use rmw implementation
This commit is contained in:
Dirk Thomas
parent
e3c1427591
commit
72e7d03198
5 changed files with 52 additions and 62 deletions
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@ -6,7 +6,6 @@ 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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include_directories(include)
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@ -33,33 +32,29 @@ set(${PROJECT_NAME}_sources
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src/rcl/wait.c
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)
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macro(target)
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add_library(${PROJECT_NAME}${target_suffix} SHARED ${${PROJECT_NAME}_sources})
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ament_target_dependencies(${PROJECT_NAME}${target_suffix}
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add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
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ament_target_dependencies(${PROJECT_NAME}
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"rcl_interfaces"
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"rmw"
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"rmw_implementation"
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"rosidl_generator_c"
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"${rmw_implementation}"
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)
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}${target_suffix} PRIVATE "RCL_BUILDING_DLL")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
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install(
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TARGETS ${PROJECT_NAME}${target_suffix}
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install(
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TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
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# the librcl that they link against is on the library path.
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# This is especially important on Windows.
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# This is overwritten each loop, but which one it points to doesn't really matter.
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set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}${target_suffix}>")
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endmacro()
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call_for_each_rmw_implementation(target GENERATE_DEFAULT)
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# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
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# the librcl that they link against is on the library path.
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# This is especially important on Windows.
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# This is overwritten each loop, but which one it points to doesn't really matter.
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set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
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ament_export_dependencies(ament_cmake)
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ament_export_dependencies(rcl_interfaces)
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@ -14,7 +14,6 @@
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<build_export_depend>rmw</build_export_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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@ -29,6 +28,7 @@
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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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<test_depend>rmw_implementation_cmake</test_depend>
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<test_depend>launch</test_depend>
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<test_depend>example_interfaces</test_depend>
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<test_depend>std_msgs</test_depend>
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@ -4,6 +4,8 @@ find_package(ament_cmake_nose REQUIRED)
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find_package(example_interfaces REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(rmw_implementation_cmake REQUIRED)
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include(rcl_add_custom_executable.cmake)
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include(rcl_add_custom_gtest.cmake)
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include(rcl_add_custom_launch_test.cmake)
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@ -22,6 +24,7 @@ endmacro()
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function(test_target_function)
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message(STATUS "Creating tests for '${rmw_implementation}'")
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list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation})
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# Gtests
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@ -29,7 +32,7 @@ function(test_target_function)
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SRCS rcl/test_allocator.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation}
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)
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@ -37,7 +40,7 @@ function(test_target_function)
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SRCS rcl/test_client.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
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)
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@ -45,7 +48,7 @@ function(test_target_function)
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SRCS rcl/test_time.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation}
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)
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@ -56,7 +59,7 @@ function(test_target_function)
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EMPTY_TEST=
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NORMAL_TEST=foo
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation}
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)
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@ -73,7 +76,7 @@ function(test_target_function)
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SRCS rcl/test_graph.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
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${SKIP_TEST}
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)
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@ -82,7 +85,7 @@ function(test_target_function)
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SRCS rcl/test_rcl.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation}
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)
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@ -90,7 +93,7 @@ function(test_target_function)
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SRCS rcl/test_node.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation}
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)
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@ -98,7 +101,7 @@ function(test_target_function)
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SRCS rcl/test_publisher.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
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)
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@ -106,7 +109,7 @@ function(test_target_function)
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SRCS rcl/test_service.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
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)
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@ -114,7 +117,7 @@ function(test_target_function)
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SRCS rcl/test_subscription.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
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)
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@ -122,7 +125,7 @@ function(test_target_function)
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SRCS rcl/test_wait.cpp
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ENV ${extra_test_env}
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APPEND_LIBRARY_DIRS ${extra_lib_dirs}
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation}
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)
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@ -130,13 +133,13 @@ function(test_target_function)
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rcl_add_custom_executable(service_fixture${target_suffix}
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SRCS rcl/service_fixture.cpp
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
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)
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rcl_add_custom_executable(client_fixture${target_suffix}
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SRCS rcl/client_fixture.cpp
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LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
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LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
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AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
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)
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@ -5,7 +5,6 @@ project(rcl_lifecycle)
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find_package(ament_cmake REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rmw REQUIRED)
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find_package(rmw_implementation_cmake REQUIRED)
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find_package(lifecycle_msgs REQUIRED)
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include_directories(include)
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@ -19,30 +18,24 @@ set_source_files_properties(
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${rcl_lifecycle_sources}
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PROPERTIES language "C")
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macro(targets)
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get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
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### C-Library depending only on RCL
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add_library(
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rcl_lifecycle${target_suffix}
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### C-Library depending only on RCL
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add_library(
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rcl_lifecycle
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SHARED
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${rcl_lifecycle_sources})
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ament_target_dependencies(rcl_lifecycle${target_suffix}
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ament_target_dependencies(rcl_lifecycle
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"lifecycle_msgs"
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"rcl${target_suffix}")
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"rcl")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
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install(TARGETS rcl_lifecycle${target_suffix}
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install(TARGETS rcl_lifecycle
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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(targets GENERATE_DEFAULT)
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if(BUILD_TESTING)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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@ -13,7 +13,6 @@
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<build_depend>lifecycle_msgs</build_depend>
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<build_depend>rcl</build_depend>
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<build_depend>rmw_implementation</build_depend>
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<build_depend>rmw_implementation_cmake</build_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>lifecycle_msgs</exec_depend>
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