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add use_global_arguments for node options of component nodes #1776

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merged 2 commits into from
Jan 19, 2022
Merged

add use_global_arguments for node options of component nodes #1776

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77193ed
add use_global_arguments for node options of component nodes
gezp Sep 16, 2021
32f449e
use forward_global_arguments instead of use_global_arguments
gezp Dec 7, 2021
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12 changes: 12 additions & 0 deletions rclcpp_components/src/component_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,6 +160,18 @@ ComponentManager::create_node_options(const std::shared_ptr<LoadNode::Request> r
"Extra component argument 'use_intra_process_comms' must be a boolean");
}
options.use_intra_process_comms(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "use_global_arguments") {
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@gezp meta: thinking about your use case, I wonder if it would make sense for the component_manager node to expose, e.g. as a parameter, the default value of use_global_arguments for the nodes it composes. Seems convenient if you're already passing a large parameter file to it.

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i agree with you, for my use case (use a large parameter file for all components), it seems better to use a parameter of component_manager to configure all components use_global_arguments, which we needn't set this for components one by one in launch file.
I'm not good at naming parameter, could you give me some suggestions ? @hidmic . how about use_global_arguments (i think it's bad, because it seems that we set component_manager nodes to use global arguments, but we want to set this for components) or component_use_global_arguments?

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@gezp perhaps forward_global_arguments? I'm not very creative either. At any rate, I won't block this patch on it.

if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'use_global_arguments' must be a boolean");
}
options.use_global_arguments(extra_argument.get_value<bool>());
if (extra_argument.get_value<bool>()) {
RCLCPP_WARN(
get_logger(), "use_global_arguments is true by default in nodes, but is not "
"recommended in a component manager. If true, this will cause this node's behavior "
"to be influenced by global arguments, not only those targeted at this node.");
}
}
}

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56 changes: 52 additions & 4 deletions rclcpp_components/test/test_component_manager_api.cpp
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Expand Up @@ -211,6 +211,50 @@ TEST_F(TestComponentManager, components_api)
EXPECT_EQ(result->unique_id, 0u);
}

{
// use_global_arguments
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_global_arguments";
rclcpp::Parameter use_global_arguments("use_global_arguments",
rclcpp::ParameterValue(true));
request->extra_arguments.push_back(use_global_arguments.to_parameter_msg());

auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, true);
EXPECT_EQ(result->error_message, "");
std::cout << result->full_node_name << std::endl;
EXPECT_EQ(result->full_node_name, "/test_component_global_arguments");
EXPECT_EQ(result->unique_id, 7u);
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@gezp nit: this tests that the manager did not fail but not that it did anything about use_global_arguments.

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yes, use_global_arguments is set true in NodeOption , but this component didn't use any global arguments, i don't know how to test for this.

}

{
// use_global_arguments is not a bool type parameter
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_global_arguments_str";

rclcpp::Parameter use_global_arguments("use_global_arguments",
rclcpp::ParameterValue("hello"));
request->extra_arguments.push_back(use_global_arguments.to_parameter_msg());

auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, false);
EXPECT_EQ(
result->error_message,
"Extra component argument 'use_global_arguments' must be a boolean");
EXPECT_EQ(result->full_node_name, "");
EXPECT_EQ(result->unique_id, 0u);
}

auto node_names = node->get_node_names();

auto find_in_nodes = [node_names](std::string name) {
Expand Down Expand Up @@ -239,20 +283,22 @@ TEST_F(TestComponentManager, components_api)
auto result_node_names = result->full_node_names;
auto result_unique_ids = result->unique_ids;

EXPECT_EQ(result_node_names.size(), 6u);
EXPECT_EQ(result_node_names.size(), 7u);
EXPECT_EQ(result_node_names[0], "/test_component_foo");
EXPECT_EQ(result_node_names[1], "/test_component_bar");
EXPECT_EQ(result_node_names[2], "/test_component_baz");
EXPECT_EQ(result_node_names[3], "/ns/test_component_bing");
EXPECT_EQ(result_node_names[4], "/test_component_remap");
EXPECT_EQ(result_node_names[5], "/test_component_intra_process");
EXPECT_EQ(result_unique_ids.size(), 6u);
EXPECT_EQ(result_node_names[6], "/test_component_global_arguments");
EXPECT_EQ(result_unique_ids.size(), 7u);
EXPECT_EQ(result_unique_ids[0], 1u);
EXPECT_EQ(result_unique_ids[1], 2u);
EXPECT_EQ(result_unique_ids[2], 3u);
EXPECT_EQ(result_unique_ids[3], 4u);
EXPECT_EQ(result_unique_ids[4], 5u);
EXPECT_EQ(result_unique_ids[5], 6u);
EXPECT_EQ(result_unique_ids[6], 7u);
}
}

Expand Down Expand Up @@ -306,18 +352,20 @@ TEST_F(TestComponentManager, components_api)
auto result_node_names = result->full_node_names;
auto result_unique_ids = result->unique_ids;

EXPECT_EQ(result_node_names.size(), 5u);
EXPECT_EQ(result_node_names.size(), 6u);
EXPECT_EQ(result_node_names[0], "/test_component_bar");
EXPECT_EQ(result_node_names[1], "/test_component_baz");
EXPECT_EQ(result_node_names[2], "/ns/test_component_bing");
EXPECT_EQ(result_node_names[3], "/test_component_remap");
EXPECT_EQ(result_node_names[4], "/test_component_intra_process");
EXPECT_EQ(result_unique_ids.size(), 5u);
EXPECT_EQ(result_node_names[5], "/test_component_global_arguments");
EXPECT_EQ(result_unique_ids.size(), 6u);
EXPECT_EQ(result_unique_ids[0], 2u);
EXPECT_EQ(result_unique_ids[1], 3u);
EXPECT_EQ(result_unique_ids[2], 4u);
EXPECT_EQ(result_unique_ids[3], 5u);
EXPECT_EQ(result_unique_ids[4], 6u);
EXPECT_EQ(result_unique_ids[5], 7u);
}
}
}