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Merge pull request #106 from ros2/use_rmw_impl

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use rmw implementation
This commit is contained in:
Dirk Thomas 2017-01-09 08:54:15 -08:00 • committed by GitHub
commit c429f2e18c
9 changed files with 54 additions and 289 deletions
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26
rcl/CMakeLists.txt
View file

@ -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)
@ -33,21 +32,20 @@ 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}
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
ament_target_dependencies(${PROJECT_NAME}
"rcl_interfaces"
"rmw"
"rmw_implementation"
"rosidl_generator_c"
"${rmw_implementation}"
)
# 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")
target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
install(
TARGETS ${PROJECT_NAME}${target_suffix}
TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
@ -56,10 +54,7 @@ macro(target)
# the librcl that they link against is on the library path.
# This is especially important on Windows.
# This is overwritten each loop, but which one it points to doesn't really matter.
set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}${target_suffix}>")
endmacro()
call_for_each_rmw_implementation(target GENERATE_DEFAULT)
set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl_interfaces)
@ -78,14 +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/

90
rcl/cmake/get_rcl_information.cmake
View file

@ -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()

2
rcl/package.xml
View file

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

17
rcl/rcl-extras.cmake
View file

@ -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")

29
rcl/test/CMakeLists.txt
View file

@ -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"
)

24
rcl_lifecycle/CMakeLists.txt
View file

@ -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${target_suffix}")
### C-Library depending only on RCL
add_library(
rcl_lifecycle${target_suffix}
rcl_lifecycle
SHARED
${rcl_lifecycle_sources})
ament_target_dependencies(rcl_lifecycle${target_suffix}
ament_target_dependencies(rcl_lifecycle
"lifecycle_msgs"
"rcl${target_suffix}")
"rcl")
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
install(TARGETS rcl_lifecycle${target_suffix}
install(TARGETS rcl_lifecycle
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
endmacro()
call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
if(BUILD_TESTING)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@ -83,12 +76,7 @@ ament_export_dependencies(ament_cmake)
ament_export_dependencies(lifecycle_msgs)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package(
CONFIG_EXTRAS rcl_lifecycle-extras.cmake)
install(
DIRECTORY cmake
DESTINATION share/${PROJECT_NAME})
ament_package()
install(
DIRECTORY include/

89
rcl_lifecycle/cmake/get_rcl_lifecycle_information.cmake
View file

@ -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()

1
rcl_lifecycle/package.xml
View file

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

17
rcl_lifecycle/rcl_lifecycle-extras.cmake
View file

@ -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")