Add name to CognitiveModule constructor

Signed-off-by: Francisco Martín Rico <[email protected]>
CoreSenseEU · Oct 29, 2024 · a2015e4 · a2015e4
1 parent ae84210
commit a2015e4
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Showing 3 changed files with 11 additions and 5 deletions.
diff --git a/cs4home_core/include/cs4home_core/CognitiveModule.hpp b/cs4home_core/include/cs4home_core/CognitiveModule.hpp
@@ -41,7 +41,9 @@ class CognitiveModule : public rclcpp_lifecycle::LifecycleNode
   using CallbackReturnT =
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
-  explicit CognitiveModule(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+  explicit CognitiveModule(
+    const std::string & name,
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
   CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);
   CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);
@@ -57,6 +59,7 @@ class CognitiveModule : public rclcpp_lifecycle::LifecycleNode
   Meta::SharedPtr meta_;
   Coupling::SharedPtr coupling_;
 
+  std::string name_;
   std::string core_name_;
   std::string afferent_name_;
   std::string efferent_name_;

diff --git a/cs4home_core/src/cs4home_core/CognitiveModule.cpp b/cs4home_core/src/cs4home_core/CognitiveModule.cpp
@@ -17,8 +17,11 @@
 namespace cs4home_core
 {
 
-CognitiveModule::CognitiveModule(const rclcpp::NodeOptions & options)
-: LifecycleNode("cognitive_module", options)
+CognitiveModule::CognitiveModule(
+  const std::string & name,
+  const rclcpp::NodeOptions & options)
+: LifecycleNode(name, options),
+  name_(name)
 {
   declare_parameter("core", core_name_);
   declare_parameter("afferent", afferent_name_);

diff --git a/cs4home_core/test/cognitive_module_test.cpp b/cs4home_core/test/cognitive_module_test.cpp
@@ -316,9 +316,9 @@ TEST(cognitive_module_test, startup_simple)
 
   rclcpp::NodeOptions options;
   options.arguments(
-    {"--ros-args", "-r", "__node:=cognitive_module_1", "--params-file", config_file});
+    {"--ros-args", "--params-file", config_file});
 
-  auto cm1 = cs4home_core::CognitiveModule::make_shared(options);
+  auto cm1 = cs4home_core::CognitiveModule::make_shared("cognitive_module_1", options);
   ASSERT_EQ(std::string(cm1->get_name()), "cognitive_module_1");
 
   auto params = cm1->list_parameters({}, 0);