From 83a9a1fbe8f0de246eff7c27afa55619b57071ae Mon Sep 17 00:00:00 2001
From: Tim Clephas <tim.clephas@nobleo.nl>
Date: Mon, 24 Jun 2024 08:54:41 +0200
Subject: [PATCH] Parse '--executor-type'

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
---
 .../src/component_container_isolated.cpp      | 54 ++++++++++++-------
 1 file changed, 34 insertions(+), 20 deletions(-)

diff --git a/rclcpp_components/src/component_container_isolated.cpp b/rclcpp_components/src/component_container_isolated.cpp
index 2ca9f2d141..fff342ec50 100644
--- a/rclcpp_components/src/component_container_isolated.cpp
+++ b/rclcpp_components/src/component_container_isolated.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include <memory>
-#include <vector>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/utilities.hpp"
@@ -22,37 +22,51 @@
 
 int main(int argc, char * argv[])
 {
-  /// Component container with dedicated single-threaded executors for each components.
+  /// Component container with dedicated executor for each component
   rclcpp::init(argc, argv);
+
   // parse arguments
-  bool use_multi_threaded_executor{false};
-  bool use_events_executor{false};
+  // valid entries: --executor-type single-threaded, --executor-type multi-threaded, --executor-type events
+  // --use-multi-threaded-executor and --use_multi_threaded_executor are kept for backward compatibility
   std::vector<std::string> args = rclcpp::remove_ros_arguments(argc, argv);
-  for (auto & arg : args) {
-    if (arg == std::string("--use_multi_threaded_executor") ||
-      arg == std::string("--use-multi-threaded-executor"))
+
+  std::string executor_type = "single-threaded";  // default
+  for (size_t i = 0; i < args.size(); ++i) {
+    if (args[i] == "--executor-type") {
+      if (i + 1 < args.size()) {
+        executor_type = args[i + 1];
+        break;
+      }
+    } else if (
+      args[i] == "--use-multi-threaded-executor" || args[i] == "--use_multi_threaded_executor")
     {
-      use_multi_threaded_executor = true;
-    } else if (arg == std::string("--use-events-executor")) {
-      use_events_executor = true;
+      executor_type = "multi-threaded";
     }
   }
+
   // create executor and component manager
-  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
   rclcpp::Node::SharedPtr node;
-  if (use_multi_threaded_executor) {
-    using ComponentManagerIsolated =
-      rclcpp_components::ComponentManagerIsolated<rclcpp::executors::MultiThreadedExecutor>;
+  std::shared_ptr<rclcpp::Executor> exec;
+  if (executor_type == "events") {
+    using executor = rclcpp::experimental::executors::EventsExecutor;
+    using ComponentManagerIsolated = rclcpp_components::ComponentManagerIsolated<executor>;
+    exec = std::make_shared<executor>();
     node = std::make_shared<ComponentManagerIsolated>(exec);
-  } else if (use_events_executor) {
-    using ComponentManagerIsolated =
-      rclcpp_components::ComponentManagerIsolated<rclcpp::experimental::executors::EventsExecutor>;
+  } else if (executor_type == "multi-threaded") {
+    using executor = rclcpp::executors::MultiThreadedExecutor;
+    using ComponentManagerIsolated = rclcpp_components::ComponentManagerIsolated<executor>;
+    exec = std::make_shared<executor>();
     node = std::make_shared<ComponentManagerIsolated>(exec);
-  } else {
-    using ComponentManagerIsolated =
-      rclcpp_components::ComponentManagerIsolated<rclcpp::executors::SingleThreadedExecutor>;
+  } else if (executor_type == "single-threaded") {
+    using executor = rclcpp::executors::SingleThreadedExecutor;
+    using ComponentManagerIsolated = rclcpp_components::ComponentManagerIsolated<executor>;
+    exec = std::make_shared<executor>();
     node = std::make_shared<ComponentManagerIsolated>(exec);
+  } else {
+    std::cerr << "Invalid executor type: " << executor_type << std::endl;
+    return 1;
   }
+
   exec->add_node(node);
   exec->spin();
 }