Add SetNodeOptions function

ros2 · Jun 30, 2021 · a80fa14 · a80fa14
1 parent 9f7cedc
commit a80fa14
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Showing 2 changed files with 40 additions and 51 deletions.
diff --git a/rclcpp_components/include/rclcpp_components/component_manager.hpp b/rclcpp_components/include/rclcpp_components/component_manager.hpp
@@ -131,6 +131,20 @@ class ComponentManager : public rclcpp::Node
   create_component_factory(const ComponentResource & resource);
 
 protected:
+  /// Set node options for componenet
+  /*
+   * \param parameters node parameters
+   * \param remap_rules node remap rules
+   * \param request information with the node to load
+   * \return node options
+   */
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual rclcpp::NodeOptions
+  SetNodeOptions(
+    std::vector<rclcpp::Parameter> parameters,
+    std::vector<std::string> remap_rules,
+    const std::shared_ptr<LoadNode::Request> request);
+
   /// Service callback to load a new node in the component
   /*
    * This function allows to add parameters, remap rules, a specific node, name a namespace
@@ -180,41 +194,6 @@ class ComponentManager : public rclcpp::Node
     const std::shared_ptr<ListNodes::Request> request,
     std::shared_ptr<ListNodes::Response> response);
 
-  RCLCPP_COMPONENTS_PUBLIC
-  const std::weak_ptr<rclcpp::Executor>
-  GetExecutor() const
-  {
-    return executor_;
-  }
-
-  RCLCPP_COMPONENTS_PUBLIC
-  uint64_t
-  GetUniqueId()
-  {
-    return unique_id_;
-  }
-
-  RCLCPP_COMPONENTS_PUBLIC
-  void
-  SetUniqueId(uint64_t id)
-  {
-    unique_id_ = id;
-  }
-
-  RCLCPP_COMPONENTS_PUBLIC
-  rclcpp_components::NodeInstanceWrapper
-  GetNodeWrapper(uint64_t node_id)
-  {
-    return node_wrappers_[node_id];
-  }
-
-  RCLCPP_COMPONENTS_PUBLIC
-  void
-  SetNodeWrapper(uint64_t node_id, rclcpp_components::NodeInstanceWrapper node_wrapper)
-  {
-    node_wrappers_[node_id] = node_wrapper;
-  }
-
 private:
   std::weak_ptr<rclcpp::Executor> executor_;
 

diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
@@ -121,6 +121,31 @@ ComponentManager::create_component_factory(const ComponentResource & resource)
   return {};
 }
 
+rclcpp::NodeOptions
+ComponentManager::SetNodeOptions(
+  std::vector<rclcpp::Parameter> parameters,
+  std::vector<std::string> remap_rules,
+  const std::shared_ptr<LoadNode::Request> request)
+{
+  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() == "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>());
+    }
+  }
+
+  return options;
+}
+
 void
 ComponentManager::OnLoadNode(
   const std::shared_ptr<rmw_request_id_t> request_header,
@@ -165,22 +190,7 @@ ComponentManager::OnLoadNode(
         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() == "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>());
-        }
-      }
-
+      auto options = SetNodeOptions(parameters, remap_rules, request);
       auto node_id = unique_id_++;
 
       if (0 == node_id) {