do the reading through a separate node

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>

autoware_version_manager/CMakeLists.txt

@@ -7,13 +7,18 @@ autoware_package()
 set(NODE_NAME ${PROJECT_NAME}_node)
 set(EXEC_NAME ${PROJECT_NAME}_exe)
 
+ament_auto_add_library(autoware_version_reader SHARED
+  src/autoware_version_reader.cpp)
+
 ament_auto_add_library(${NODE_NAME}
   src/include/autoware_version_manager_core.hpp
   src/include/parse_version.hpp
-  src/include/version_types.hpp
   src/autoware_version_manager_core.cpp
   src/parse_version.cpp)
 
+target_link_libraries(${NODE_NAME}
+  autoware_version_reader)
+
 rclcpp_components_register_node(${NODE_NAME}
   PLUGIN "autoware_version_manager::AutowareVersionManagerNode"
   EXECUTABLE ${EXEC_NAME})

autoware_version_manager/include/autoware_version_manager/autoware_version_reader.hpp

@@ -0,0 +1,39 @@
+// Copyright 2023 The Autoware Foundation
+//
+// 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.
+
+#ifndef AUTOWARE_VERSION_MANAGER__AUTOWARE_VERSION_READER_HPP_
+#define AUTOWARE_VERSION_MANAGER__AUTOWARE_VERSION_READER_HPP_
+
+#include "autoware_version_manager/version_types.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace autoware_version_manager
+{
+class AutowareVersionReaderNode : public rclcpp::Node
+{
+public:
+  explicit AutowareVersionReaderNode(const rclcpp::NodeOptions & node_options);
+
+  const VersionAutoware & get_version_autoware() const;
+  const VersionInterface & get_version_component_interface() const;
+
+private:
+  VersionAutoware version_autoware_;
+  VersionInterface version_component_interface_;
+};
+
+}  // namespace autoware_version_manager
+
+#endif  // AUTOWARE_VERSION_MANAGER__AUTOWARE_VERSION_READER_HPP_

autoware_version_manager/src/include/version_types.hpp → autoware_version_manager/include/autoware_version_manager/version_types.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VERSION_TYPES_HPP_
-#define VERSION_TYPES_HPP_
+#ifndef AUTOWARE_VERSION_MANAGER__VERSION_TYPES_HPP_
+#define AUTOWARE_VERSION_MANAGER__VERSION_TYPES_HPP_
 
 #include <cstdint>
 
@@ -41,4 +41,4 @@ struct VersionInterface
 
 }  // namespace autoware_version_manager
 
-#endif  // VERSION_TYPES_HPP_
+#endif  // AUTOWARE_VERSION_MANAGER__VERSION_TYPES_HPP_

autoware_version_manager/launch/autoware_version_manager.launch.xml

@@ -1,10 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="path_version_autoware" default="$(find-pkg-share autoware_version_manager)/data/version-autoware.yaml"/>
-  <arg name="path_version_component_interface" default="$(find-pkg-share autoware_version_manager)/data/version-component-interface.yaml"/>
-
-  <node pkg="autoware_version_manager" exec="autoware_version_manager_exe" name="autoware_version_manager" output="screen">
-    <param name="path_version_autoware" value="$(var path_version_autoware)"/>
-    <param name="path_version_component_interface" value="$(var path_version_component_interface)"/>
-  </node>
+  <node pkg="autoware_version_manager" exec="autoware_version_manager_exe" name="autoware_version_manager" output="screen"/>
 </launch>

autoware_version_manager/src/autoware_version_manager_core.cpp

@@ -14,6 +14,7 @@
 
 #include "include/autoware_version_manager_core.hpp"
 
+#include "autoware_version_manager/autoware_version_reader.hpp"
 #include "include/parse_version.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
@@ -25,20 +26,10 @@ namespace autoware_version_manager
 AutowareVersionManagerNode::AutowareVersionManagerNode(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("autoware_version_manager_node", node_options)
 {
-  try {
-    const std::filesystem::path path_version_autoware =
-      ament_index_cpp::get_package_share_directory("autoware_version_manager") +
-      "/data/version-autoware.yaml";
-    const std::filesystem::path path_version_component_interface =
-      declare_parameter<std::string>("path_version_component_interface");
+  AutowareVersionReaderNode autoware_version_reader_node(rclcpp::NodeOptions{});
 
-    version_autoware_ = parse_version::parse_autoware_version(path_version_autoware);
-    version_component_interface_ =
-      parse_version::parse_interface_version(path_version_component_interface);
-  } catch (const std::exception & e) {
-    RCLCPP_ERROR(get_logger(), "Exception: %s", e.what());
-    exit(EXIT_FAILURE);
-  }
+  version_autoware_ = autoware_version_reader_node.get_version_autoware();
+  version_component_interface_ = autoware_version_reader_node.get_version_component_interface();
 
   srv_get_version_autoware_ = create_service<autoware_system_msgs::srv::GetVersionAutoware>(
     "get_version_autoware", std::bind(

autoware_version_manager/src/autoware_version_reader.cpp

@@ -0,0 +1,63 @@
+// Copyright 2023 The Autoware Foundation
+//
+// 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 "autoware_version_manager/autoware_version_reader.hpp"
+
+#include "include/parse_version.hpp"
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace autoware_version_manager
+{
+
+AutowareVersionReaderNode::AutowareVersionReaderNode(const rclcpp::NodeOptions & node_options)
+: rclcpp::Node("autoware_version_reader_node", node_options)
+{
+  try {
+    const std::filesystem::path path_version_autoware =
+      ament_index_cpp::get_package_share_directory("autoware_version_manager") +
+      "/data/version-autoware.yaml";
+    const std::filesystem::path path_version_component_interface =
+      ament_index_cpp::get_package_share_directory("autoware_version_manager") +
+      "/data/version-component-interface.yaml";
+
+    version_autoware_ = parse_version::parse_autoware_version(path_version_autoware);
+    version_component_interface_ =
+      parse_version::parse_interface_version(path_version_component_interface);
+  } catch (const std::exception & e) {
+    RCLCPP_ERROR(get_logger(), "Exception: %s", e.what());
+    exit(EXIT_FAILURE);
+  }
+
+  RCLCPP_INFO(
+    get_logger(), "Autoware version: %d.%02d.%d", version_autoware_.year, version_autoware_.month,
+    version_autoware_.micro);
+
+  RCLCPP_INFO(
+    get_logger(), "Component interface version: %d.%d.%d", version_component_interface_.major,
+    version_component_interface_.minor, version_component_interface_.patch);
+}
+
+const VersionAutoware & AutowareVersionReaderNode::get_version_autoware() const
+{
+  return version_autoware_;
+}
+
+const VersionInterface & AutowareVersionReaderNode::get_version_component_interface() const
+{
+  return version_component_interface_;
+}
+
+}  // namespace autoware_version_manager

autoware_version_manager/src/include/autoware_version_manager_core.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_VERSION_MANAGER_CORE_HPP_
 #define AUTOWARE_VERSION_MANAGER_CORE_HPP_
 
-#include "version_types.hpp"
+#include "autoware_version_manager/version_types.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

autoware_version_manager/src/include/parse_version.hpp

@@ -15,7 +15,7 @@
 #ifndef PARSE_VERSION_HPP_
 #define PARSE_VERSION_HPP_
 
-#include "version_types.hpp"
+#include "autoware_version_manager/version_types.hpp"
 
 #include <yaml-cpp/yaml.h>
 

autoware_version_manager/src/parse_version.cpp

@@ -14,7 +14,7 @@
 
 #include "include/parse_version.hpp"
 
-#include "include/version_types.hpp"
+#include "autoware_version_manager/version_types.hpp"
 
 #include <yaml-cpp/yaml.h>