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use rmw implementation

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This commit is contained in:
Dirk Thomas 2017-01-05 11:55:39 -08:00
parent e3c1427591
commit 72e7d03198
5 changed files with 52 additions and 62 deletions
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45
rcl/CMakeLists.txt
View file

@ -6,7 +6,6 @@ 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 REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
find_package(rosidl_generator_c REQUIRED) find_package(rosidl_generator_c REQUIRED)
include_directories(include) include_directories(include)
@ -33,33 +32,29 @@ set(${PROJECT_NAME}_sources
src/rcl/wait.c src/rcl/wait.c
) )
macro(target) add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
add_library(${PROJECT_NAME}${target_suffix} SHARED ${${PROJECT_NAME}_sources}) ament_target_dependencies(${PROJECT_NAME}
ament_target_dependencies(${PROJECT_NAME}${target_suffix} "rcl_interfaces"
"rcl_interfaces" "rmw"
"rmw" "rmw_implementation"
"rosidl_generator_c" "rosidl_generator_c"
"${rmw_implementation}" )
)
# Causes the visibility macros to use dllexport rather than dllimport, # Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it. # which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME}${target_suffix} PRIVATE "RCL_BUILDING_DLL") target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
install( install(
TARGETS ${PROJECT_NAME}${target_suffix} TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib
RUNTIME DESTINATION bin) RUNTIME DESTINATION bin)
# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
# the librcl that they link against is on the library path. # the librcl that they link against is on the library path.
# This is especially important on Windows. # This is especially important on Windows.
# This is overwritten each loop, but which one it points to doesn't really matter. # This is overwritten each loop, but which one it points to doesn't really matter.
set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}${target_suffix}>") set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
endmacro()
call_for_each_rmw_implementation(target GENERATE_DEFAULT)
ament_export_dependencies(ament_cmake) ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl_interfaces) ament_export_dependencies(rcl_interfaces)

2
rcl/package.xml
View file

@ -14,7 +14,6 @@
<build_export_depend>rmw</build_export_depend> <build_export_depend>rmw</build_export_depend>
<build_depend>rcl_interfaces</build_depend> <build_depend>rcl_interfaces</build_depend>
<build_depend>rmw_implementation_cmake</build_depend>
<build_depend>rosidl_generator_c</build_depend> <build_depend>rosidl_generator_c</build_depend>
<build_export_depend>rcl_interfaces</build_export_depend> <build_export_depend>rcl_interfaces</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend> <build_export_depend>rosidl_generator_c</build_export_depend>
@ -29,6 +28,7 @@
<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> <test_depend>rmw</test_depend>
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend> <test_depend>launch</test_depend>
<test_depend>example_interfaces</test_depend> <test_depend>example_interfaces</test_depend>
<test_depend>std_msgs</test_depend> <test_depend>std_msgs</test_depend>

29
rcl/test/CMakeLists.txt
View file

@ -4,6 +4,8 @@ find_package(ament_cmake_nose REQUIRED)
find_package(example_interfaces REQUIRED) find_package(example_interfaces REQUIRED)
find_package(std_msgs REQUIRED) find_package(std_msgs REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
include(rcl_add_custom_executable.cmake) include(rcl_add_custom_executable.cmake)
include(rcl_add_custom_gtest.cmake) include(rcl_add_custom_gtest.cmake)
include(rcl_add_custom_launch_test.cmake) include(rcl_add_custom_launch_test.cmake)
@ -22,6 +24,7 @@ endmacro()
function(test_target_function) function(test_target_function)
message(STATUS "Creating tests for '${rmw_implementation}'") message(STATUS "Creating tests for '${rmw_implementation}'")
list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation})
# Gtests # Gtests
@ -29,7 +32,7 @@ function(test_target_function)
SRCS rcl/test_allocator.cpp SRCS rcl/test_allocator.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} AMENT_DEPENDENCIES ${rmw_implementation}
) )
@ -37,7 +40,7 @@ function(test_target_function)
SRCS rcl/test_client.cpp SRCS rcl/test_client.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
) )
@ -45,7 +48,7 @@ function(test_target_function)
SRCS rcl/test_time.cpp SRCS rcl/test_time.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} AMENT_DEPENDENCIES ${rmw_implementation}
) )
@ -56,7 +59,7 @@ function(test_target_function)
EMPTY_TEST= EMPTY_TEST=
NORMAL_TEST=foo NORMAL_TEST=foo
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} AMENT_DEPENDENCIES ${rmw_implementation}
) )
@ -73,7 +76,7 @@ function(test_target_function)
SRCS rcl/test_graph.cpp SRCS rcl/test_graph.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs" AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
${SKIP_TEST} ${SKIP_TEST}
) )
@ -82,7 +85,7 @@ function(test_target_function)
SRCS rcl/test_rcl.cpp SRCS rcl/test_rcl.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} AMENT_DEPENDENCIES ${rmw_implementation}
) )
@ -90,7 +93,7 @@ function(test_target_function)
SRCS rcl/test_node.cpp SRCS rcl/test_node.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} AMENT_DEPENDENCIES ${rmw_implementation}
) )
@ -98,7 +101,7 @@ function(test_target_function)
SRCS rcl/test_publisher.cpp SRCS rcl/test_publisher.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
) )
@ -106,7 +109,7 @@ function(test_target_function)
SRCS rcl/test_service.cpp SRCS rcl/test_service.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
) )
@ -114,7 +117,7 @@ function(test_target_function)
SRCS rcl/test_subscription.cpp SRCS rcl/test_subscription.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
) )
@ -122,7 +125,7 @@ function(test_target_function)
SRCS rcl/test_wait.cpp SRCS rcl/test_wait.cpp
ENV ${extra_test_env} ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} AMENT_DEPENDENCIES ${rmw_implementation}
) )
@ -130,13 +133,13 @@ function(test_target_function)
rcl_add_custom_executable(service_fixture${target_suffix} rcl_add_custom_executable(service_fixture${target_suffix}
SRCS rcl/service_fixture.cpp SRCS rcl/service_fixture.cpp
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
) )
rcl_add_custom_executable(client_fixture${target_suffix} rcl_add_custom_executable(client_fixture${target_suffix}
SRCS rcl/client_fixture.cpp SRCS rcl/client_fixture.cpp
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
) )

37
rcl_lifecycle/CMakeLists.txt
View file

@ -5,7 +5,6 @@ project(rcl_lifecycle)
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(rcl REQUIRED) find_package(rcl REQUIRED)
find_package(rmw REQUIRED) find_package(rmw REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
find_package(lifecycle_msgs REQUIRED) find_package(lifecycle_msgs REQUIRED)
include_directories(include) include_directories(include)
@ -19,30 +18,24 @@ set_source_files_properties(
${rcl_lifecycle_sources} ${rcl_lifecycle_sources}
PROPERTIES language "C") PROPERTIES language "C")
macro(targets) ### C-Library depending only on RCL
get_rcl_information("${rmw_implementation}" "rcl${target_suffix}") add_library(
rcl_lifecycle
SHARED
${rcl_lifecycle_sources})
### C-Library depending only on RCL ament_target_dependencies(rcl_lifecycle
add_library( "lifecycle_msgs"
rcl_lifecycle${target_suffix} "rcl")
SHARED
${rcl_lifecycle_sources})
ament_target_dependencies(rcl_lifecycle${target_suffix} # Causes the visibility macros to use dllexport rather than dllimport,
"lifecycle_msgs" # which is appropriate when building the dll but not consuming it.
"rcl${target_suffix}") target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
# Causes the visibility macros to use dllexport rather than dllimport, install(TARGETS rcl_lifecycle
# which is appropriate when building the dll but not consuming it. ARCHIVE DESTINATION lib
target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL") LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
install(TARGETS rcl_lifecycle${target_suffix}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
endmacro()
call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
if(BUILD_TESTING) if(BUILD_TESTING)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

1
rcl_lifecycle/package.xml
View file

@ -13,7 +13,6 @@
<build_depend>lifecycle_msgs</build_depend> <build_depend>lifecycle_msgs</build_depend>
<build_depend>rcl</build_depend> <build_depend>rcl</build_depend>
<build_depend>rmw_implementation</build_depend> <build_depend>rmw_implementation</build_depend>
<build_depend>rmw_implementation_cmake</build_depend>
<build_depend>rosidl_default_generators</build_depend> <build_depend>rosidl_default_generators</build_depend>
<exec_depend>lifecycle_msgs</exec_depend> <exec_depend>lifecycle_msgs</exec_depend>