refactoring since type support changes
This commit is contained in:
William Woodall
parent
02f926c2c7
commit
34ae477e28
3 changed files with 117 additions and 90 deletions
|
|
@ -5,11 +5,10 @@ project(rcl)
|
||||||
find_package(ament_cmake REQUIRED)
|
find_package(ament_cmake REQUIRED)
|
||||||
find_package(rcl_interfaces REQUIRED)
|
find_package(rcl_interfaces REQUIRED)
|
||||||
find_package(rmw REQUIRED)
|
find_package(rmw REQUIRED)
|
||||||
|
find_package(rmw_implementation REQUIRED)
|
||||||
|
find_package(rmw_implementation_cmake REQUIRED)
|
||||||
find_package(rosidl_generator_c REQUIRED)
|
find_package(rosidl_generator_c REQUIRED)
|
||||||
|
|
||||||
ament_export_dependencies(rmw rosidl_generator_c)
|
|
||||||
ament_export_include_directories(include)
|
|
||||||
|
|
||||||
include_directories(include)
|
include_directories(include)
|
||||||
|
|
||||||
if(NOT WIN32)
|
if(NOT WIN32)
|
||||||
|
|
@ -28,93 +27,44 @@ set(${PROJECT_NAME}_sources
|
||||||
src/rcl/time.c
|
src/rcl/time.c
|
||||||
src/rcl/timer.c
|
src/rcl/timer.c
|
||||||
)
|
)
|
||||||
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
|
|
||||||
ament_target_dependencies(${PROJECT_NAME}
|
macro(target)
|
||||||
|
add_library(${PROJECT_NAME}${target_suffix} SHARED ${${PROJECT_NAME}_sources})
|
||||||
|
ament_target_dependencies(${PROJECT_NAME}${target_suffix}
|
||||||
"rcl_interfaces"
|
"rcl_interfaces"
|
||||||
"rmw"
|
"rmw"
|
||||||
"rosidl_generator_c"
|
"rosidl_generator_c"
|
||||||
|
"${rmw_implementation}"
|
||||||
)
|
)
|
||||||
|
|
||||||
if(NOT WIN32)
|
if(NOT WIN32)
|
||||||
set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c11")
|
set_target_properties(${PROJECT_NAME}${target_suffix} PROPERTIES COMPILE_FLAGS "-std=c11")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
|
install(
|
||||||
|
TARGETS ${PROJECT_NAME}${target_suffix}
|
||||||
|
ARCHIVE DESTINATION lib
|
||||||
|
LIBRARY DESTINATION lib
|
||||||
|
RUNTIME DESTINATION bin)
|
||||||
|
endmacro()
|
||||||
|
|
||||||
|
call_for_each_rmw_implementation(target GENERATE_DEFAULT)
|
||||||
|
|
||||||
|
ament_export_dependencies(rcl_interfaces)
|
||||||
|
ament_export_dependencies(rmw)
|
||||||
|
ament_export_dependencies(rmw_implementation)
|
||||||
|
ament_export_dependencies(rosidl_generator_c)
|
||||||
|
|
||||||
|
ament_export_include_directories(include)
|
||||||
|
|
||||||
|
ament_export_libraries(${PROJECT_NAME})
|
||||||
|
|
||||||
if(AMENT_ENABLE_TESTING)
|
if(AMENT_ENABLE_TESTING)
|
||||||
find_package(ament_cmake_gtest REQUIRED)
|
find_package(ament_cmake_gtest REQUIRED)
|
||||||
find_package(ament_lint_auto REQUIRED)
|
find_package(ament_lint_auto REQUIRED)
|
||||||
ament_lint_auto_find_test_dependencies()
|
ament_lint_auto_find_test_dependencies()
|
||||||
|
|
||||||
set(extra_test_libraries)
|
add_subdirectory(test)
|
||||||
set(extra_memory_tools_env PHONY=) # Use a phony env var so there is always at least one.
|
|
||||||
ament_find_gtest() # For GTEST_LIBRARIES
|
|
||||||
if(APPLE)
|
|
||||||
add_library(${PROJECT_NAME}_memory_tools_interpose SHARED test/memory_tools_osx_interpose.cpp)
|
|
||||||
target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
|
|
||||||
set_target_properties(${PROJECT_NAME}_memory_tools_interpose
|
|
||||||
PROPERTIES COMPILE_FLAGS "-std=c++11")
|
|
||||||
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
|
|
||||||
list(APPEND extra_memory_tools_env
|
|
||||||
DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
|
|
||||||
endif()
|
|
||||||
add_library(${PROJECT_NAME}_memory_tools SHARED test/memory_tools.cpp)
|
|
||||||
if(NOT WIN32)
|
|
||||||
set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
|
|
||||||
endif()
|
|
||||||
target_link_libraries(${PROJECT_NAME}_memory_tools ${GTEST_LIBRARIES} ${extra_test_libraries})
|
|
||||||
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
|
|
||||||
|
|
||||||
ament_add_gtest(test_memory_tools test/test_memory_tools.cpp ENV ${extra_memory_tools_env})
|
|
||||||
if(TARGET test_memory_tools)
|
|
||||||
target_include_directories(test_memory_tools PUBLIC
|
|
||||||
${rcl_interfaces_INCLUDE_DIRS}
|
|
||||||
${rmw_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
if(NOT WIN32)
|
|
||||||
set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
|
|
||||||
endif()
|
|
||||||
target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_add_gtest(test_allocator test/rcl/test_allocator.cpp ENV ${extra_memory_tools_env})
|
|
||||||
if(TARGET test_allocator)
|
|
||||||
target_include_directories(test_allocator PUBLIC
|
|
||||||
${rcl_interfaces_INCLUDE_DIRS}
|
|
||||||
${rmw_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
if(NOT WIN32)
|
|
||||||
set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
|
|
||||||
endif()
|
|
||||||
target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_add_gtest(test_time test/rcl/test_time.cpp ENV ${extra_memory_tools_env})
|
|
||||||
if(TARGET test_time)
|
|
||||||
target_include_directories(test_time PUBLIC
|
|
||||||
${rcl_interfaces_INCLUDE_DIRS}
|
|
||||||
${rmw_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
if(NOT WIN32)
|
|
||||||
set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
|
|
||||||
endif()
|
|
||||||
target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_add_gtest(test_common
|
|
||||||
test/rcl/test_common.cpp
|
|
||||||
ENV
|
|
||||||
${extra_memory_tools_env}
|
|
||||||
EMPTY_TEST=
|
|
||||||
NORMAL_TEST=foo
|
|
||||||
)
|
|
||||||
if(TARGET test_common)
|
|
||||||
target_include_directories(test_common PUBLIC
|
|
||||||
${rcl_interfaces_INCLUDE_DIRS}
|
|
||||||
${rmw_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
if(NOT WIN32)
|
|
||||||
set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
|
|
||||||
endif()
|
|
||||||
target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
|
|
||||||
endif()
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
ament_package()
|
ament_package()
|
||||||
|
|
|
||||||
|
|
@ -10,17 +10,20 @@
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
<build_depend>rmw</build_depend>
|
|
||||||
<!-- This ensures the rmw impls are built first. -->
|
|
||||||
<build_depend>rmw_implementation</build_depend>
|
|
||||||
|
|
||||||
<build_export_depend>rmw</build_export_depend>
|
<build_export_depend>rmw</build_export_depend>
|
||||||
|
|
||||||
<depend>rcl_interfaces</depend>
|
<build_depend>rcl_interfaces</build_depend>
|
||||||
<depend>rosidl_generator_c</depend>
|
<build_depend>rmw_implementation_cmake</build_depend>
|
||||||
|
<build_depend>rosidl_generator_c</build_depend>
|
||||||
|
<build_export_depend>rcl_interfaces</build_export_depend>
|
||||||
|
<build_export_depend>rosidl_generator_c</build_export_depend>
|
||||||
|
|
||||||
|
<depend>rmw_implementation</depend>
|
||||||
|
|
||||||
|
<test_depend>ament_cmake_gtest</test_depend>
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
<test_depend>ament_lint_common</test_depend>
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
<test_depend>rmw</test_depend>
|
||||||
|
|
||||||
<export>
|
<export>
|
||||||
<build_type>ament_cmake</build_type>
|
<build_type>ament_cmake</build_type>
|
||||||
|
|
|
||||||
74
rcl/test/CMakeLists.txt
Normal file
74
rcl/test/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,74 @@
|
||||||
|
if(AMENT_ENABLE_TESTING)
|
||||||
|
set(extra_test_libraries)
|
||||||
|
set(extra_memory_tools_env PHONY=) # Use a phony env var so there is always at least one.
|
||||||
|
ament_find_gtest() # For GTEST_LIBRARIES
|
||||||
|
if(APPLE)
|
||||||
|
add_library(${PROJECT_NAME}_memory_tools_interpose SHARED memory_tools_osx_interpose.cpp)
|
||||||
|
target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
|
||||||
|
set_target_properties(${PROJECT_NAME}_memory_tools_interpose
|
||||||
|
PROPERTIES COMPILE_FLAGS "-std=c++11")
|
||||||
|
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
|
||||||
|
list(APPEND extra_memory_tools_env
|
||||||
|
DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
|
||||||
|
endif()
|
||||||
|
add_library(${PROJECT_NAME}_memory_tools SHARED memory_tools.cpp)
|
||||||
|
if(NOT WIN32)
|
||||||
|
set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
|
||||||
|
endif()
|
||||||
|
target_link_libraries(${PROJECT_NAME}_memory_tools ${GTEST_LIBRARIES} ${extra_test_libraries})
|
||||||
|
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
|
||||||
|
|
||||||
|
ament_add_gtest(test_memory_tools test_memory_tools.cpp ENV ${extra_memory_tools_env})
|
||||||
|
if(TARGET test_memory_tools)
|
||||||
|
target_include_directories(test_memory_tools PUBLIC
|
||||||
|
${rcl_interfaces_INCLUDE_DIRS}
|
||||||
|
${rmw_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
if(NOT WIN32)
|
||||||
|
set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
|
||||||
|
endif()
|
||||||
|
target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
|
||||||
|
endif()
|
||||||
|
|
||||||
|
ament_add_gtest(test_allocator rcl/test_allocator.cpp ENV ${extra_memory_tools_env})
|
||||||
|
if(TARGET test_allocator)
|
||||||
|
target_include_directories(test_allocator PUBLIC
|
||||||
|
${rcl_interfaces_INCLUDE_DIRS}
|
||||||
|
${rmw_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
if(NOT WIN32)
|
||||||
|
set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
|
||||||
|
endif()
|
||||||
|
target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
|
||||||
|
endif()
|
||||||
|
|
||||||
|
ament_add_gtest(test_time rcl/test_time.cpp ENV ${extra_memory_tools_env})
|
||||||
|
if(TARGET test_time)
|
||||||
|
target_include_directories(test_time PUBLIC
|
||||||
|
${rcl_interfaces_INCLUDE_DIRS}
|
||||||
|
${rmw_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
if(NOT WIN32)
|
||||||
|
set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
|
||||||
|
endif()
|
||||||
|
target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
|
||||||
|
endif()
|
||||||
|
|
||||||
|
ament_add_gtest(test_common
|
||||||
|
rcl/test_common.cpp
|
||||||
|
ENV
|
||||||
|
${extra_memory_tools_env}
|
||||||
|
EMPTY_TEST=
|
||||||
|
NORMAL_TEST=foo
|
||||||
|
)
|
||||||
|
if(TARGET test_common)
|
||||||
|
target_include_directories(test_common PUBLIC
|
||||||
|
${rcl_interfaces_INCLUDE_DIRS}
|
||||||
|
${rmw_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
if(NOT WIN32)
|
||||||
|
set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
|
||||||
|
endif()
|
||||||
|
target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
Loading…
Add table
Add a link
Reference in a new issue