make functions public & virtual

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

rclcpp_components/src/component_manager.hpp → rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_MANAGER_HPP__
-#define COMPONENT_MANAGER_HPP__
+#ifndef RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
+#define RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
 
 #include <map>
 #include <memory>
@@ -33,6 +33,11 @@
 
 #include "rclcpp_components/node_factory.hpp"
 
+namespace class_loader
+{
+class ClassLoader;
+}  // namespace class_loader
+
 namespace rclcpp_components
 {
 
@@ -57,31 +62,34 @@ class ComponentManager : public rclcpp::Node
   using ComponentResource = std::pair<std::string, std::string>;
 
   ComponentManager(
-    std::weak_ptr<rclcpp::executor::Executor> executor);
+    std::weak_ptr<rclcpp::executor::Executor> executor,
+    std::string node_name = "ComponentManager");
 
-  ~ComponentManager();
+  virtual ~ComponentManager();
 
   /// Return a list of valid loadable components in a given package.
-  std::vector<ComponentResource>
-  get_component_resources(const std::string & package_name) const;
+  virtual std::vector<ComponentResource>
+  get_component_resources(
+    const std::string & package_name,
+    const std::string & resource_index = "rclcpp_components") const;
 
-  std::shared_ptr<rclcpp_components::NodeFactory>
+  virtual std::shared_ptr<rclcpp_components::NodeFactory>
   create_component_factory(const ComponentResource & resource);
 
-private:
-  void
+protected:
+  virtual void
   OnLoadNode(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<LoadNode::Request> request,
     std::shared_ptr<LoadNode::Response> response);
 
-  void
+  virtual void
   OnUnloadNode(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<UnloadNode::Request> request,
     std::shared_ptr<UnloadNode::Response> response);
 
-  void
+  virtual void
   OnListNodes(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<ListNodes::Request> request,
@@ -90,7 +98,7 @@ class ComponentManager : public rclcpp::Node
 private:
   std::weak_ptr<rclcpp::executor::Executor> executor_;
 
-  uint64_t unique_id {1};
+  uint64_t unique_id_ {1};
   std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;
   std::map<uint64_t, rclcpp_components::NodeInstanceWrapper> node_wrappers_;
 
@@ -101,4 +109,4 @@ class ComponentManager : public rclcpp::Node
 
 }  // namespace rclcpp_components
 
-#endif  // COMPONENT_MANAGER_HPP__
+#endif  // RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__

rclcpp_components/src/component_container.cpp

@@ -16,7 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "component_manager.hpp"
+#include "rclcpp_components/component_manager.hpp"
 
 int main(int argc, char * argv[])
 {

rclcpp_components/src/component_container_mt.cpp

@@ -16,7 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "component_manager.hpp"
+#include "rclcpp_components/component_manager.hpp"
 
 int main(int argc, char * argv[])
 {

rclcpp_components/src/component_manager.cpp

@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_manager.hpp"
+#include "rclcpp_components/component_manager.hpp"
 
 #include <functional>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "ament_index_cpp/get_resource.hpp"
+#include "class_loader/class_loader.hpp"
 #include "rcpputils/filesystem_helper.hpp"
 #include "rcpputils/split.hpp"
 
@@ -29,8 +31,9 @@ namespace rclcpp_components
 {
 
 ComponentManager::ComponentManager(
-  std::weak_ptr<rclcpp::executor::Executor> executor)
-: Node("ComponentManager"),
+  std::weak_ptr<rclcpp::executor::Executor> executor,
+  std::string node_name)
+: Node(std::move(node_name)),
   executor_(executor)
 {
   loadNode_srv_ = create_service<LoadNode>(
@@ -57,13 +60,14 @@ ComponentManager::~ComponentManager()
 }
 
 std::vector<ComponentManager::ComponentResource>
-ComponentManager::get_component_resources(const std::string & package_name) const
+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(
-      "rclcpp_components", package_name, content, &base_path))
+      resource_index, package_name, content, &base_path))
   {
     throw ComponentManagerException("Could not find requested resource in ament index");
   }
@@ -176,7 +180,7 @@ ComponentManager::OnLoadNode(
         }
       }
 
-      auto node_id = unique_id++;
+      auto node_id = unique_id_++;
 
       if (0 == node_id) {
         // This puts a technical limit on the number of times you can add a component.

rclcpp_components/test/test_component_manager.cpp

@@ -16,7 +16,7 @@
 
 #include <memory>
 
-#include "component_manager.hpp"
+#include "rclcpp_components/component_manager.hpp"
 
 #include "rcpputils/filesystem_helper.hpp"
 

rclcpp_components/test/test_component_manager_api.cpp

@@ -21,7 +21,7 @@
 #include "composition_interfaces/srv/unload_node.hpp"
 #include "composition_interfaces/srv/list_nodes.hpp"
 
-#include "component_manager.hpp"
+#include "rclcpp_components/component_manager.hpp"
 
 using namespace std::chrono_literals;