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Introduce rclcpp_components to implement composition (ros2#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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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,122 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
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| project(rclcpp_components) | ||
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
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| find_package(ament_cmake_ros REQUIRED) | ||
| find_package(ament_index_cpp REQUIRED) | ||
| find_package(class_loader REQUIRED) | ||
| find_package(composition_interfaces REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(rcpputils REQUIRED) | ||
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| include_directories(include) | ||
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| add_library( | ||
| component_manager | ||
| STATIC | ||
| src/component_manager.cpp | ||
| ) | ||
| ament_target_dependencies(component_manager | ||
| "ament_index_cpp" | ||
| "class_loader" | ||
| "composition_interfaces" | ||
| "rclcpp" | ||
| "rcpputils" | ||
| ) | ||
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| add_executable( | ||
| component_container | ||
| src/component_container.cpp | ||
| ) | ||
| target_link_libraries(component_container component_manager) | ||
| ament_target_dependencies(component_container | ||
| "rclcpp" | ||
| ) | ||
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| add_executable( | ||
| component_container_mt | ||
| src/component_container_mt.cpp | ||
| ) | ||
| target_link_libraries(component_container_mt component_manager) | ||
| ament_target_dependencies(component_container_mt | ||
| "rclcpp" | ||
| ) | ||
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| if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") | ||
| target_link_libraries(component_container "stdc++fs") | ||
| target_link_libraries(component_container_mt "stdc++fs") | ||
| endif() | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
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| set(components "") | ||
| add_library(test_component SHARED test/components/test_component.cpp) | ||
| ament_target_dependencies(test_component | ||
| "class_loader" | ||
| "rclcpp" | ||
| "rclcpp_components") | ||
| #rclcpp_components_register_nodes(test_component "test_rclcpp_components::TestComponent") | ||
| set(components "${components}test_rclcpp_components::TestComponentFoo;$<TARGET_FILE:test_component>\n") | ||
| set(components "${components}test_rclcpp_components::TestComponentBar;$<TARGET_FILE:test_component>\n") | ||
| set(components "${components}test_rclcpp_components::TestComponentNoNode;$<TARGET_FILE:test_component>\n") | ||
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| file(GENERATE | ||
| OUTPUT | ||
| "${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>/share/ament_index/resource_index/rclcpp_components/${PROJECT_NAME}" | ||
| CONTENT "${components}") | ||
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| set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}") | ||
| if(WIN32) | ||
| set(append_library_dirs "${append_library_dirs}/$<CONFIG>") | ||
| endif() | ||
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| ament_add_gtest(test_component_manager test/test_component_manager.cpp | ||
| APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG> | ||
| APPEND_LIBRARY_DIRS "${append_library_dirs}") | ||
| if(TARGET test_component_manager) | ||
| target_link_libraries(test_component_manager component_manager) | ||
| target_include_directories(test_component_manager PRIVATE src) | ||
| endif() | ||
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| ament_add_gtest(test_component_manager_api test/test_component_manager_api.cpp | ||
| APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG> | ||
| APPEND_LIBRARY_DIRS "${append_library_dirs}") | ||
| if(TARGET test_component_manager_api) | ||
| target_link_libraries(test_component_manager_api component_manager) | ||
| target_include_directories(test_component_manager_api PRIVATE src) | ||
| endif() | ||
| endif() | ||
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| # Install executables | ||
| install( | ||
| TARGETS component_container component_container_mt | ||
| RUNTIME DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
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| # Install include directories | ||
| install( | ||
| DIRECTORY include/ | ||
| DESTINATION include | ||
| ) | ||
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| # Install cmake | ||
| install( | ||
| DIRECTORY cmake | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| # specific order: dependents before dependencies | ||
| ament_export_include_directories(include) | ||
| ament_export_dependencies(class_loader) | ||
| ament_export_dependencies(rclcpp) | ||
| ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake) |
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46 changes: 46 additions & 0 deletions
46
rclcpp_components/include/rclcpp_components/node_factory.hpp
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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. | ||
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| #ifndef RCLCPP_COMPONENTS__NODE_FACTORY_HPP__ | ||
| #define RCLCPP_COMPONENTS__NODE_FACTORY_HPP__ | ||
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| #include "rclcpp_components/node_instance_wrapper.hpp" | ||
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| namespace rclcpp_components | ||
| { | ||
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| /// The NodeFactory interface is used by the class loader to instantiate components. | ||
| /** | ||
| * The NodeFactory interface serves two purposes: | ||
| * * It allows for classes not derived from `rclcpp::Node` to be used as components. | ||
| * * It allows derived constructors to be called when components are loaded. | ||
| */ | ||
| class NodeFactory | ||
| { | ||
| public: | ||
| NodeFactory() = default; | ||
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| virtual ~NodeFactory() = default; | ||
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| /// Create an instance of a component | ||
| /** | ||
| * \param[in] options Additional options used in the construction of the component. | ||
| */ | ||
| virtual | ||
| NodeInstanceWrapper | ||
| create_node_instance(const rclcpp::NodeOptions & options) = 0; | ||
| }; | ||
| } // namespace rclcpp_components | ||
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| #endif // RCLCPP_COMPONENTS__NODE_FACTORY_HPP__ |
53 changes: 53 additions & 0 deletions
53
rclcpp_components/include/rclcpp_components/node_factory_template.hpp
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| @@ -0,0 +1,53 @@ | ||
| // 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. | ||
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| #ifndef RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__ | ||
| #define RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__ | ||
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| #include <functional> | ||
| #include <memory> | ||
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| #include "rclcpp_components/node_factory.hpp" | ||
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| namespace rclcpp_components | ||
| { | ||
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| /// NodeFactoryTemplate is a convenience class for instantiating components. | ||
| /** | ||
| * The NodeFactoryTemplate class can be used to provide the NodeFactory interface for | ||
| * components that implement a single-argument constructor and `get_node_base_interface`. | ||
| */ | ||
| template<typename NodeT> | ||
| class NodeFactoryTemplate : public NodeFactory | ||
| { | ||
| public: | ||
| NodeFactoryTemplate() = default; | ||
| virtual ~NodeFactoryTemplate() = default; | ||
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| /// Create an instance of a component | ||
| /** | ||
| * \param[in] options Additional options used in the construction of the component. | ||
| */ | ||
| NodeInstanceWrapper | ||
| create_node_instance(const rclcpp::NodeOptions & options) override | ||
| { | ||
| auto node = std::make_shared<NodeT>(options); | ||
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| return NodeInstanceWrapper( | ||
| node, std::bind(&NodeT::get_node_base_interface, node)); | ||
| } | ||
| }; | ||
| } // namespace rclcpp_components | ||
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| #endif // RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__ |
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