a18ef97e5a
* (refactor) add rcl_lifecycle package * (refactor) cleanup free calls * (fix) initialize state machine with external node handle * (dev) use external typesupport * (fix) use external typesupport * (fix) cleanup states * (fix) no pointer comparison in state machine * (test) refactor for rcl testing purpose * (test) test suite for lifecycle sequence * (dev) change to rcl_ret_t * (test) wrong transition test * (fix) dependency for isolated build * (clean) remove std_msgs as a dep * (fix) enable correct visibility control * (fix) correct test for initialization * (fix) correct visibility attributes * (dev) change default value to lifecycle_msgs * (clean) style and lifecycle prefix * (dev) cmake macro get_rcl_lifecycle_information * (cleanup) remove unused files' * (cleanup) remove callback pointer * (debug) add print state machine function * (review) address review comments * (bugfix) correct export in information.cmake * (fix) correct visibility control * (vcs) fix convertion from size_t to unsigned int * (typo) fix internal struct name * const correctness * get_available_states service * new service msgs * tes for multiple instances * (dev) return codes * initial refactor * test default sequence * refactor state machine * apply upstream changes * c++14 * disable state machine print * address review comments * uncrustify * fix comparison with unsigned warning
89 lines
3.1 KiB
CMake
89 lines
3.1 KiB
CMake
# 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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