// 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 <algorithm>

#include <memory>

#include <string>

#include <vector>

#include "class_loader/class_loader.hpp"

#include "rclcpp/rclcpp.hpp"

#include "rclcpp_components/node_factory.hpp"

#include "rclcpp_components/node_factory_template.hpp"

#define NODE_MAIN_LOGGER_NAME "@node@"

using namespace rclcpp::executors;

using namespace rclcpp::experimental::executors;

int main(int argc, char * argv[])

{

auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);

rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);

@executor@ exec;

rclcpp::NodeOptions options;

options.arguments(args);

std::string library_name = "@library_name@";

std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>";

RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());

auto loader = std::make_unique<class_loader::ClassLoader>(library_name);

std::vector<std::string> classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();

if (std::find(

classes.begin(),

classes.end(),

class_name) == classes.end()) {

RCLCPP_ERROR(

logger,

"Class %s not found in library %s",

class_name.c_str(),

library_name.c_str());

return 1;

}

RCLCPP_DEBUG(logger, "Instantiate class %s", class_name.c_str());

std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;

try {

node_factory = loader->createInstance<rclcpp_components::NodeFactory>(class_name);

} catch (const std::exception & ex) {

RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());

return 1;

} catch (...) {

RCLCPP_ERROR(logger, "Failed to load library");

return 1;

}

// Scope to destruct node_wrapper before shutdown

{

rclcpp_components::NodeInstanceWrapper node_wrapper = node_factory->create_node_instance(options);

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node = node_wrapper.get_node_base_interface();

exec.add_node(node);

exec.spin();

exec.remove_node(node_wrapper.get_node_base_interface());

}

rclcpp::shutdown();

return 0;

}