Dirk Thomas
GitHub
commit
c429f2e18c
9 changed files with 54 additions and 289 deletions
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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${target_suffix}")
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### C-Library depending only on RCL
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add_library(
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rcl_lifecycle
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SHARED
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${rcl_lifecycle_sources})
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### C-Library depending only on RCL
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add_library(
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rcl_lifecycle${target_suffix}
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SHARED
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${rcl_lifecycle_sources})
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ament_target_dependencies(rcl_lifecycle
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"lifecycle_msgs"
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"rcl")
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ament_target_dependencies(rcl_lifecycle${target_suffix}
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"lifecycle_msgs"
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"rcl${target_suffix}")
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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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# 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${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
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install(TARGETS rcl_lifecycle${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(targets GENERATE_DEFAULT)
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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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if(BUILD_TESTING)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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@ -83,12 +76,7 @@ ament_export_dependencies(ament_cmake)
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ament_export_dependencies(lifecycle_msgs)
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_package(
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CONFIG_EXTRAS rcl_lifecycle-extras.cmake)
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install(
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DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME})
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ament_package()
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install(
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DIRECTORY include/
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@ -1,89 +0,0 @@
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# Copyright 2016 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# Get all information about rcl_lifecycle for a specific RMW implementation.
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#
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# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
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# with the given prefix.
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#
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# :param rmw_implementation: the RMW implementation name
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# :type target: string
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# :param var_prefix: the prefix of all output variable names
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# :type var_prefix: string
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#
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# TODO(karsten1987): Copy/pasted from rclcpp/cmake/get_rclcpp_information.cmake.
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# Code duplication is evil. Don't do this at home, kids.
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macro(get_rcl_lifecycle_information rmw_implementation var_prefix)
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# pretend to be a "package"
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# so that the variables can be used by various functions / macros
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set(${var_prefix}_FOUND TRUE)
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# include directories
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normalize_path(${var_prefix}_INCLUDE_DIRS "${rcl_lifecycle_DIR}/../../../include")
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# libraries
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set(_libs)
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# search for library relative to this CMake file
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set(_library_target "rcl_lifecycle")
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get_available_rmw_implementations(_rmw_impls)
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list(LENGTH _rmw_impls _rmw_impls_length)
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if(_rmw_impls_length GREATER 1)
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set(_library_target "${_library_target}__${rmw_implementation}")
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endif()
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set(_lib "NOTFOUND")
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find_library(
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_lib NAMES "${_library_target}"
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PATHS "${rcl_lifecycle_DIR}/../../../lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
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)
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if(NOT _lib)
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# warn about not existing library and ignore it
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message(WARNING "Package 'rcl_lifecycle' doesn't contain the library '${_library_target}'")
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elseif(NOT IS_ABSOLUTE "${_lib}")
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# the found library must be an absolute path
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message(FATAL_ERROR "Package 'rcl_lifecycle' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
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elseif(NOT EXISTS "${_lib}")
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# the found library must exist
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message(FATAL_ERROR "Package 'rcl_lifecycle' found the library '${_lib}' which doesn't exist")
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else()
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list(APPEND _libs "${_lib}")
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endif()
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# dependencies
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set(_exported_dependencies
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"rmw"
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"${rmw_implementation}"
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"rosidl_generator_c")
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set(${var_prefix}_DEFINITIONS)
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foreach(_dep ${_exported_dependencies})
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if(NOT ${_dep}_FOUND)
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find_package("${_dep}" QUIET REQUIRED)
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endif()
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if(${_dep}_DEFINITIONS)
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list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}")
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endif()
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if(${_dep}_INCLUDE_DIRS)
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list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
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endif()
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if(${_dep}_LIBRARIES)
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list(APPEND _libs "${${_dep}_LIBRARIES}")
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endif()
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endforeach()
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if(_libs)
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ament_libraries_deduplicate(_libs "${_libs}")
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endif()
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set(${var_prefix}_LIBRARIES "${_libs}")
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endmacro()
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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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@ -1,17 +0,0 @@
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# Copyright 2016 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# copied from rcl/rcl-extras.cmake
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include("${rcl_lifecycle_DIR}/get_rcl_lifecycle_information.cmake")
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