0f25f714fe
* 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>
104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
// 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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