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369 lines (327 loc) · 13.3 KB
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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.
#include "rclcpp_components/component_manager.hpp"
#include <filesystem>
#include <functional>
#include <memory>
#include <stdexcept>
#include <sstream>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include "ament_index_cpp/get_resource.hpp"
#include "class_loader/class_loader.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp_components/node_factory.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
#include "rcl_interfaces/msg/integer_range.hpp"
#include "rcpputils/split.hpp"
#include "rmw/types.h"
using namespace std::placeholders;
namespace rclcpp_components
{
ComponentManager::ComponentManager(
std::weak_ptr<rclcpp::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>(
"~/_container/load_node",
std::bind(&ComponentManager::on_load_node, this, _1, _2, _3),
rclcpp::ServicesQoS().keep_last(200));
unloadNode_srv_ = create_service<UnloadNode>(
"~/_container/unload_node",
std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3),
rclcpp::ServicesQoS().keep_last(200));
listNodes_srv_ = create_service<ListNodes>(
"~/_container/list_nodes",
std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));
{
rcl_interfaces::msg::ParameterDescriptor desc{};
desc.description = "Number of thread";
rcl_interfaces::msg::IntegerRange range{};
range.from_value = 1;
range.to_value = std::thread::hardware_concurrency();
desc.integer_range.push_back(range);
desc.read_only = true;
this->declare_parameter(
"thread_num", static_cast<int64_t>(std::thread::hardware_concurrency()), desc);
}
}
ComponentManager::~ComponentManager()
{
if (node_wrappers_.size()) {
RCLCPP_DEBUG(get_logger(), "Removing components from executor");
if (auto exec = executor_.lock()) {
for (auto & wrapper : node_wrappers_) {
exec->remove_node(wrapper.second.get_node_base_interface());
}
}
}
}
std::vector<ComponentManager::ComponentResource>
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(
resource_index, package_name, content, &base_path))
{
throw ComponentManagerException("Could not find requested resource in ament index");
}
std::vector<ComponentResource> resources;
std::vector<std::string> lines = rcpputils::split(content, '\n', true);
for (const auto & line : lines) {
std::vector<std::string> parts = rcpputils::split(line, ';');
if (parts.size() != 2) {
throw ComponentManagerException("Invalid resource entry");
}
std::filesystem::path library_path = parts[1];
if (!library_path.is_absolute()) {
library_path = (base_path / library_path);
}
resources.push_back({parts[0], library_path.string()});
}
return resources;
}
std::shared_ptr<rclcpp_components::NodeFactory>
ComponentManager::create_component_factory(const ComponentResource & resource)
{
std::string library_path = resource.second;
std::string class_name = resource.first;
std::string fq_class_name = "rclcpp_components::NodeFactoryTemplate<" + class_name + ">";
class_loader::ClassLoader * loader;
if (loaders_.find(library_path) == loaders_.end()) {
RCLCPP_INFO(get_logger(), "Load Library: %s", library_path.c_str());
try {
loaders_[library_path] = std::make_unique<class_loader::ClassLoader>(library_path);
} catch (const std::exception & ex) {
throw ComponentManagerException("Failed to load library: " + std::string(ex.what()));
} catch (...) {
throw ComponentManagerException("Failed to load library");
}
}
loader = loaders_[library_path].get();
auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
for (const auto & clazz : classes) {
RCLCPP_INFO(get_logger(), "Found class: %s", clazz.c_str());
if (clazz == class_name || clazz == fq_class_name) {
RCLCPP_INFO(get_logger(), "Instantiate class: %s", clazz.c_str());
return loader->createInstance<rclcpp_components::NodeFactory>(clazz);
}
}
return {};
}
rclcpp::NodeOptions
ComponentManager::create_node_options(const std::shared_ptr<LoadNode::Request> request)
{
std::vector<rclcpp::Parameter> parameters;
for (const auto & p : request->parameters) {
parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
}
std::vector<std::string> remap_rules;
remap_rules.reserve(request->remap_rules.size() * 2 + 1);
remap_rules.push_back("--ros-args");
for (const std::string & rule : request->remap_rules) {
remap_rules.push_back("-r");
remap_rules.push_back(rule);
}
if (!request->node_name.empty()) {
remap_rules.push_back("-r");
remap_rules.push_back("__node:=" + request->node_name);
}
if (!request->node_namespace.empty()) {
remap_rules.push_back("-r");
remap_rules.push_back("__ns:=" + request->node_namespace);
}
auto options = rclcpp::NodeOptions()
.use_global_arguments(false)
.parameter_overrides(parameters)
.arguments(remap_rules);
for (const auto & a : request->extra_arguments) {
const rclcpp::Parameter extra_argument = rclcpp::Parameter::from_parameter_msg(a);
if (extra_argument.get_name() == "forward_global_arguments") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'forward_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(), "forward_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.");
}
} else if (extra_argument.get_name() == "enable_rosout") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'enable_rosout' must be a boolean");
}
options.enable_rosout(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "use_intra_process_comms") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"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() == "enable_topic_statistics") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'enable_topic_statistics' must be a boolean");
}
options.enable_topic_statistics(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "start_parameter_services") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'start_parameter_services' must be a boolean");
}
options.start_parameter_services(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "start_parameter_event_publisher") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'start_parameter_event_publisher' must be a boolean");
}
options.start_parameter_event_publisher(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "use_clock_thread") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'use_clock_thread' must be a boolean");
}
options.use_clock_thread(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "enable_logger_service") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'enable_logger_service' must be a boolean");
}
options.enable_logger_service(extra_argument.get_value<bool>());
}
}
return options;
}
void
ComponentManager::set_executor(const std::weak_ptr<rclcpp::Executor> executor)
{
executor_ = executor;
}
void
ComponentManager::add_node_to_executor(uint64_t node_id)
{
if (auto exec = executor_.lock()) {
exec->add_node(node_wrappers_[node_id].get_node_base_interface(), true);
}
}
void
ComponentManager::remove_node_from_executor(uint64_t node_id)
{
if (auto exec = executor_.lock()) {
exec->remove_node(node_wrappers_[node_id].get_node_base_interface());
}
}
void
ComponentManager::on_load_node(
[[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<LoadNode::Request> request,
std::shared_ptr<LoadNode::Response> response)
{
try {
auto resources = get_component_resources(request->package_name);
for (const auto & resource : resources) {
if (resource.first != request->plugin_name) {
continue;
}
auto factory = create_component_factory(resource);
if (factory == nullptr) {
continue;
}
auto options = create_node_options(request);
auto node_id = unique_id_++;
if (0 == node_id) {
// This puts a technical limit on the number of times you can add a component.
// But even if you could add (and remove) them at 1 kHz (very optimistic rate)
// it would still be a very long time before you could exhaust the pool of id's:
// 2^64 / 1000 times per sec / 60 sec / 60 min / 24 hours / 365 days = 584,942,417 years
// So around 585 million years. Even at 1 GHz, it would take 585 years.
// I think it's safe to avoid trying to handle overflow.
// If we roll over then it's most likely a bug.
throw std::overflow_error("exhausted the unique ids for components in this process");
}
try {
node_wrappers_[node_id] = factory->create_node_instance(options);
} catch (const std::exception & ex) {
// In the case that the component constructor throws an exception,
// rethrow into the following catch block.
throw ComponentManagerException(
"Component constructor threw an exception: " + std::string(ex.what()));
} catch (...) {
// In the case that the component constructor throws an exception,
// rethrow into the following catch block.
throw ComponentManagerException("Component constructor threw an exception");
}
add_node_to_executor(node_id);
auto node = node_wrappers_[node_id].get_node_base_interface();
response->full_node_name = node->get_fully_qualified_name();
response->unique_id = node_id;
response->success = true;
return;
}
RCLCPP_ERROR(
get_logger(), "Failed to find class with the requested plugin name '%s' in "
"the loaded library",
request->plugin_name.c_str());
response->error_message = "Failed to find class with the requested plugin name.";
response->success = false;
} catch (const ComponentManagerException & ex) {
RCLCPP_ERROR(get_logger(), "%s", ex.what());
response->error_message = ex.what();
response->success = false;
}
}
void
ComponentManager::on_unload_node(
[[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<UnloadNode::Request> request,
std::shared_ptr<UnloadNode::Response> response)
{
auto wrapper = node_wrappers_.find(request->unique_id);
if (wrapper == node_wrappers_.end()) {
response->success = false;
std::stringstream ss;
ss << "No node found with unique_id: " << request->unique_id;
response->error_message = ss.str();
RCLCPP_WARN(get_logger(), "%s", ss.str().c_str());
} else {
remove_node_from_executor(request->unique_id);
node_wrappers_.erase(wrapper);
response->success = true;
}
}
void
ComponentManager::on_list_nodes(
[[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header,
[[maybe_unused]] const std::shared_ptr<ListNodes::Request> request,
std::shared_ptr<ListNodes::Response> response)
{
for (auto & wrapper : node_wrappers_) {
response->unique_ids.push_back(wrapper.first);
response->full_node_names.push_back(
wrapper.second.get_node_base_interface()->get_fully_qualified_name());
}
}
} // namespace rclcpp_components
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