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use rosidl_typesupport_cpp

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This commit is contained in:
Dirk Thomas 2016-11-18 11:45:18 -08:00
parent 1b5168195b
commit 3405f489d3
9 changed files with 36 additions and 20 deletions
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17
rclcpp/CMakeLists.txt
View file

@ -9,6 +9,7 @@ find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
find_package(rosidl_generator_cpp REQUIRED)
find_package(rosidl_typesupport_cpp REQUIRED)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++11")
@ -54,7 +55,8 @@ macro(target)
${${PROJECT_NAME}_SRCS})
ament_target_dependencies(${PROJECT_NAME}${target_suffix}
"rcl${target_suffix}"
"rosidl_generator_cpp")
"rosidl_generator_cpp"
"rosidl_typesupport_cpp")
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
@ -74,6 +76,7 @@ call_for_each_rmw_implementation(target GENERATE_DEFAULT)
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl)
ament_export_dependencies(rosidl_generator_cpp)
ament_export_dependencies(rosidl_typesupport_cpp)
ament_export_include_directories(include)
@ -89,6 +92,7 @@ if(BUILD_TESTING)
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
@ -98,6 +102,7 @@ if(BUILD_TESTING)
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
@ -107,6 +112,7 @@ if(BUILD_TESTING)
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_rate test/test_rate.cpp
@ -116,6 +122,7 @@ if(BUILD_TESTING)
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_rate
${PROJECT_NAME}
@ -139,7 +146,13 @@ if(BUILD_TESTING)
${mock_msg_files}
SKIP_INSTALL)
ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp)
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
if(WIN32)
set(append_library_dirs "${append_library_dirs}/$<CONFIGURATION>")
endif()
ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_externally_defined_services)
target_include_directories(test_externally_defined_services PUBLIC
${rcl_INCLUDE_DIRS}

3
rclcpp/cmake/get_rclcpp_information.cmake
View file

@ -69,7 +69,8 @@ macro(get_rclcpp_information rmw_implementation var_prefix)
set(_exported_dependencies
"rcl_interfaces"
"rcl${target_suffix}"
"rosidl_generator_cpp")
"rosidl_generator_cpp"
"rosidl_typesupport_cpp")
set(${var_prefix}_DEFINITIONS)
foreach(_dep ${_exported_dependencies})
if(NOT ${_dep}_FOUND)

2
rclcpp/include/rclcpp/client.hpp
View file

@ -132,7 +132,7 @@ public:
rcl_client_options_t & client_options)
: ClientBase(parent_node, service_name)
{
using rosidl_generator_cpp::get_service_type_support_handle;
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle =
get_service_type_support_handle<ServiceT>();
if (rcl_client_init(&client_handle_, this->get_rcl_node_handle(),

2
rclcpp/include/rclcpp/publisher.hpp
View file

@ -160,7 +160,7 @@ public:
std::shared_ptr<MessageAlloc> allocator)
: PublisherBase(node_handle, topic, publisher_options.qos.depth), message_allocator_(allocator)
{
using rosidl_generator_cpp::get_message_type_support_handle;
using rosidl_typesupport_cpp::get_message_type_support_handle;
allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
rcl_allocator_ = publisher_options.allocator;

2
rclcpp/include/rclcpp/service.hpp
View file

@ -102,7 +102,7 @@ public:
rcl_service_options_t & service_options)
: ServiceBase(node_handle, service_name), any_callback_(any_callback)
{
using rosidl_generator_cpp::get_service_type_support_handle;
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
// rcl does the static memory allocation here

2
rclcpp/include/rclcpp/subscription.hpp
View file

@ -155,7 +155,7 @@ public:
get_intra_process_message_callback_(nullptr),
matches_any_intra_process_publishers_(nullptr)
{
using rosidl_generator_cpp::get_message_type_support_handle;
using rosidl_typesupport_cpp::get_message_type_support_handle;
auto type_support_handle = get_message_type_support_handle<MessageT>();
if (rcl_subscription_init(

4
rclcpp/include/rclcpp/type_support_decl.hpp
View file

@ -18,8 +18,8 @@
#include "rosidl_generator_cpp/message_type_support_decl.hpp"
#include "rosidl_generator_cpp/service_type_support_decl.hpp"
#include "rosidl_generator_cpp/message_type_support.hpp"
#include "rosidl_generator_cpp/service_type_support.hpp"
#include "rosidl_typesupport_cpp/message_type_support.hpp"
#include "rosidl_typesupport_cpp/service_type_support.hpp"
#include "rclcpp/visibility_control.hpp"

2
rclcpp/package.xml
View file

@ -14,8 +14,10 @@
<build_depend>rcl_interfaces</build_depend>
<build_depend>rmw_implementation_cmake</build_depend>
<build_depend>rosidl_generator_cpp</build_depend>
<build_depend>rosidl_typesupport_cpp</build_depend>
<build_export_depend>rcl_interfaces</build_export_depend>
<build_export_depend>rosidl_generator_cpp</build_export_depend>
<build_export_depend>rosidl_typesupport_cpp</build_export_depend>
<depend>rcl</depend>
<depend>rmw_implementation</depend>

22
rclcpp/src/rclcpp/type_support.cpp
View file

@ -30,7 +30,7 @@
const rosidl_message_type_support_t *
rclcpp::type_support::get_intra_process_message_msg_type_support()
{
return rosidl_generator_cpp::get_message_type_support_handle<
return rosidl_typesupport_cpp::get_message_type_support_handle<
rcl_interfaces::msg::IntraProcessMessage
>();
}
@ -38,7 +38,7 @@ rclcpp::type_support::get_intra_process_message_msg_type_support()
const rosidl_message_type_support_t *
rclcpp::type_support::get_parameter_event_msg_type_support()
{
return rosidl_generator_cpp::get_message_type_support_handle<
return rosidl_typesupport_cpp::get_message_type_support_handle<
rcl_interfaces::msg::ParameterEvent
>();
}
@ -46,7 +46,7 @@ rclcpp::type_support::get_parameter_event_msg_type_support()
const rosidl_message_type_support_t *
rclcpp::type_support::get_set_parameters_result_msg_type_support()
{
return rosidl_generator_cpp::get_message_type_support_handle<
return rosidl_typesupport_cpp::get_message_type_support_handle<
rcl_interfaces::msg::SetParametersResult
>();
}
@ -54,7 +54,7 @@ rclcpp::type_support::get_set_parameters_result_msg_type_support()
const rosidl_message_type_support_t *
rclcpp::type_support::get_parameter_descriptor_msg_type_support()
{
return rosidl_generator_cpp::get_message_type_support_handle<
return rosidl_typesupport_cpp::get_message_type_support_handle<
rcl_interfaces::msg::ParameterDescriptor
>();
}
@ -62,7 +62,7 @@ rclcpp::type_support::get_parameter_descriptor_msg_type_support()
const rosidl_message_type_support_t *
rclcpp::type_support::get_list_parameters_result_msg_type_support()
{
return rosidl_generator_cpp::get_message_type_support_handle<
return rosidl_typesupport_cpp::get_message_type_support_handle<
rcl_interfaces::msg::ListParametersResult
>();
}
@ -70,7 +70,7 @@ rclcpp::type_support::get_list_parameters_result_msg_type_support()
const rosidl_service_type_support_t *
rclcpp::type_support::get_get_parameters_srv_type_support()
{
return rosidl_generator_cpp::get_service_type_support_handle<
return rosidl_typesupport_cpp::get_service_type_support_handle<
rcl_interfaces::srv::GetParameters
>();
}
@ -78,7 +78,7 @@ rclcpp::type_support::get_get_parameters_srv_type_support()
const rosidl_service_type_support_t *
rclcpp::type_support::get_get_parameter_types_srv_type_support()
{
return rosidl_generator_cpp::get_service_type_support_handle<
return rosidl_typesupport_cpp::get_service_type_support_handle<
rcl_interfaces::srv::GetParameterTypes
>();
}
@ -86,7 +86,7 @@ rclcpp::type_support::get_get_parameter_types_srv_type_support()
const rosidl_service_type_support_t *
rclcpp::type_support::get_set_parameters_srv_type_support()
{
return rosidl_generator_cpp::get_service_type_support_handle<
return rosidl_typesupport_cpp::get_service_type_support_handle<
rcl_interfaces::srv::SetParameters
>();
}
@ -94,7 +94,7 @@ rclcpp::type_support::get_set_parameters_srv_type_support()
const rosidl_service_type_support_t *
rclcpp::type_support::get_list_parameters_srv_type_support()
{
return rosidl_generator_cpp::get_service_type_support_handle<
return rosidl_typesupport_cpp::get_service_type_support_handle<
rcl_interfaces::srv::ListParameters
>();
}
@ -102,7 +102,7 @@ rclcpp::type_support::get_list_parameters_srv_type_support()
const rosidl_service_type_support_t *
rclcpp::type_support::get_describe_parameters_srv_type_support()
{
return rosidl_generator_cpp::get_service_type_support_handle<
return rosidl_typesupport_cpp::get_service_type_support_handle<
rcl_interfaces::srv::DescribeParameters
>();
}
@ -110,7 +110,7 @@ rclcpp::type_support::get_describe_parameters_srv_type_support()
const rosidl_service_type_support_t *
rclcpp::type_support::get_set_parameters_atomically_srv_type_support()
{
return rosidl_generator_cpp::get_service_type_support_handle<
return rosidl_typesupport_cpp::get_service_type_support_handle<
rcl_interfaces::srv::SetParametersAtomically
>();
}