From 74505f25fa1057811cff23f51b1a3dda4d97b52d Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Mon, 7 Nov 2016 14:45:44 -0800
Subject: [PATCH] add rclcpp_register_node_plugins macro

---
 rclcpp/cmake/rclcpp_create_node_main.cmake    |  2 -
 rclcpp/cmake/rclcpp_package_hook.cmake        | 17 ++++++
 .../cmake/rclcpp_register_node_plugins.cmake  | 58 +++++++++++++++++++
 rclcpp/rclcpp-extras.cmake                    | 12 ++++
 4 files changed, 87 insertions(+), 2 deletions(-)
 create mode 100644 rclcpp/cmake/rclcpp_package_hook.cmake
 create mode 100644 rclcpp/cmake/rclcpp_register_node_plugins.cmake

diff --git a/rclcpp/cmake/rclcpp_create_node_main.cmake b/rclcpp/cmake/rclcpp_create_node_main.cmake
index 3d77516..086d5f6 100644
--- a/rclcpp/cmake/rclcpp_create_node_main.cmake
+++ b/rclcpp/cmake/rclcpp_create_node_main.cmake
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# copied from rclcpp/rclcpp-extras.cmake
-
 
 set(rclcpp_node_main_SRC "${rclcpp_DIR}/../../../src/rclcpp/node_main.cpp")
 
diff --git a/rclcpp/cmake/rclcpp_package_hook.cmake b/rclcpp/cmake/rclcpp_package_hook.cmake
new file mode 100644
index 0000000..9e73620
--- /dev/null
+++ b/rclcpp/cmake/rclcpp_package_hook.cmake
@@ -0,0 +1,17 @@
+# 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.
+
+# register node plugins
+ament_index_register_resource(
+  "node_plugin" CONTENT "${_RCLCPP__NODE_PLUGINS}")
diff --git a/rclcpp/cmake/rclcpp_register_node_plugins.cmake b/rclcpp/cmake/rclcpp_register_node_plugins.cmake
new file mode 100644
index 0000000..254d2b8
--- /dev/null
+++ b/rclcpp/cmake/rclcpp_register_node_plugins.cmake
@@ -0,0 +1,58 @@
+# 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.
+
+#
+# Register a node plugin with the ament resource index.
+#
+# The passed library can contain multiple plugins extending the node interface.
+#
+# :param target: the shared library target
+# :type target: string
+# :param ARGN: the unique plugin names being exported using class_loader
+# :type ARGN: list of strings
+#
+macro(rclcpp_register_node_plugins target)
+  if(NOT TARGET ${target})
+    message(
+      FATAL_ERROR
+      "rclcpp_register_node_plugins() first argument '${target}' is not a target")
+  endif()
+  get_target_property(_target_type ${target} TYPE)
+  if(NOT _target_type STREQUAL "SHARED_LIBRARY")
+    message(
+      FATAL_ERROR
+      "rclcpp_register_node_plugins() first argument '${target}' is not a shared library target")
+  endif()
+
+  if(${ARGC} GREATER 0)
+    _rclcpp_register_package_hook()
+    set(_unique_names)
+    foreach(_arg ${ARGN})
+      if(_arg IN_LIST _unique_names)
+        message(
+          FATAL_ERROR
+          "rclcpp_register_node_plugins() the plugin names must be unique (multiple '${_arg}')")
+      endif()
+      list(APPEND _unique_names "${_arg}")
+
+      if(WIN32)
+        set(_path "bin")
+      else()
+        set(_path "lib")
+      endif()
+      set(_RCLCPP__NODE_PLUGINS
+        "${_RCLCPP__NODE_PLUGINS}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
+    endforeach()
+  endif()
+endmacro()
diff --git a/rclcpp/rclcpp-extras.cmake b/rclcpp/rclcpp-extras.cmake
index e237b62..facb37c 100644
--- a/rclcpp/rclcpp-extras.cmake
+++ b/rclcpp/rclcpp-extras.cmake
@@ -14,5 +14,17 @@
 
 # copied from rclcpp/rclcpp-extras.cmake
 
+# register ament_package() hook for node plugins once
+macro(_rclcpp_register_package_hook)
+  if(NOT DEFINED _RCLCPP_PACKAGE_HOOK_REGISTERED)
+    set(_RCLCPP_PACKAGE_HOOK_REGISTERED TRUE)
+
+    find_package(ament_cmake_core QUIET REQUIRED)
+    ament_register_extension("ament_package" "rclcpp"
+      "rclcpp_package_hook.cmake")
+  endif()
+endmacro()
+
 include("${rclcpp_DIR}/get_rclcpp_information.cmake")
 include("${rclcpp_DIR}/rclcpp_create_node_main.cmake")
+include("${rclcpp_DIR}/rclcpp_register_node_plugins.cmake")