From 0850eb41774dd64d725ff9d5f478efe4796e8f8d Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Fri, 31 May 2024 18:25:11 +0900
Subject: [PATCH] feat(dummy_diag_publisher): componentize node (#7190)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 system/dummy_diag_publisher/CMakeLists.txt    |  8 ++++--
 .../dummy_diag_publisher_core.hpp             |  2 +-
 .../dummy_diag_publisher_node.launch.xml      |  2 +-
 .../src/dummy_diag_publisher_core.cpp         | 17 +++++++-----
 .../src/dummy_diag_publisher_node.cpp         | 26 -------------------
 5 files changed, 19 insertions(+), 36 deletions(-)
 delete mode 100644 system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp

diff --git a/system/dummy_diag_publisher/CMakeLists.txt b/system/dummy_diag_publisher/CMakeLists.txt
index cecb317bf9c34..794e7d35e1194 100644
--- a/system/dummy_diag_publisher/CMakeLists.txt
+++ b/system/dummy_diag_publisher/CMakeLists.txt
@@ -4,11 +4,15 @@ project(dummy_diag_publisher)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/dummy_diag_publisher_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/dummy_diag_publisher_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "DummyDiagPublisher"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config
diff --git a/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp b/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp
index 8398c15b8e8f6..071e665ece6ec 100644
--- a/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp
+++ b/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp
@@ -35,7 +35,7 @@ struct DiagConfig
 class DummyDiagPublisher : public rclcpp::Node
 {
 public:
-  DummyDiagPublisher();
+  explicit DummyDiagPublisher(const rclcpp::NodeOptions & options);
 
 private:
   enum Status {
diff --git a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml
index 8e71ce37543c2..9d9193fb5f7a7 100644
--- a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml
+++ b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml
@@ -4,7 +4,7 @@
   <arg name="update_rate" default="10.0"/>
 
   <group>
-    <node pkg="dummy_diag_publisher" exec="dummy_diag_publisher" name="dummy_diag_publisher" output="screen">
+    <node pkg="dummy_diag_publisher" exec="dummy_diag_publisher_node" name="dummy_diag_publisher" output="screen">
       <param from="$(var config_file)"/>
       <param from="$(var extra_config_file_sensor)"/>
       <param name="update_rate" value="$(var update_rate)"/>
diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
index cfe1692c91df9..9abf325e62833 100644
--- a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
+++ b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
@@ -245,12 +245,14 @@ void DummyDiagPublisher::onTimer()
   updater_.force_update();
 }
 
-DummyDiagPublisher::DummyDiagPublisher()
-: Node(
-    "dummy_diag_publisher", rclcpp::NodeOptions()
-                              .allow_undeclared_parameters(true)
-                              .automatically_declare_parameters_from_overrides(true)),
-  updater_(this)
+rclcpp::NodeOptions override_options(rclcpp::NodeOptions options)
+{
+  return options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(
+    true);
+}
+
+DummyDiagPublisher::DummyDiagPublisher(const rclcpp::NodeOptions & options)
+: Node("dummy_diag_publisher", override_options(options)), updater_(this)
 
 {
   // Parameter
@@ -277,3 +279,6 @@ DummyDiagPublisher::DummyDiagPublisher()
   timer_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&DummyDiagPublisher::onTimer, this));
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(DummyDiagPublisher)
diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp
deleted file mode 100644
index a532e8d1c6d01..0000000000000
--- a/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-// Copyright 2020 Tier IV, 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 "dummy_diag_publisher/dummy_diag_publisher_core.hpp"
-
-#include <memory>
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  auto node = std::make_shared<DummyDiagPublisher>();
-  rclcpp::spin(node);
-  rclcpp::shutdown();
-  return 0;
-}