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support multiple type supports

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This commit is contained in:
Dirk Thomas 2014-08-08 15:47:23 -07:00
parent 9c2149e5ef
commit 9607869ef2
4 changed files with 43 additions and 30 deletions
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28
rclcpp/CMakeLists.txt
View file

@ -3,36 +3,14 @@ cmake_minimum_required(VERSION 2.8.3)
project(rclcpp) project(rclcpp)
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(ros_middleware_interface REQUIRED)
ament_export_dependencies(ros_middleware_interface) ament_export_dependencies(ros_middleware_interface)
set(_dds_vendor "$ENV{ROS_DDS_IMPLEMENTATION}")
set(_dds_type "$ENV{ROS_DDS_TYPE}")
if(NOT "${_dds_type}" STREQUAL "dynamic" AND NOT "${_dds_type}" STREQUAL "static")
message(FATAL_ERROR "Set the environment variable 'ROS_DDS_TYPE' to either 'dynamic' or 'static'.")
endif()
if("${_dds_vendor}" STREQUAL "connext")
if("${_dds_type}" STREQUAL "dynamic")
ament_export_dependencies(ros_dds_connext_dynamic)
elseif("${_dds_type}" STREQUAL "static")
ament_export_dependencies(rosidl_typesupport_connext_cpp ros_middleware_connext_cpp)
endif()
elseif("${_dds_vendor}" STREQUAL "opensplice")
if("${_dds_type}" STREQUAL "dynamic")
message(FATAL_ERROR "The DDS implementation '${_dds_vendor}' does not support the type '${_dds_type}'.")
elseif("${_dds_type}" STREQUAL "static")
ament_export_dependencies(rosidl_typesupport_opensplice_cpp)
endif()
else()
message(FATAL_ERROR "Set the environment variable 'ROS_DDS_IMPLEMENTATION' to either 'connext' or 'opensplice'.")
endif()
ament_export_include_directories(include) ament_export_include_directories(include)
ament_package() ament_package(
CONFIG_EXTRAS "rclcpp-extras.cmake"
)
install( install(
DIRECTORY include/ DIRECTORY include/

4
rclcpp/include/rclcpp/Node.h
View file

@ -6,6 +6,8 @@
#include "ros_middleware_interface/functions.h" #include "ros_middleware_interface/functions.h"
#include "ros_middleware_interface/handles.h" #include "ros_middleware_interface/handles.h"
#include "ros_middleware_interface/get_type_support_handle.h"
namespace rclcpp namespace rclcpp
{ {
@ -21,7 +23,7 @@ public:
template<typename ROSMessage> template<typename ROSMessage>
Publisher<ROSMessage>* create_publisher(const char * topic_name) Publisher<ROSMessage>* create_publisher(const char * topic_name)
{ {
const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle = rosidl_generator_cpp::MessageTypeSupport<ROSMessage>::get_type_support_handle(); const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle = ::ros_middleware_interface::get_type_support_handle<ROSMessage>();
ros_middleware_interface::PublisherHandle publisher_handle = ::ros_middleware_interface::create_publisher(node_handle_, type_support_handle, topic_name); ros_middleware_interface::PublisherHandle publisher_handle = ::ros_middleware_interface::create_publisher(node_handle_, type_support_handle, topic_name);
return new Publisher<ROSMessage>(publisher_handle); return new Publisher<ROSMessage>(publisher_handle);
} }

5
rclcpp/package.xml
View file

@ -8,8 +8,5 @@
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>ros_middleware_interface</build_depend> <build_export_depend>ros_middleware_interface</build_export_depend>
<build_depend>rosidl_default_generators</build_depend>
<build_depend>ros_dds_connext_dynamic</build_depend>
</package> </package>

36
rclcpp/rclcpp-extras.cmake Normal file
View file

@ -0,0 +1,36 @@
# copied from rclcpp/rclcpp-extras.cmake
# option()
set(_middleware_implementation "")
if(NOT "${ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
set(_middleware_implementation "${ROS_MIDDLEWARE_IMPLEMENTATION}")
elseif(NOT "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
set(_middleware_implementation "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}")
else()
# detemine "default" implementation based on the available ones
set(_middleware_implementation "ros_middleware_connext_cpp")
if("${_middleware_implementation}" STREQUAL "")
message(FATAL_ERROR "No middleware implementation available.")
endif()
endif()
message("rclcpp_DEFINITIONS ${rclcpp_DEFINITIONS}")
message("rclcpp_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS}")
message("rclcpp_LIBRARIES ${rclcpp_LIBRARIES}")
message(STATUS "Using middleware implementation: ${_middleware_implementation}")
find_package("${_middleware_implementation}" REQUIRED)
# persist implementation decision in cache
set(
ROS_MIDDLEWARE_IMPLEMENTATION "${_middleware_implementation}"
CACHE STRING "Select ROS middleware implementation to link against" FORCE
)
list(APPEND rclcpp_DEFINITIONS ${${ROS_MIDDLEWARE_IMPLEMENTATION}_DEFINITIONS})
list(APPEND rclcpp_INCLUDE_DIRS ${${ROS_MIDDLEWARE_IMPLEMENTATION}_INCLUDE_DIRS})
list(APPEND rclcpp_LIBRARIES ${${ROS_MIDDLEWARE_IMPLEMENTATION}_LIBRARIES})
message("rclcpp_DEFINITIONS ${rclcpp_DEFINITIONS}")
message("rclcpp_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS}")
message("rclcpp_LIBRARIES ${rclcpp_LIBRARIES}")