From ded79a90cac86664d0f72b62cf4b190bccb54596 Mon Sep 17 00:00:00 2001
From: Adam Apsohian <adam.aposhian@fireflyautomatix.com>
Date: Wed, 24 Jan 2024 17:16:13 -0700
Subject: [PATCH] crash on no class found

Signed-off-by: Adam Aposhian <adam.aposhian@fireflyautomatix.com>
---
 rclcpp_components/CMakeLists.txt       | 19 +++++++++++++++++++
 rclcpp_components/src/node_main.cpp.in |  9 +++++++++
 2 files changed, 28 insertions(+)

diff --git a/rclcpp_components/CMakeLists.txt b/rclcpp_components/CMakeLists.txt
index 7d4135051c..db036233d4 100644
--- a/rclcpp_components/CMakeLists.txt
+++ b/rclcpp_components/CMakeLists.txt
@@ -90,6 +90,25 @@ if(BUILD_TESTING)
   set(components "")
   add_library(test_component SHARED test/components/test_component.cpp)
   target_link_libraries(test_component PRIVATE component)
+  # Fake version of this macro so that rclcpp_components_register_node works
+  macro(_rclcpp_components_register_package_hook)
+    set(rclcpp_components_NODE_TEMPLATE ${CMAKE_CURRENT_SOURCE_DIR}/src/node_main.cpp.in)
+    add_library(rclcpp_components::component ALIAS component)
+  endmacro()
+  include(./cmake/rclcpp_components_register_node.cmake)
+  rclcpp_components_register_node(test_component
+    PLUGIN "test_rclcpp_components::DoesNotExist"
+    EXECUTABLE test_component_does_not_exist_executable
+  )
+  find_program(BASH_PROGRAM bash)
+  add_test(
+    NAME test_non_existent_plugin
+    # Check to make sure the executable returns a non-zero exit code
+    COMMAND ${BASH_PROGRAM} -c "${BASH_PROGRAM} -c \"$<TARGET_FILE:test_component_does_not_exist_executable>\"; test $? -ne 0;"
+  )
+  set_tests_properties(test_non_existent_plugin PROPERTIES
+    # Need to preload this library since it doesn't get installed
+    ENVIRONMENT LD_PRELOAD=$<TARGET_FILE:test_component>)
   #rclcpp_components_register_nodes(test_component "test_rclcpp_components::TestComponent")
   set(components "${components}test_rclcpp_components::TestComponentFoo;$<TARGET_FILE:test_component>\n")
   set(components "${components}test_rclcpp_components::TestComponentBar;$<TARGET_FILE:test_component>\n")
diff --git a/rclcpp_components/src/node_main.cpp.in b/rclcpp_components/src/node_main.cpp.in
index d2a0e84601..42c856a7fc 100644
--- a/rclcpp_components/src/node_main.cpp.in
+++ b/rclcpp_components/src/node_main.cpp.in
@@ -62,6 +62,15 @@ int main(int argc, char * argv[])
     }
   }
 
+  if (exec.get_all_callback_groups().empty()) {
+    RCLCPP_ERROR(
+      logger,
+      "Class %s not found in library %s",
+      class_name.c_str(),
+      library_name.c_str());
+    return 1;
+  }
+
   exec.spin();
 
   for (auto wrapper : node_wrappers) {