnloadNode = composition_interfaces::srv::UnloadNode;
using ListNodes = composition_interfaces::srv::ListNodes;
/// Represents a component resource.
/**
* Is a pair of class name (for class loader) and library path (absolute)
*/
using ComponentResource = std::pair<std::string, std::string>;
ComponentManager(
std::weak_ptr<rclcpp::executor::Executor> executor);
~ComponentManager();
/// Return a list of valid loadable components in a given package.
std::vector<ComponentResource>
get_component_resources(const std::string & package_name) const;
std::shared_ptr<rclcpp_components::NodeFactory>
create_component_factory(const ComponentResource & resource);
private:
void
OnLoadNode(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<LoadNode::Request> request,
std::shared_ptr<LoadNode::Response> response);
void
OnUnloadNode(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<UnloadNode::Request> request,
std::shared_ptr<UnloadNode::Response> response);
void
OnListNodes(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<ListNodes::Request> request,
std::shared_ptr<ListNodes::Response> response);
private:
std::weak_ptr<rclcpp::executor::Executor> executor_;
uint64_t unique_id {1};
std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;
std::map<uint64_t, rclcpp_components::NodeInstanceWrapper> node_wrappers_;
rclcpp::Service<LoadNode>::SharedPtr loadNode_srv_;
rclcpp::Service<UnloadNode>::SharedPtr unloadNode_srv_;
rclcpp::Service<ListNodes>::SharedPtr listNodes_srv_;
};
} // namespace rclcpp_components
#endif // COMPONENT_MANAGER_HPP__