From 72e7d0319841a1db91b2f96f9fe4854bf917ba5b Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Thu, 5 Jan 2017 11:55:39 -0800 Subject: [PATCH 1/2] use rmw implementation --- rcl/CMakeLists.txt | 45 ++++++++++++++++-------------------- rcl/package.xml | 2 +- rcl/test/CMakeLists.txt | 29 ++++++++++++----------- rcl_lifecycle/CMakeLists.txt | 37 ++++++++++++----------------- rcl_lifecycle/package.xml | 1 - 5 files changed, 52 insertions(+), 62 deletions(-) diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt index 4668144..03ec4ee 100644 --- a/rcl/CMakeLists.txt +++ b/rcl/CMakeLists.txt @@ -6,7 +6,6 @@ find_package(ament_cmake REQUIRED) find_package(rcl_interfaces REQUIRED) find_package(rmw REQUIRED) find_package(rmw_implementation REQUIRED) -find_package(rmw_implementation_cmake REQUIRED) find_package(rosidl_generator_c REQUIRED) include_directories(include) @@ -33,33 +32,29 @@ set(${PROJECT_NAME}_sources src/rcl/wait.c ) -macro(target) - add_library(${PROJECT_NAME}${target_suffix} SHARED ${${PROJECT_NAME}_sources}) - ament_target_dependencies(${PROJECT_NAME}${target_suffix} - "rcl_interfaces" - "rmw" - "rosidl_generator_c" - "${rmw_implementation}" - ) +add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources}) +ament_target_dependencies(${PROJECT_NAME} + "rcl_interfaces" + "rmw" + "rmw_implementation" + "rosidl_generator_c" +) - # Causes the visibility macros to use dllexport rather than dllimport, - # which is appropriate when building the dll but not consuming it. - target_compile_definitions(${PROJECT_NAME}${target_suffix} PRIVATE "RCL_BUILDING_DLL") +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL") - install( - TARGETS ${PROJECT_NAME}${target_suffix} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin) +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin) - # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so - # the librcl that they link against is on the library path. - # This is especially important on Windows. - # This is overwritten each loop, but which one it points to doesn't really matter. - set(rcl_lib_dir "$") -endmacro() - -call_for_each_rmw_implementation(target GENERATE_DEFAULT) +# 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. +# This is especially important on Windows. +# This is overwritten each loop, but which one it points to doesn't really matter. +set(rcl_lib_dir "$") ament_export_dependencies(ament_cmake) ament_export_dependencies(rcl_interfaces) diff --git a/rcl/package.xml b/rcl/package.xml index 271924e..882d2e8 100644 --- a/rcl/package.xml +++ b/rcl/package.xml @@ -14,7 +14,6 @@ rmw rcl_interfaces - rmw_implementation_cmake rosidl_generator_c rcl_interfaces rosidl_generator_c @@ -29,6 +28,7 @@ ament_lint_auto ament_lint_common rmw + rmw_implementation_cmake launch example_interfaces std_msgs diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt index 98fb856..4fcda8b 100644 --- a/rcl/test/CMakeLists.txt +++ b/rcl/test/CMakeLists.txt @@ -4,6 +4,8 @@ find_package(ament_cmake_nose REQUIRED) find_package(example_interfaces REQUIRED) find_package(std_msgs REQUIRED) +find_package(rmw_implementation_cmake REQUIRED) + include(rcl_add_custom_executable.cmake) include(rcl_add_custom_gtest.cmake) include(rcl_add_custom_launch_test.cmake) @@ -22,6 +24,7 @@ endmacro() function(test_target_function) message(STATUS "Creating tests for '${rmw_implementation}'") + list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation}) # Gtests @@ -29,7 +32,7 @@ function(test_target_function) SRCS rcl/test_allocator.cpp ENV ${extra_test_env} APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} ) @@ -37,7 +40,7 @@ function(test_target_function) SRCS rcl/test_client.cpp ENV ${extra_test_env} 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" ) @@ -45,7 +48,7 @@ function(test_target_function) SRCS rcl/test_time.cpp ENV ${extra_test_env} APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} ) @@ -56,7 +59,7 @@ function(test_target_function) EMPTY_TEST= NORMAL_TEST=foo APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} ) @@ -73,7 +76,7 @@ function(test_target_function) SRCS rcl/test_graph.cpp ENV ${extra_test_env} 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" ${SKIP_TEST} ) @@ -82,7 +85,7 @@ function(test_target_function) SRCS rcl/test_rcl.cpp ENV ${extra_test_env} APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} ) @@ -90,7 +93,7 @@ function(test_target_function) SRCS rcl/test_node.cpp ENV ${extra_test_env} APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} ) @@ -98,7 +101,7 @@ function(test_target_function) SRCS rcl/test_publisher.cpp ENV ${extra_test_env} 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" ) @@ -106,7 +109,7 @@ function(test_target_function) SRCS rcl/test_service.cpp ENV ${extra_test_env} 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" ) @@ -114,7 +117,7 @@ function(test_target_function) SRCS rcl/test_subscription.cpp ENV ${extra_test_env} 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" ) @@ -122,7 +125,7 @@ function(test_target_function) SRCS rcl/test_wait.cpp ENV ${extra_test_env} APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} ) @@ -130,13 +133,13 @@ function(test_target_function) rcl_add_custom_executable(service_fixture${target_suffix} SRCS rcl/service_fixture.cpp - LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries} + LIBRARIES ${PROJECT_NAME} ${extra_test_libraries} AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" ) rcl_add_custom_executable(client_fixture${target_suffix} 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" ) diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt index 46f7d76..6f67a4b 100644 --- a/rcl_lifecycle/CMakeLists.txt +++ b/rcl_lifecycle/CMakeLists.txt @@ -5,7 +5,6 @@ project(rcl_lifecycle) find_package(ament_cmake REQUIRED) find_package(rcl REQUIRED) find_package(rmw REQUIRED) -find_package(rmw_implementation_cmake REQUIRED) find_package(lifecycle_msgs REQUIRED) include_directories(include) @@ -19,30 +18,24 @@ set_source_files_properties( ${rcl_lifecycle_sources} PROPERTIES language "C") -macro(targets) - get_rcl_information("${rmw_implementation}" "rcl${target_suffix}") +### C-Library depending only on RCL +add_library( + rcl_lifecycle + SHARED + ${rcl_lifecycle_sources}) - ### C-Library depending only on RCL - add_library( - rcl_lifecycle${target_suffix} - SHARED - ${rcl_lifecycle_sources}) +ament_target_dependencies(rcl_lifecycle + "lifecycle_msgs" + "rcl") - ament_target_dependencies(rcl_lifecycle${target_suffix} - "lifecycle_msgs" - "rcl${target_suffix}") +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL") - # Causes the visibility macros to use dllexport rather than dllimport, - # which is appropriate when building the dll but not consuming it. - target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL") - - install(TARGETS rcl_lifecycle${target_suffix} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin) -endmacro() - -call_for_each_rmw_implementation(targets GENERATE_DEFAULT) +install(TARGETS rcl_lifecycle + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin) if(BUILD_TESTING) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml index 0cc7b38..45f570b 100644 --- a/rcl_lifecycle/package.xml +++ b/rcl_lifecycle/package.xml @@ -13,7 +13,6 @@ lifecycle_msgs rcl rmw_implementation - rmw_implementation_cmake rosidl_default_generators lifecycle_msgs From 7a54a0e32f4f8adaff8efa3230d329ead47358de Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 6 Jan 2017 15:45:54 -0800 Subject: [PATCH 2/2] remove obsolete CMake functions --- rcl/CMakeLists.txt | 9 +- rcl/cmake/get_rcl_information.cmake | 90 ------------------- rcl/rcl-extras.cmake | 17 ---- rcl_lifecycle/CMakeLists.txt | 7 +- .../cmake/get_rcl_lifecycle_information.cmake | 89 ------------------ rcl_lifecycle/rcl_lifecycle-extras.cmake | 17 ---- 6 files changed, 2 insertions(+), 227 deletions(-) delete mode 100644 rcl/cmake/get_rcl_information.cmake delete mode 100644 rcl/rcl-extras.cmake delete mode 100644 rcl_lifecycle/cmake/get_rcl_lifecycle_information.cmake delete mode 100644 rcl_lifecycle/rcl_lifecycle-extras.cmake diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt index 03ec4ee..3b2ea93 100644 --- a/rcl/CMakeLists.txt +++ b/rcl/CMakeLists.txt @@ -73,14 +73,7 @@ if(BUILD_TESTING) add_subdirectory(test) endif() -ament_package( - CONFIG_EXTRAS rcl-extras.cmake -) - -install( - DIRECTORY cmake - DESTINATION share/${PROJECT_NAME} -) +ament_package() install( DIRECTORY include/ diff --git a/rcl/cmake/get_rcl_information.cmake b/rcl/cmake/get_rcl_information.cmake deleted file mode 100644 index af89c33..0000000 --- a/rcl/cmake/get_rcl_information.cmake +++ /dev/null @@ -1,90 +0,0 @@ -# Copyright 2016 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Get all information about rcl for a specific RMW implementation. -# -# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES -# with the given prefix. -# -# :param rmw_implementation: the RMW implementation name -# :type target: string -# :param var_prefix: the prefix of all output variable names -# :type var_prefix: string -# -# Copy/pasted from rclcpp/cmake/get_rclcpp_information.cmake. -# Code duplication is evil. Don't do this at home, kids. - -macro(get_rcl_information rmw_implementation var_prefix) - # pretend to be a "package" - # so that the variables can be used by various functions / macros - set(${var_prefix}_FOUND TRUE) - - # include directories - normalize_path(${var_prefix}_INCLUDE_DIRS "${rcl_DIR}/../../../include") - - # libraries - set(_libs) - # search for library relative to this CMake file - set(_library_target "rcl") - get_available_rmw_implementations(_rmw_impls) - list(LENGTH _rmw_impls _rmw_impls_length) - if(_rmw_impls_length GREATER 1) - set(_library_target "${_library_target}__${rmw_implementation}") - endif() - set(_lib "NOTFOUND") - find_library( - _lib NAMES "${_library_target}" - PATHS "${rcl_DIR}/../../../lib" - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH - ) - if(NOT _lib) - # warn about not existing library and ignore it - message(WARNING "Package 'rcl' doesn't contain the library '${_library_target}'") - elseif(NOT IS_ABSOLUTE "${_lib}") - # the found library must be an absolute path - message(FATAL_ERROR "Package 'rcl' found the library '${_library_target}' at '${_lib}' which is not an absolute path") - elseif(NOT EXISTS "${_lib}") - # the found library must exist - message(FATAL_ERROR "Package 'rcl' found the library '${_lib}' which doesn't exist") - else() - list(APPEND _libs "${_lib}") - endif() - - # dependencies - set(_exported_dependencies - "rcl_interfaces" - "rmw" - "${rmw_implementation}" - "rosidl_generator_c") - set(${var_prefix}_DEFINITIONS) - foreach(_dep ${_exported_dependencies}) - if(NOT ${_dep}_FOUND) - find_package("${_dep}" QUIET REQUIRED) - endif() - if(${_dep}_DEFINITIONS) - list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}") - endif() - if(${_dep}_INCLUDE_DIRS) - list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") - endif() - if(${_dep}_LIBRARIES) - list(APPEND _libs "${${_dep}_LIBRARIES}") - endif() - endforeach() - if(_libs) - ament_libraries_deduplicate(_libs "${_libs}") - endif() - set(${var_prefix}_LIBRARIES "${_libs}") -endmacro() diff --git a/rcl/rcl-extras.cmake b/rcl/rcl-extras.cmake deleted file mode 100644 index 64610af..0000000 --- a/rcl/rcl-extras.cmake +++ /dev/null @@ -1,17 +0,0 @@ -# Copyright 2016 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# copied from rcl/rcl-extras.cmake - -include("${rcl_DIR}/get_rcl_information.cmake") diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt index 6f67a4b..7d2f49d 100644 --- a/rcl_lifecycle/CMakeLists.txt +++ b/rcl_lifecycle/CMakeLists.txt @@ -76,12 +76,7 @@ ament_export_dependencies(ament_cmake) ament_export_dependencies(lifecycle_msgs) ament_export_include_directories(include) ament_export_libraries(${PROJECT_NAME}) -ament_package( - CONFIG_EXTRAS rcl_lifecycle-extras.cmake) - -install( - DIRECTORY cmake - DESTINATION share/${PROJECT_NAME}) +ament_package() install( DIRECTORY include/ diff --git a/rcl_lifecycle/cmake/get_rcl_lifecycle_information.cmake b/rcl_lifecycle/cmake/get_rcl_lifecycle_information.cmake deleted file mode 100644 index 280553d..0000000 --- a/rcl_lifecycle/cmake/get_rcl_lifecycle_information.cmake +++ /dev/null @@ -1,89 +0,0 @@ -# Copyright 2016 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Get all information about rcl_lifecycle for a specific RMW implementation. -# -# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES -# with the given prefix. -# -# :param rmw_implementation: the RMW implementation name -# :type target: string -# :param var_prefix: the prefix of all output variable names -# :type var_prefix: string -# -# TODO(karsten1987): Copy/pasted from rclcpp/cmake/get_rclcpp_information.cmake. -# Code duplication is evil. Don't do this at home, kids. - -macro(get_rcl_lifecycle_information rmw_implementation var_prefix) - # pretend to be a "package" - # so that the variables can be used by various functions / macros - set(${var_prefix}_FOUND TRUE) - - # include directories - normalize_path(${var_prefix}_INCLUDE_DIRS "${rcl_lifecycle_DIR}/../../../include") - - # libraries - set(_libs) - # search for library relative to this CMake file - set(_library_target "rcl_lifecycle") - get_available_rmw_implementations(_rmw_impls) - list(LENGTH _rmw_impls _rmw_impls_length) - if(_rmw_impls_length GREATER 1) - set(_library_target "${_library_target}__${rmw_implementation}") - endif() - set(_lib "NOTFOUND") - find_library( - _lib NAMES "${_library_target}" - PATHS "${rcl_lifecycle_DIR}/../../../lib" - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH - ) - if(NOT _lib) - # warn about not existing library and ignore it - message(WARNING "Package 'rcl_lifecycle' doesn't contain the library '${_library_target}'") - elseif(NOT IS_ABSOLUTE "${_lib}") - # the found library must be an absolute path - message(FATAL_ERROR "Package 'rcl_lifecycle' found the library '${_library_target}' at '${_lib}' which is not an absolute path") - elseif(NOT EXISTS "${_lib}") - # the found library must exist - message(FATAL_ERROR "Package 'rcl_lifecycle' found the library '${_lib}' which doesn't exist") - else() - list(APPEND _libs "${_lib}") - endif() - - # dependencies - set(_exported_dependencies - "rmw" - "${rmw_implementation}" - "rosidl_generator_c") - set(${var_prefix}_DEFINITIONS) - foreach(_dep ${_exported_dependencies}) - if(NOT ${_dep}_FOUND) - find_package("${_dep}" QUIET REQUIRED) - endif() - if(${_dep}_DEFINITIONS) - list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}") - endif() - if(${_dep}_INCLUDE_DIRS) - list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") - endif() - if(${_dep}_LIBRARIES) - list(APPEND _libs "${${_dep}_LIBRARIES}") - endif() - endforeach() - if(_libs) - ament_libraries_deduplicate(_libs "${_libs}") - endif() - set(${var_prefix}_LIBRARIES "${_libs}") -endmacro() diff --git a/rcl_lifecycle/rcl_lifecycle-extras.cmake b/rcl_lifecycle/rcl_lifecycle-extras.cmake deleted file mode 100644 index 4f2f4a5..0000000 --- a/rcl_lifecycle/rcl_lifecycle-extras.cmake +++ /dev/null @@ -1,17 +0,0 @@ -# Copyright 2016 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# copied from rcl/rcl-extras.cmake - -include("${rcl_lifecycle_DIR}/get_rcl_lifecycle_information.cmake")