Merge pull request #1 from CoreSenseEU/add_name_cog_module

Add name to CognitiveModule constructor

.github/workflows/rolling.yaml

@@ -14,18 +14,18 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-24.04]
       fail-fast: false
     steps:
       - uses: actions/checkout@v2
       - name: Setup ROS 2
-        uses: ros-tooling/[email protected].1
+        uses: ros-tooling/[email protected].9
         with:
           required-ros-distributions: rolling
       - name: Install deps for testing
         run: sudo apt-get install ros-rolling-vision-msgs
       - name: build and test
-        uses: ros-tooling/[email protected].6
+        uses: ros-tooling/[email protected].15
         with:
           package-name: cs4home_core
           target-ros2-distro: rolling

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);

cs4home_core/src/cs4home_core/CognitiveModule.cpp

@@ -17,8 +17,10 @@
 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)
 {
   declare_parameter("core", core_name_);
   declare_parameter("afferent", afferent_name_);
@@ -45,8 +47,8 @@ CallbackReturnT CognitiveModule::on_configure(const rclcpp_lifecycle::State & st
 
   get_parameter("efferent", efferent_name_);
   std::string error_efferent;
-  std::tie(efferent_, error_efferent) = load_component<Efferent>(efferent_name_,
-    shared_from_this());
+  std::tie(efferent_, error_efferent) = load_component<Efferent>(
+    efferent_name_, shared_from_this());
   if (efferent_ == nullptr || !efferent_->configure()) {
     RCLCPP_ERROR(
       get_logger(), "Error configuring efferent at %s with name %s: %s",
@@ -56,8 +58,8 @@ CallbackReturnT CognitiveModule::on_configure(const rclcpp_lifecycle::State & st
 
   get_parameter("afferent", afferent_name_);
   std::string error_afferent;
-  std::tie(afferent_, error_afferent) = load_component<Afferent>(afferent_name_,
-    shared_from_this());
+  std::tie(afferent_, error_afferent) = load_component<Afferent>(
+    afferent_name_, shared_from_this());
   if (afferent_ == nullptr || !afferent_->configure()) {
     RCLCPP_ERROR(
       get_logger(), "Error configuring afferent at %s with name %s: %s",
@@ -80,8 +82,8 @@ CallbackReturnT CognitiveModule::on_configure(const rclcpp_lifecycle::State & st
 
   get_parameter("coupling", coupling_name_);
   std::string error_coupling;
-  std::tie(coupling_, error_coupling) = load_component<Coupling>(coupling_name_,
-    shared_from_this());
+  std::tie(coupling_, error_coupling) = load_component<Coupling>(
+    coupling_name_, shared_from_this());
   if (coupling_ == nullptr || !coupling_->configure()) {
     RCLCPP_ERROR(
       get_logger(), "Error configuring efferent at %s with name %s: %s",

cs4home_core/test/ImageFilter.cpp

@@ -29,7 +29,7 @@ class ImageFilter : public cs4home_core::Core
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ImageFilter)
 
-  explicit  ImageFilter(rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
+  explicit ImageFilter(rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
   : Core(parent)
   {
     RCLCPP_DEBUG(parent_->get_logger(), "Core created: [ImageFilter]");

cs4home_core/test/ImageFilterCB.cpp

@@ -29,7 +29,7 @@ class ImageFilterCB : public cs4home_core::Core
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ImageFilterCB)
 
-  explicit  ImageFilterCB(rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
+  explicit ImageFilterCB(rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
   : Core(parent)
   {
     RCLCPP_DEBUG(parent_->get_logger(), "Core created: [ImageFilterCB]");

cs4home_core/test/SimpleImageInput.cpp

@@ -39,9 +39,9 @@ class SimpleImageInput : public cs4home_core::Afferent
     std::string param_name = "simple_image_input.topics";
     parent_->get_parameter(param_name, input_topic_names_);
 
-    RCLCPP_DEBUG(parent_->get_logger(), "[SimpleImageInput] Configuring %zu inputs [%s]",
-      input_topic_names_.size(),
-      param_name.c_str());
+    RCLCPP_DEBUG(
+      parent_->get_logger(), "[SimpleImageInput] Configuring %zu inputs [%s]",
+      input_topic_names_.size(), param_name.c_str());
 
     for (size_t i = 0; i < input_topic_names_.size(); i++) {
       if (create_subscriber(input_topic_names_[i], "sensor_msgs/msg/Image")) {

cs4home_core/test/cognitive_module_test.cpp

@@ -109,7 +109,8 @@ TEST(cognitive_module_test, afferent_on_subscription)
   afferent->set_mode(cs4home_core::Afferent::CALLBACK);
   ASSERT_EQ(afferent->get_mode(), cs4home_core::Afferent::ONDEMAND);
 
-  afferent->set_mode(cs4home_core::Afferent::CALLBACK,
+  afferent->set_mode(
+    cs4home_core::Afferent::CALLBACK,
     [&images](std::unique_ptr<rclcpp::SerializedMessage> msg) {
       images.push_back(std::move(msg));
     }
@@ -150,7 +151,7 @@ TEST(cognitive_module_test, efferent)
 
   std::vector<sensor_msgs::msg::Image> images;
   auto sub = sub_node->create_subscription<sensor_msgs::msg::Image>(
-    "/image", 100, [&images] (sensor_msgs::msg::Image msg) {
+    "/image", 100, [&images](sensor_msgs::msg::Image msg) {
       images.push_back(msg);
     });
 
@@ -196,7 +197,7 @@ TEST(cognitive_module_test, core)
 
   std::vector<sensor_msgs::msg::Image> images;
   auto sub = sub_node->create_subscription<sensor_msgs::msg::Image>(
-    "/out_image", 100, [&images] (sensor_msgs::msg::Image msg) {
+    "/out_image", 100, [&images](sensor_msgs::msg::Image msg) {
       images.push_back(msg);
     });
 
@@ -257,7 +258,7 @@ TEST(cognitive_module_test, core_cb)
 
   std::vector<sensor_msgs::msg::Image> images;
   auto sub = sub_node->create_subscription<sensor_msgs::msg::Image>(
-    "/out_image", 100, [&images] (sensor_msgs::msg::Image msg) {
+    "/out_image", 100, [&images](sensor_msgs::msg::Image msg) {
       images.push_back(msg);
     });
 
@@ -316,9 +317,9 @@ 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);
@@ -331,7 +332,7 @@ TEST(cognitive_module_test, startup_simple)
 
   std::vector<sensor_msgs::msg::Image> images;
   auto sub = sub_node->create_subscription<sensor_msgs::msg::Image>(
-    "/detections", 100, [&images] (sensor_msgs::msg::Image msg) {
+    "/detections", 100, [&images](sensor_msgs::msg::Image msg) {
       images.push_back(msg);
     });