extract decision of used middleware implementation into separate package
This commit is contained in:
Dirk Thomas
parent
0559fafcd0
commit
45ee2dd2e1
7 changed files with 90 additions and 39 deletions
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@ -8,9 +8,7 @@ ament_export_dependencies(ros_middleware_interface)
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ament_export_include_directories(include)
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ament_package(
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CONFIG_EXTRAS "rclcpp-extras.cmake"
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)
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ament_package()
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install(
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DIRECTORY include/
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@ -1,36 +0,0 @@
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# copied from rclcpp/rclcpp-extras.cmake
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ament_index_get_resources(_middleware_implementations "ros_middleware_implementation")
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if("${_middleware_implementations}" STREQUAL "")
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message(FATAL_ERROR "Could not find any ROS middleware implementation.")
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endif()
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set(_middleware_implementation "")
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# option()
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if(NOT "${ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
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set(_middleware_implementation "${ROS_MIDDLEWARE_IMPLEMENTATION}")
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elseif(NOT "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
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set(_middleware_implementation "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}")
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else()
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# TODO detemine "default" implementation based on the available ones
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list(GET _middleware_implementations 0 _middleware_implementation)
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endif()
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list(FIND _middleware_implementations "${_middleware_implementation}" _index)
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if(_index EQUAL -1)
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string(REPLACE ";" ", " _middleware_implementations_string "${_middleware_implementations}")
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message(FATAL_ERROR "Could not find ROS middleware implementation '${_middleware_implementation}'. Choose one of the following: ${_middleware_implementations_string}")
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endif()
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message(STATUS "Using middleware implementation: ${_middleware_implementation}")
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find_package("${_middleware_implementation}" REQUIRED)
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# persist implementation decision in cache
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set(
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ROS_MIDDLEWARE_IMPLEMENTATION "${_middleware_implementation}"
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CACHE STRING "Select ROS middleware implementation to link against" FORCE
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)
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list(APPEND rclcpp_DEFINITIONS ${${ROS_MIDDLEWARE_IMPLEMENTATION}_DEFINITIONS})
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list(APPEND rclcpp_INCLUDE_DIRS ${${ROS_MIDDLEWARE_IMPLEMENTATION}_INCLUDE_DIRS})
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list(APPEND rclcpp_LIBRARIES ${${ROS_MIDDLEWARE_IMPLEMENTATION}_LIBRARIES})
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14
ros_middleware_implementation/CMakeLists.txt
Normal file
14
ros_middleware_implementation/CMakeLists.txt
Normal file
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@ -0,0 +1,14 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(ros_middleware_implementation)
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find_package(ament_cmake REQUIRED)
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ament_package(
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CONFIG_EXTRAS "ros_middleware_implementation-extras.cmake"
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)
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install(
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DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME}
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)
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@ -0,0 +1,10 @@
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#
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# Get the package names of the available ROS middleware implemenations.
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#
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# :param var: the output variable name containing the package names
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# :type var: list of strings
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#
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function(get_available_ros_middleware_implementations var)
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ament_index_get_resources(middleware_implementations "ros_middleware_implementation")
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set(${var} ${middleware_implementations} PARENT_SCOPE)
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endfunction()
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@ -0,0 +1,42 @@
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#
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# Get the package name of the default ROS middleware implemenation.
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#
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# Either selcting it using the variable ROS_MIDDLEWARE_IMPLEMENTATION or
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# choosing a default from the available implementations.
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#
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# :param var: the output variable name containing the package name
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# :type var: string
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#
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function(get_default_ros_middleware_implementation var)
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get_available_ros_middleware_implementations(middleware_implementations)
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if("${middleware_implementations}" STREQUAL "")
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message(FATAL_ERROR "Could not find any ROS middleware implementation.")
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endif()
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# option()
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if(NOT "${ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
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set(middleware_implementation "${ROS_MIDDLEWARE_IMPLEMENTATION}")
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elseif(NOT "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
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set(middleware_implementation "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}")
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else()
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# TODO detemine "default" implementation based on the available ones
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list(GET middleware_implementations 0 middleware_implementation)
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endif()
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# verify that the selection one is available
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list(FIND middleware_implementations "${middleware_implementation}" _index)
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if(_index EQUAL -1)
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string(REPLACE ";" ", " middleware_implementations_string "${middleware_implementations}")
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message(FATAL_ERROR "Could not find ROS middleware implementation '${middleware_implementation}'. Choose one of the following: ${middleware_implementations_string}")
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endif()
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find_package("${middleware_implementation}" REQUIRED)
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# persist implementation decision in cache
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set(
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ROS_MIDDLEWARE_IMPLEMENTATION "${middleware_implementation}"
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CACHE STRING "Select ROS middleware implementation to link against" FORCE
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)
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set(${var} ${middleware_implementation} PARENT_SCOPE)
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endfunction()
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11
ros_middleware_implementation/package.xml
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11
ros_middleware_implementation/package.xml
Normal file
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@ -0,0 +1,11 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>ros_middleware_implementation</name>
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<version>0.0.0</version>
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<description>The decision which ROS middleware implementation should be used for C++.</description>
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<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_export_depend>ament_cmake</buildtool_export_depend>
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</package>
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@ -0,0 +1,12 @@
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# copied from ros_middleware_implementation/ros_middleware_implementation-extras.cmake
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include("${ros_middleware_implementation_DIR}/get_available_ros_middleware_implementations.cmake")
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include("${ros_middleware_implementation_DIR}/get_default_ros_middleware_implementation.cmake")
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get_default_ros_middleware_implementation(_middleware_implementation)
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find_package("${_middleware_implementation}" REQUIRED)
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# TODO should never need definitions and include dirs?
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list(APPEND ros_middleware_implementation_DEFINITIONS ${${_middleware_implementation}_DEFINITIONS})
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list(APPEND ros_middleware_implementation_INCLUDE_DIRS ${${_middleware_implementation}_INCLUDE_DIRS})
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list(APPEND ros_middleware_implementation_LIBRARIES ${${_middleware_implementation}_LIBRARIES})
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