Add ObjectClientManager

CMakeLists.txt

@@ -31,6 +31,7 @@ find_package(sas_conversions REQUIRED)
 
 add_library(${PROJECT_NAME}
         src/sas_object_client.cpp
+        src/sas_object_client_manager.cpp
         src/sas_object_server.cpp
         src/sas_simulator_client.cpp
         src/sas_simulator_server.cpp
@@ -179,6 +180,37 @@ unset(RCLCPP_LOCAL_BINARY_NAME)
 # CPP Binary Block [END] #
 ##########################
 
+############################
+# CPP Binary Block [BEGIN] #
+# vvvvvvvvvvvvvvvvvvvvvvvv #
+# https://ros2-tutorial.readthedocs.io/en/latest/
+# While we cant use blocks https://cmake.org/cmake/help/latest/command/block.html#command:block
+# we use set--unset
+set(RCLCPP_LOCAL_BINARY_NAME sas_object_client_manager_test_node)
+
+add_executable(${RCLCPP_LOCAL_BINARY_NAME}
+        src/examples/${RCLCPP_LOCAL_BINARY_NAME}.cpp
+)
+
+ament_target_dependencies(${RCLCPP_LOCAL_BINARY_NAME} PUBLIC
+        rclcpp)
+
+target_link_libraries(${RCLCPP_LOCAL_BINARY_NAME} PUBLIC
+        ${PROJECT_NAME}
+)
+
+target_include_directories(${RCLCPP_LOCAL_BINARY_NAME} PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+install(TARGETS ${RCLCPP_LOCAL_BINARY_NAME}
+        DESTINATION lib/${PROJECT_NAME})
+
+unset(RCLCPP_LOCAL_BINARY_NAME)
+# ^^^^^^^^^^^^^^^^^^^^^^ #
+# CPP Binary Block [END] #
+##########################
+
 ########################
 # Launch Block [BEGIN] #
 # vvvvvvvvvvvvvvvvvvvv #

docker/compose.yml

@@ -10,5 +10,6 @@ services:
       && source install/setup.bash
       && ros2 launch sas_common sas_common_ros2_parameter_test_launch.py
       && ros2 run sas_common sas_object_test_node
+      && ros2 run sas_common sas_object_client_manager_test_node
       && ros2 run sas_common test_python_wrapper.py
       && ros2 run sas_common sas_simulator_test_node"

include/sas_common/sas_object_client_manager.hpp

@@ -0,0 +1,125 @@
+#pragma once
+/*
+# Copyright (c) 2026 Murilo Marques Marinho
+#
+#    This file is part of sas_common.
+#
+#    sas_common is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_common is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_common.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
+#
+# ################################################################
+# Contributors:
+#   ---
+*/
+
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <sas_common/sas_object_client.hpp>
+
+namespace sas
+{
+
+/**
+ * @brief Manager for multiple ObjectClient instances.
+ *
+ * The ObjectClientManager maintains a named collection of ObjectClient
+ * objects. Each client is identified by a unique string name, which also
+ * serves as its topic prefix. Clients are created lazily from a shared
+ * rclcpp::Node.
+ */
+class ObjectClientManager
+{
+private:
+    std::shared_ptr<rclcpp::Node> node_;
+    std::unordered_map<std::string, std::unique_ptr<ObjectClient>> clients_;
+
+public:
+    ObjectClientManager() = delete;
+    ObjectClientManager(const ObjectClientManager&) = delete;
+    ObjectClientManager& operator=(const ObjectClientManager&) = delete;
+
+    /**
+     * @brief Construct a new ObjectClientManager
+     *
+     * @param node Shared pointer to the rclcpp::Node used for all managed clients.
+     */
+    explicit ObjectClientManager(const std::shared_ptr<rclcpp::Node>& node);
+
+    /**
+     * @brief Add (or replace) an ObjectClient identified by a name.
+     *
+     * The name is used as the topic prefix for the client. If a client
+     * with the same name already exists, it will be replaced.
+     *
+     * @param name Unique identifier and topic prefix for the client.
+     */
+    void add_client(const std::string& name);
+
+    /**
+     * @brief Remove an ObjectClient by name.
+     *
+     * @param name Name of the client to remove.
+     * @return true if the client was found and removed, false otherwise.
+     */
+    bool remove_client(const std::string& name);
+
+    /**
+     * @brief Get a reference to an existing ObjectClient.
+     *
+     * @param name Name of the client.
+     * @return ObjectClient& Reference to the managed client.
+     * @throws std::runtime_error if no client with the given name exists.
+     */
+    ObjectClient& get_client(const std::string& name);
+
+    /**
+     * @brief Get a const reference to an existing ObjectClient.
+     *
+     * @param name Name of the client.
+     * @return const ObjectClient& Reference to the managed client.
+     * @throws std::runtime_error if no client with the given name exists.
+     */
+    const ObjectClient& get_client(const std::string& name) const;
+
+    /**
+     * @brief Check if a client with the given name exists.
+     *
+     * @param name Name to check.
+     * @return true if a client with the name is managed, false otherwise.
+     */
+    bool has_client(const std::string& name) const;
+
+    /**
+     * @brief Get a list of all managed client names.
+     *
+     * @return std::vector<std::string> Vector of client names.
+     */
+    std::vector<std::string> get_client_names() const;
+
+    /**
+     * @brief Get the number of managed clients.
+     *
+     * @return size_t Number of clients currently managed.
+     */
+    size_t size() const;
+};
+
+}

src/examples/sas_object_client_manager_test_node.cpp

@@ -0,0 +1,75 @@
+/*
+# Copyright (c) 2026 Murilo Marques Marinodeo
+#
+#    This file is part of sas_common.
+#
+#    sas_common is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_common is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_common.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinodeo@ieee.org
+#
+# ################################################################*/
+#include <exception>
+#include <rclcpp/rclcpp.hpp>
+#include <sas_common/sas_object_client_manager.hpp>
+
+
+#include<signal.h>
+static std::atomic_bool kill_this_process(false);
+void sig_int_handler(int)
+{
+    kill_this_process = true;
+}
+
+
+int main(int argc, char** argv)
+{
+    if(signal(SIGINT, sig_int_handler) == SIG_ERR)
+    {
+        throw std::runtime_error("::Error setting the signal int handler.");
+    }
+
+    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
+    auto node = std::make_shared<rclcpp::Node>("sas_object_client_manager_test_node");
+
+    try
+    {
+        auto manager = sas::ObjectClientManager(node);
+        manager.add_client("camera");
+        manager.add_client("laser");
+        manager.add_client("imu");
+
+        RCLCPP_INFO(node->get_logger(), "Managed clients: %zu", manager.size());
+
+        for (const auto& name : manager.get_client_names())
+        {
+            RCLCPP_INFO(node->get_logger(), "Client '%s' enabled: %s",
+                        name.c_str(),
+                        manager.get_client(name).is_enabled() ? "true" : "false");
+        }
+
+        manager.remove_client("laser");
+        RCLCPP_INFO(node->get_logger(), "After removal, clients: %zu", manager.size());
+        RCLCPP_INFO(node->get_logger(), "Has 'imu': %s",
+                    manager.has_client("imu") ? "true" : "false");
+    }
+    catch (const std::exception& e)
+    {
+        RCLCPP_ERROR_STREAM_ONCE(node->get_logger(),"::Exception::" << e.what());
+    }
+
+
+    return 0;
+}

src/sas_object_client_manager.cpp

@@ -0,0 +1,91 @@
+/*
+# Copyright (c) 2026 Murilo Marques Marinho
+#
+#    This file is part of sas_common.
+#
+#    sas_common is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_common is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_common.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
+#
+# ################################################################
+# Contributors:
+#
+#   -
+#
+*/
+
+#include <sas_common/sas_object_client_manager.hpp>
+
+namespace sas
+{
+
+ObjectClientManager::ObjectClientManager(const std::shared_ptr<rclcpp::Node>& node)
+    : node_(node)
+{
+}
+
+void ObjectClientManager::add_client(const std::string& name)
+{
+    clients_[name] = std::make_unique<ObjectClient>(node_, name);
+}
+
+bool ObjectClientManager::remove_client(const std::string& name)
+{
+    return clients_.erase(name) > 0;
+}
+
+ObjectClient& ObjectClientManager::get_client(const std::string& name)
+{
+    auto it = clients_.find(name);
+    if (it == clients_.end())
+    {
+        throw std::runtime_error("ObjectClientManager::get_client: No client named \"" + name + "\"");
+    }
+    return *(it->second);
+}
+
+const ObjectClient& ObjectClientManager::get_client(const std::string& name) const
+{
+    auto it = clients_.find(name);
+    if (it == clients_.end())
+    {
+        throw std::runtime_error("ObjectClientManager::get_client: No client named \"" + name + "\"");
+    }
+    return *(it->second);
+}
+
+bool ObjectClientManager::has_client(const std::string& name) const
+{
+    return clients_.find(name) != clients_.end();
+}
+
+std::vector<std::string> ObjectClientManager::get_client_names() const
+{
+    std::vector<std::string> names;
+    names.reserve(clients_.size());
+    for (const auto& pair : clients_)
+    {
+        names.push_back(pair.first);
+    }
+    return names;
+}
+
+size_t ObjectClientManager::size() const
+{
+    return clients_.size();
+}
+
+}