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