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rename {c_}utilities to rcutils (#130)

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William Woodall 2017-04-20 11:15:03 -07:00 • committed by GitHub
parent f9e03e51bb
commit bed40d3d40
10 changed files with 55 additions and 50 deletions
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7
rcl/CMakeLists.txt
View file

@ -3,8 +3,9 @@ cmake_minimum_required(VERSION 3.5)
project(rcl) project(rcl)
find_package(ament_cmake_ros REQUIRED) find_package(ament_cmake_ros REQUIRED)
find_package(c_utilities REQUIRED)
find_package(rcl_interfaces REQUIRED) find_package(rcl_interfaces REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED) find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED) find_package(rmw_implementation REQUIRED)
find_package(rosidl_generator_c REQUIRED) find_package(rosidl_generator_c REQUIRED)
@ -41,8 +42,8 @@ set(${PROJECT_NAME}_sources
add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources}) add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
ament_target_dependencies(${PROJECT_NAME} ament_target_dependencies(${PROJECT_NAME}
"c_utilities"
"rcl_interfaces" "rcl_interfaces"
"rcutils"
"rmw" "rmw"
"rmw_implementation" "rmw_implementation"
"rosidl_generator_c" "rosidl_generator_c"
@ -65,8 +66,8 @@ install(
set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>") set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
ament_export_dependencies(ament_cmake) ament_export_dependencies(ament_cmake)
ament_export_dependencies(c_utilities)
ament_export_dependencies(rcl_interfaces) ament_export_dependencies(rcl_interfaces)
ament_export_dependencies(rcutils)
ament_export_dependencies(rmw) ament_export_dependencies(rmw)
ament_export_dependencies(rmw_implementation) ament_export_dependencies(rmw_implementation)
ament_export_dependencies(rosidl_generator_c) ament_export_dependencies(rosidl_generator_c)

8
rcl/include/rcl/allocator.h
View file

@ -20,13 +20,13 @@ extern "C"
{ {
#endif #endif
#include "c_utilities/allocator.h" #include "rcutils/allocator.h"
typedef utilities_allocator_t rcl_allocator_t; typedef rcutils_allocator_t rcl_allocator_t;
#define rcl_get_default_allocator utilities_get_default_allocator #define rcl_get_default_allocator rcutils_get_default_allocator
#define rcl_reallocf utilities_reallocf #define rcl_reallocf rcutils_reallocf
#if __cplusplus #if __cplusplus
} }

20
rcl/include/rcl/error_handling.h
View file

@ -15,9 +15,9 @@
#ifndef RCL__ERROR_HANDLING_H_ #ifndef RCL__ERROR_HANDLING_H_
#define RCL__ERROR_HANDLING_H_ #define RCL__ERROR_HANDLING_H_
#include "c_utilities/error_handling.h" #include "rcutils/error_handling.h"
/// The error handling in RCL is just an alias to the error handling in c_utilities. /// The error handling in RCL is just an alias to the error handling in rcutils.
/** /**
* Allocators given to functions in rcl are passed along to the error handling * Allocators given to functions in rcl are passed along to the error handling
* on a "best effort" basis. * on a "best effort" basis.
@ -29,20 +29,20 @@
* occur during normal runtime, is should be okay to use the default allocator. * occur during normal runtime, is should be okay to use the default allocator.
*/ */
typedef utilities_error_state_t rcl_error_state_t; typedef rcutils_error_state_t rcl_error_state_t;
#define rcl_set_error_state utilities_set_error_state #define rcl_set_error_state rcutils_set_error_state
#define RCL_SET_ERROR_MSG(msg, allocator) UTILITIES_SET_ERROR_MSG(msg, allocator) #define RCL_SET_ERROR_MSG(msg, allocator) RCUTILS_SET_ERROR_MSG(msg, allocator)
#define rcl_error_is_set utilities_error_is_set #define rcl_error_is_set rcutils_error_is_set
#define rcl_get_error_state utilities_get_error_state #define rcl_get_error_state rcutils_get_error_state
#define rcl_get_error_string utilities_get_error_string #define rcl_get_error_string rcutils_get_error_string
#define rcl_get_error_string_safe utilities_get_error_string_safe #define rcl_get_error_string_safe rcutils_get_error_string_safe
#define rcl_reset_error utilities_reset_error #define rcl_reset_error rcutils_reset_error
#endif // RCL__ERROR_HANDLING_H_ #endif // RCL__ERROR_HANDLING_H_

18
rcl/include/rcl/graph.h
View file

@ -23,7 +23,7 @@ extern "C"
#include <rmw/rmw.h> #include <rmw/rmw.h>
#include <rmw/types.h> #include <rmw/types.h>
#include "c_utilities/types.h" #include "rcutils/types.h"
#include "rosidl_generator_c/service_type_support.h" #include "rosidl_generator_c/service_type_support.h"
@ -112,24 +112,24 @@ rcl_destroy_topic_names_and_types(
* The node_names parameter must be allocated and zero initialized. * The node_names parameter must be allocated and zero initialized.
* The node_names is the output for this function, and contains * The node_names is the output for this function, and contains
* allocated memory. * allocated memory.
* Use utilities_get_zero_initialized_string_array() for initializing an empty * Use rcutils_get_zero_initialized_string_array() for initializing an empty
* utilities_string_array_t struct. * rcutils_string_array_t struct.
* This node_names struct should therefore be passed to utilities_string_array_fini() * This node_names struct should therefore be passed to rcutils_string_array_fini()
* when it is no longer needed. * when it is no longer needed.
* Failing to do so will result in leaked memory. * Failing to do so will result in leaked memory.
* *
* Example: * Example:
* *
* ```c * ```c
* utilities_string_array_t node_names = * rcutils_string_array_t node_names =
* utilities_get_zero_initialized_string_array(); * rcutils_get_zero_initialized_string_array();
* rcl_ret_t ret = rcl_get_node_names(node, &node_names); * rcl_ret_t ret = rcl_get_node_names(node, &node_names);
* if (ret != RCL_RET_OK) { * if (ret != RCL_RET_OK) {
* // ... error handling * // ... error handling
* } * }
* // ... use the node_names struct, and when done: * // ... use the node_names struct, and when done:
* utilitiest_ret_t utilities_ret = utilities_string_array_fini(&node_names); * rcutilst_ret_t rcutils_ret = rcutils_string_array_fini(&node_names);
* if (utilities_ret != UTILITIES_RET_OK) { * if (rcutils_ret != RCUTILS_RET_OK) {
* // ... error handling * // ... error handling
* } * }
* ``` * ```
@ -154,7 +154,7 @@ rcl_ret_t
rcl_get_node_names( rcl_get_node_names(
const rcl_node_t * node, const rcl_node_t * node,
rcl_allocator_t allocator, rcl_allocator_t allocator,
utilities_string_array_t * node_names); rcutils_string_array_t * node_names);
/// Return the number of publishers on a given topic. /// Return the number of publishers on a given topic.
/** /**

7
rcl/package.xml
View file

@ -13,15 +13,16 @@
<build_export_depend>rmw</build_export_depend> <build_export_depend>rmw</build_export_depend>
<build_depend>c_utilities</build_depend>
<build_depend>rcl_interfaces</build_depend> <build_depend>rcl_interfaces</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rosidl_generator_c</build_depend> <build_depend>rosidl_generator_c</build_depend>
<build_export_depend>c_utilities</build_export_depend>
<build_export_depend>rcl_interfaces</build_export_depend> <build_export_depend>rcl_interfaces</build_export_depend>
<build_export_depend>rcutils</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend> <build_export_depend>rosidl_generator_c</build_export_depend>
<exec_depend>ament_cmake</exec_depend> <exec_depend>ament_cmake</exec_depend>
<exec_depend>c_utilities</exec_depend> <exec_depend>rcutils</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend> <exec_depend>rosidl_default_runtime</exec_depend>
<depend>rmw_implementation</depend> <depend>rmw_implementation</depend>

4
rcl/src/rcl/graph.c
View file

@ -17,7 +17,7 @@ extern "C"
{ {
#endif #endif
#include "c_utilities/types.h" #include "rcutils/types.h"
#include "rcl/graph.h" #include "rcl/graph.h"
@ -72,7 +72,7 @@ rcl_ret_t
rcl_get_node_names( rcl_get_node_names(
const rcl_node_t * node, const rcl_node_t * node,
rcl_allocator_t allocator, rcl_allocator_t allocator,
utilities_string_array_t * node_names) rcutils_string_array_t * node_names)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, allocator); RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, allocator);
if (!rcl_node_is_valid(node)) { if (!rcl_node_is_valid(node)) {

10
rcl/test/rcl/test_get_node_names.cpp
View file

@ -17,7 +17,7 @@
#include <chrono> #include <chrono>
#include <thread> #include <thread>
#include "c_utilities/types.h" #include "rcutils/types.h"
#include "rcl/graph.h" #include "rcl/graph.h"
#include "rcl/rcl.h" #include "rcl/rcl.h"
@ -77,16 +77,16 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
std::this_thread::sleep_for(1s); std::this_thread::sleep_for(1s);
utilities_string_array_t node_names = utilities_get_zero_initialized_string_array(); rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
ret = rcl_get_node_names(node1_ptr, node1_options.allocator, &node_names); ret = rcl_get_node_names(node1_ptr, node1_options.allocator, &node_names);
ASSERT_EQ(UTILITIES_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCUTILS_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(size_t(2), node_names.size); EXPECT_EQ(size_t(2), node_names.size);
EXPECT_EQ(0, strcmp(node1_name, node_names.data[0])); EXPECT_EQ(0, strcmp(node1_name, node_names.data[0]));
EXPECT_EQ(0, strcmp(node2_name, node_names.data[1])); EXPECT_EQ(0, strcmp(node2_name, node_names.data[1]));
ret = utilities_string_array_fini(&node_names); ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(UTILITIES_RET_OK, ret); ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcl_node_fini(node1_ptr); ret = rcl_node_fini(node1_ptr);
delete node1_ptr; delete node1_ptr;

15
rcl_lifecycle/CMakeLists.txt
View file

@ -3,10 +3,11 @@ cmake_minimum_required(VERSION 3.5)
project(rcl_lifecycle) project(rcl_lifecycle)
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(c_utilities REQUIRED)
find_package(rcl REQUIRED)
find_package(rmw REQUIRED)
find_package(lifecycle_msgs REQUIRED) find_package(lifecycle_msgs REQUIRED)
find_package(rcl REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED)
include_directories(include) include_directories(include)
@ -14,7 +15,8 @@ set(rcl_lifecycle_sources
src/com_interface.c src/com_interface.c
src/default_state_machine.c src/default_state_machine.c
src/rcl_lifecycle.c src/rcl_lifecycle.c
src/transition_map.c) src/transition_map.c
)
set_source_files_properties( set_source_files_properties(
${rcl_lifecycle_sources} ${rcl_lifecycle_sources}
PROPERTIES language "C") PROPERTIES language "C")
@ -26,9 +28,10 @@ add_library(
${rcl_lifecycle_sources}) ${rcl_lifecycle_sources})
ament_target_dependencies(rcl_lifecycle ament_target_dependencies(rcl_lifecycle
"c_utilities"
"lifecycle_msgs" "lifecycle_msgs"
"rcl") "rcl"
"rcutils"
)
# 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.

4
rcl_lifecycle/package.xml
View file

@ -10,15 +10,15 @@
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend> <buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>c_utilities</build_depend>
<build_depend>lifecycle_msgs</build_depend> <build_depend>lifecycle_msgs</build_depend>
<build_depend>rcl</build_depend> <build_depend>rcl</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw_implementation</build_depend> <build_depend>rmw_implementation</build_depend>
<build_depend>rosidl_default_generators</build_depend> <build_depend>rosidl_default_generators</build_depend>
<exec_depend>c_utilities</exec_depend>
<exec_depend>lifecycle_msgs</exec_depend> <exec_depend>lifecycle_msgs</exec_depend>
<exec_depend>rcl</exec_depend> <exec_depend>rcl</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rmw_implementation</exec_depend> <exec_depend>rmw_implementation</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend> <exec_depend>rosidl_default_runtime</exec_depend>

12
rcl_lifecycle/src/com_interface.c
View file

@ -22,7 +22,7 @@ extern "C"
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include "c_utilities/concat.h" #include "rcutils/concat.h"
#include "lifecycle_msgs/msg/transition_event.h" #include "lifecycle_msgs/msg/transition_event.h"
@ -119,7 +119,7 @@ rcl_lifecycle_com_interface_init(
// initialize publisher // initialize publisher
{ {
topic_name = utilities_concat(node_name, pub_transition_event_suffix, "__"); topic_name = rcutils_concat(node_name, pub_transition_event_suffix, "__");
ret = rcl_lifecycle_validate_topic_name(topic_name); ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
goto fail; goto fail;
@ -142,7 +142,7 @@ rcl_lifecycle_com_interface_init(
// initialize change state service // initialize change state service
{ {
topic_name = utilities_concat(node_name, srv_change_state_suffix, "__"); topic_name = rcutils_concat(node_name, srv_change_state_suffix, "__");
ret = rcl_lifecycle_validate_topic_name(topic_name); ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
goto fail; goto fail;
@ -162,7 +162,7 @@ rcl_lifecycle_com_interface_init(
// initialize get state service // initialize get state service
{ {
topic_name = utilities_concat(node_name, srv_get_state_suffix, "__"); topic_name = rcutils_concat(node_name, srv_get_state_suffix, "__");
ret = rcl_lifecycle_validate_topic_name(topic_name); ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
goto fail; goto fail;
@ -182,7 +182,7 @@ rcl_lifecycle_com_interface_init(
// initialize get available states service // initialize get available states service
{ {
topic_name = utilities_concat(node_name, srv_get_available_states_suffix, "__"); topic_name = rcutils_concat(node_name, srv_get_available_states_suffix, "__");
ret = rcl_lifecycle_validate_topic_name(topic_name); ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
goto fail; goto fail;
@ -202,7 +202,7 @@ rcl_lifecycle_com_interface_init(
// initialize get available transitions service // initialize get available transitions service
{ {
topic_name = utilities_concat(node_name, srv_get_available_transitions_suffix, "__"); topic_name = rcutils_concat(node_name, srv_get_available_transitions_suffix, "__");
ret = rcl_lifecycle_validate_topic_name(topic_name); ret = rcl_lifecycle_validate_topic_name(topic_name);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
goto fail; goto fail;