From 2ff5df0c11d92f07385fc86f8f60b7bea20b2883 Mon Sep 17 00:00:00 2001 From: Sachin Suresh Bhat <46466249+bhatsach@users.noreply.github.com> Date: Tue, 5 Mar 2019 18:09:55 -0800 Subject: [PATCH] Set symbol visibility to hidden for rcl (#391) * Set symbol visibility to hidden for rcl Enabling symbol visibility feature in gcc and clang compilers. This will hep find symbol export related issues in linux and potentially reduce compile times. Discourse topic link: https://discourse.ros.org/t/set-symbol-visibility-to-hidden-for-rmw-and-rcl-packages/7981 Signed-off-by: Sachin Suresh Bhat * Remove WIN specific compiler definition in configure_rcl Signed-off-by: Sachin Suresh Bhat * Rename macro name rcl_set_symbol_visibility_hidden Signed-off-by: Sachin Suresh Bhat * Change macro to args for rcl_set_symbol_visibility_hidden Signed-off-by: Sachin Suresh Bhat --- rcl/CMakeLists.txt | 9 ++- .../rcl_set_symbol_visibility_hidden.cmake | 67 +++++++++++++++++++ rcl/rcl-extras.cmake | 15 +++++ rcl_action/CMakeLists.txt | 2 + rcl_lifecycle/CMakeLists.txt | 1 + rcl_yaml_param_parser/CMakeLists.txt | 1 + 6 files changed, 93 insertions(+), 2 deletions(-) create mode 100644 rcl/cmake/rcl_set_symbol_visibility_hidden.cmake create mode 100644 rcl/rcl-extras.cmake diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt index cee1035..86354b1 100644 --- a/rcl/CMakeLists.txt +++ b/rcl/CMakeLists.txt @@ -12,7 +12,7 @@ find_package(rosidl_generator_c REQUIRED) find_package(tinydir_vendor REQUIRED) include_directories(include) - +include(cmake/rcl_set_symbol_visibility_hidden.cmake) include(cmake/get_default_rcl_logging_implementation.cmake) get_default_rcl_logging_implementation(RCL_LOGGING_IMPL) @@ -73,6 +73,7 @@ ament_target_dependencies(${PROJECT_NAME} # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL") +rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C") install( TARGETS ${PROJECT_NAME} @@ -105,8 +106,12 @@ if(BUILD_TESTING) add_subdirectory(test) endif() -ament_package() +ament_package(CONFIG_EXTRAS "rcl-extras.cmake") +install( + DIRECTORY cmake + DESTINATION share/${PROJECT_NAME} +) install( DIRECTORY include/ DESTINATION include diff --git a/rcl/cmake/rcl_set_symbol_visibility_hidden.cmake b/rcl/cmake/rcl_set_symbol_visibility_hidden.cmake new file mode 100644 index 0000000..60c6c77 --- /dev/null +++ b/rcl/cmake/rcl_set_symbol_visibility_hidden.cmake @@ -0,0 +1,67 @@ +# Copyright 2019 Open Source Robotics Foundation, 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. + +# +# Configures ros client library with custom settings. +# The custom settings are all related to library symbol visibility, see: +# https://gcc.gnu.org/wiki/Visibility +# http://www.ibm.com/developerworks/aix/library/au-aix-symbol-visibility/ +# +# Below code is heavily referenced from a similar functionality in rmw: +# https://github.com/ros2/rmw/blob/master/rmw/cmake/configure_rmw_library.cmake +# +# :param library_target: the library target +# :type library_target: string +# :param LANGUAGE: Optional flag for the language of the library. +# Allowed values are "C" and "CXX". The default is "CXX". +# :type LANGUAGE: string +# +# @public +# +function(rcl_set_symbol_visibility_hidden library_target) + cmake_parse_arguments(ARG "" "LANGUAGE" "" ${ARGN}) + if(ARG_UNPARSED_ARGUMENTS) + message(FATAL_ERROR "rcl_set_symbol_visibility_hidden() called with unused arguments: ${ARG_UNPARSED_ARGUMENTS}") + endif() + + if(NOT ARG_LANGUAGE) + set(ARG_LANGUAGE "CXX") + endif() + + if(ARG_LANGUAGE STREQUAL "C") + # Set the visibility to hidden by default if possible + if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang") + # Set the visibility of symbols to hidden by default for gcc and clang + # (this is already the default on Windows) + set_target_properties(${library_target} + PROPERTIES + COMPILE_FLAGS "-fvisibility=hidden" + ) + endif() + + elseif(ARG_LANGUAGE STREQUAL "CXX") + # Set the visibility to hidden by default if possible + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + # Set the visibility of symbols to hidden by default for gcc and clang + # (this is already the default on Windows) + set_target_properties(${library_target} + PROPERTIES + COMPILE_FLAGS "-fvisibility=hidden -fvisibility-inlines-hidden" + ) + endif() + + else() + message(FATAL_ERROR "rcl_set_symbol_visibility_hidden() called with unsupported LANGUAGE: '${ARG_LANGUAGE}'") + endif() +endfunction() diff --git a/rcl/rcl-extras.cmake b/rcl/rcl-extras.cmake new file mode 100644 index 0000000..24e83b5 --- /dev/null +++ b/rcl/rcl-extras.cmake @@ -0,0 +1,15 @@ +# Copyright 2019 Open Source Robotics Foundation, 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("${rcl_DIR}/rcl_set_symbol_visibility_hidden.cmake") diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt index aa2c0a3..75541e2 100644 --- a/rcl_action/CMakeLists.txt +++ b/rcl_action/CMakeLists.txt @@ -56,6 +56,8 @@ ament_target_dependencies(${PROJECT_NAME} "rmw" "rosidl_generator_c" ) + +rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C") # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_ACTION_BUILDING_DLL") diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt index 1c82a50..3bf5335 100644 --- a/rcl_lifecycle/CMakeLists.txt +++ b/rcl_lifecycle/CMakeLists.txt @@ -48,6 +48,7 @@ ament_target_dependencies(rcl_lifecycle "rcutils" ) +rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C") # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL") diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt index 0e7b863..95143c8 100644 --- a/rcl_yaml_param_parser/CMakeLists.txt +++ b/rcl_yaml_param_parser/CMakeLists.txt @@ -28,6 +28,7 @@ add_library( ${rcl_yaml_parser_sources}) ament_target_dependencies(${PROJECT_NAME} "yaml" "rcutils" "rcl") +rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C") # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_YAML_PARAM_PARSER_BUILDING_DLL")