Merge pull request #172 from ros2/refactor_typesupport
refactor typesupport
This commit is contained in:
Dirk Thomas
commit
9cd129c70f
10 changed files with 142 additions and 166 deletions
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@ -5,6 +5,8 @@ project(rclcpp)
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find_package(ament_cmake REQUIRED)
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find_package(rcl_interfaces REQUIRED)
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find_package(rmw REQUIRED)
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find_package(rmw_implementation REQUIRED)
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find_package(rmw_implementation_cmake REQUIRED)
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find_package(rosidl_generator_cpp REQUIRED)
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if(NOT WIN32)
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@ -35,31 +37,37 @@ set(${PROJECT_NAME}_SRCS
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src/rclcpp/service.cpp
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src/rclcpp/subscription.cpp
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src/rclcpp/timer.cpp
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src/rclcpp/type_support.cpp
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src/rclcpp/utilities.cpp
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)
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if(WIN32)
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list(APPEND ${PROJECT_NAME}_SRCS src/rclcpp/windows_helper.cpp)
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endif()
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add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SRCS})
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ament_target_dependencies(
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${PROJECT_NAME}
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"rcl_interfaces"
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"rmw"
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"rosidl_generator_cpp"
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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# It also avoids using certain parts of the code that the consuming code must
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# use, but which the library cannot consume itself.
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target_compile_definitions(${PROJECT_NAME} PRIVATE "RCLCPP_BUILDING_LIBRARY")
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if(APPLE)
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# Since the rmw_* symbols are unresolved at the time of building librclcpp,
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# tell the linker on OS X to dynamically look them up at runtime.
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set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
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endif()
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macro(target)
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add_library(${PROJECT_NAME}${target_suffix} SHARED
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${${PROJECT_NAME}_SRCS})
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ament_target_dependencies(${PROJECT_NAME}${target_suffix}
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"rcl_interfaces"
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"rmw"
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"rosidl_generator_cpp"
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"${rmw_implementation}")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}${target_suffix}
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PRIVATE "RCLCPP_BUILDING_LIBRARY")
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install(
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TARGETS ${PROJECT_NAME}${target_suffix}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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endmacro()
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call_for_each_rmw_implementation(target GENERATE_DEFAULT)
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ament_export_dependencies(rcl_interfaces)
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ament_export_dependencies(rmw)
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ament_export_dependencies(rmw_implementation)
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ament_export_dependencies(rosidl_generator_cpp)
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ament_export_include_directories(include)
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@ -100,6 +108,11 @@ ament_package(
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CONFIG_EXTRAS rclcpp-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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install(
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DIRECTORY include/
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DESTINATION include
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@ -109,10 +122,3 @@ install(
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DIRECTORY src/
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DESTINATION src/rclcpp
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)
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install(
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TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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88
rclcpp/cmake/get_rclcpp_information.cmake
Normal file
88
rclcpp/cmake/get_rclcpp_information.cmake
Normal file
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@ -0,0 +1,88 @@
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# Copyright 2015 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 abut rclcpp 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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macro(get_rclcpp_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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set(${var_prefix}_INCLUDE_DIRS
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"${rclcpp_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 "rclcpp")
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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 "${_library_target}"
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PATHS "${rclcpp_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(FATAL_ERROR "Package 'rclcpp' 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 'rclcpp' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
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elseif(NOT EXISTS "${_lib}")
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# the found library must exist
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message(FATAL_ERROR "Package 'rclcpp' found the library '${_lib}' which doesn't exist")
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else()
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list(APPEND _libs "${_lib}")
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endif()
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# dependencies
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set(_exported_dependencies
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"rcl_interfaces"
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"rmw"
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"${rmw_implementation}"
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"rosidl_generator_cpp")
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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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@ -18,41 +18,57 @@
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#include "rosidl_generator_cpp/message_type_support_decl.hpp"
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#include "rosidl_generator_cpp/service_type_support_decl.hpp"
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#include "rosidl_generator_cpp/message_type_support.hpp"
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#include "rosidl_generator_cpp/service_type_support.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace type_support
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{
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RCLCPP_PUBLIC
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const rosidl_message_type_support_t *
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get_intra_process_message_msg_type_support();
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RCLCPP_PUBLIC
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const rosidl_message_type_support_t *
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get_parameter_event_msg_type_support();
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RCLCPP_PUBLIC
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const rosidl_message_type_support_t *
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get_set_parameters_result_msg_type_support();
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RCLCPP_PUBLIC
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const rosidl_message_type_support_t *
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get_parameter_descriptor_msg_type_support();
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RCLCPP_PUBLIC
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const rosidl_message_type_support_t *
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get_list_parameters_result_msg_type_support();
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RCLCPP_PUBLIC
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const rosidl_service_type_support_t *
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get_get_parameters_srv_type_support();
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RCLCPP_PUBLIC
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const rosidl_service_type_support_t *
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get_get_parameter_types_srv_type_support();
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RCLCPP_PUBLIC
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const rosidl_service_type_support_t *
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get_set_parameters_srv_type_support();
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RCLCPP_PUBLIC
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const rosidl_service_type_support_t *
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get_list_parameters_srv_type_support();
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RCLCPP_PUBLIC
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const rosidl_service_type_support_t *
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get_describe_parameters_srv_type_support();
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RCLCPP_PUBLIC
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const rosidl_service_type_support_t *
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get_set_parameters_atomically_srv_type_support();
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@ -24,31 +24,6 @@
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#include "rmw/rmw.h"
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#if !defined(RCLCPP_BUILDING_LIBRARY)
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// The following header is necessary inorder to get the correct rmw
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// implementation specific message symbols.
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// Any library or executable using librclcpp must include the header.
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// However, librclcpp must not include it.
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#include "rclcpp/type_support_def.hpp"
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// Anonymous namespace to prevent duplicate symbols across compile units.
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namespace
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{
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// This call to an rmw function is used to force the Linux linker to include
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// the rmw implementation library in the user's executable.
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// If this is not done, then only librclcpp is missing rmw symbols and when
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// linking the next library or exectuable the linker will discard the rmw
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// implementation shared library as unused.
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// On OS X this isn't an issue because linking is done, by default, in a flat
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// namespace, so when linking something that uses librclcpp, it will try to
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// resolve the rclcpp symbols each time, taking them from the rmw implementation
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// when it is available and not discarding it as unused during the link step.
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static const char * __rmw_identifier = rmw_get_implementation_identifier();
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} // namespace
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#endif // !defined(RCLCPP_BUILDING_LIBRARY)
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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@ -11,12 +11,13 @@
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<build_export_depend>rmw</build_export_depend>
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<build_depend>rcl_interfaces</build_depend>
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<!-- This ensures the rmw impls are built first. -->
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<build_depend>rmw_implementation</build_depend>
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<build_depend>rmw_implementation_cmake</build_depend>
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<build_depend>rosidl_generator_cpp</build_depend>
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<build_export_depend>rcl_interfaces</build_export_depend>
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<build_export_depend>rosidl_generator_cpp</build_export_depend>
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<depend>rmw_implementation</depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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@ -14,6 +14,8 @@
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# copied from rclcpp/rclcpp-extras.cmake
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include("${rclcpp_DIR}/get_rclcpp_information.cmake")
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set(rclcpp_node_main_SRC "${rclcpp_DIR}/../../../src/rclcpp/node_main.cpp")
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function(rclcpp_create_node_main node_library_target)
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@ -21,43 +21,6 @@
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#include "rclcpp/node.hpp"
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// Specializations with references to unresolved symbols to delay evaluation until later.
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// On Windows this is not necessary since it will be built against the rmw implementation directly.
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#if !defined(WIN32)
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namespace rosidl_generator_cpp
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{
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template<>
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const rosidl_message_type_support_t *
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get_message_type_support_handle<rcl_interfaces::msg::ParameterEvent>()
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{
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return rclcpp::type_support::get_parameter_event_msg_type_support();
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}
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template<>
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const rosidl_message_type_support_t *
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get_message_type_support_handle<rcl_interfaces::msg::SetParametersResult>()
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{
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return rclcpp::type_support::get_set_parameters_result_msg_type_support();
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}
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template<>
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const rosidl_message_type_support_t *
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get_message_type_support_handle<rcl_interfaces::msg::ParameterDescriptor>()
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{
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return rclcpp::type_support::get_parameter_descriptor_msg_type_support();
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}
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template<>
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const rosidl_message_type_support_t *
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get_message_type_support_handle<rcl_interfaces::msg::ListParametersResult>()
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{
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return rclcpp::type_support::get_list_parameters_result_msg_type_support();
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}
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} // namespace rosidl_generator_cpp
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#endif
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using rclcpp::node::Node;
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Node::Node(const std::string & node_name, bool use_intra_process_comms)
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@ -18,57 +18,6 @@
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#include <string>
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#include <vector>
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// Specializations with references to unresolved symbols to delay evaluation until later.
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// On Windows this is not necessary since it will be built against the rmw implementation directly.
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#if !defined(WIN32)
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namespace rosidl_generator_cpp
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{
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template<>
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const rosidl_service_type_support_t *
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get_service_type_support_handle<rcl_interfaces::srv::GetParameters>()
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{
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return rclcpp::type_support::get_get_parameters_srv_type_support();
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}
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template<>
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const rosidl_service_type_support_t *
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get_service_type_support_handle<rcl_interfaces::srv::GetParameterTypes>()
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{
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return rclcpp::type_support::get_get_parameter_types_srv_type_support();
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}
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template<>
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const rosidl_service_type_support_t *
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get_service_type_support_handle<rcl_interfaces::srv::SetParameters>()
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{
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return rclcpp::type_support::get_set_parameters_srv_type_support();
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}
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template<>
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const rosidl_service_type_support_t *
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get_service_type_support_handle<rcl_interfaces::srv::ListParameters>()
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{
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return rclcpp::type_support::get_list_parameters_srv_type_support();
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}
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template<>
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const rosidl_service_type_support_t *
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get_service_type_support_handle<rcl_interfaces::srv::DescribeParameters>()
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{
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return rclcpp::type_support::get_describe_parameters_srv_type_support();
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}
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template<>
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const rosidl_service_type_support_t *
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get_service_type_support_handle<rcl_interfaces::srv::SetParametersAtomically>()
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{
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return rclcpp::type_support::get_set_parameters_atomically_srv_type_support();
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}
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} // namespace rosidl_generator_cpp
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#endif
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using rclcpp::parameter_client::AsyncParametersClient;
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using rclcpp::parameter_client::SyncParametersClient;
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@ -12,9 +12,6 @@
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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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#ifndef RCLCPP__TYPE_SUPPORT_DEF_HPP_
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#define RCLCPP__TYPE_SUPPORT_DEF_HPP_
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#include "rclcpp/type_support_decl.hpp"
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#include "rclcpp/visibility_control.hpp"
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@ -29,8 +26,6 @@
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#include "rcl_interfaces/srv/list_parameters.hpp"
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#include "rcl_interfaces/srv/set_parameters.hpp"
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#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
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#include "rosidl_generator_cpp/message_type_support.hpp"
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#include "rosidl_generator_cpp/service_type_support.hpp"
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const rosidl_message_type_support_t *
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rclcpp::type_support::get_intra_process_message_msg_type_support()
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@ -119,5 +114,3 @@ rclcpp::type_support::get_set_parameters_atomically_srv_type_support()
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rcl_interfaces::srv::SetParametersAtomically
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>();
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}
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#endif // RCLCPP__TYPE_SUPPORT_DEF_HPP_
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@ -1,17 +0,0 @@
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// Copyright 2015 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
|
||||
// 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
|
||||
// limitations under the License.
|
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#if defined(WIN32)
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#include "rclcpp/type_support_def.hpp"
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#endif
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