Merge pull request #140 from ros2/rclcpp_library

Make rclcpp in to a library

rclcpp/CMakeLists.txt

@@ -4,31 +4,95 @@ project(rclcpp)
 
 find_package(ament_cmake REQUIRED)
 find_package(rcl_interfaces REQUIRED)
+find_package(rmw REQUIRED)
+find_package(rosidl_generator_cpp REQUIRED)
+
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
+endif()
+
+include_directories(include)
+
+set(${PROJECT_NAME}_SRCS
+  src/rclcpp/any_executable.cpp
+  src/rclcpp/callback_group.cpp
+  src/rclcpp/client.cpp
+  src/rclcpp/context.cpp
+  src/rclcpp/contexts/default_context.cpp
+  src/rclcpp/executor.cpp
+  src/rclcpp/executors.cpp
+  src/rclcpp/executors/multi_threaded_executor.cpp
+  src/rclcpp/executors/single_threaded_executor.cpp
+  src/rclcpp/intra_process_manager.cpp
+  src/rclcpp/intra_process_manager_state.cpp
+  src/rclcpp/memory_strategies.cpp
+  src/rclcpp/memory_strategy.cpp
+  src/rclcpp/parameter.cpp
+  src/rclcpp/parameter_client.cpp
+  src/rclcpp/parameter_service.cpp
+  src/rclcpp/publisher.cpp
+  src/rclcpp/node.cpp
+  src/rclcpp/service.cpp
+  src/rclcpp/subscription.cpp
+  src/rclcpp/timer.cpp
+  src/rclcpp/utilities.cpp
+)
+if(WIN32)
+  list(APPEND ${PROJECT_NAME}_SRCS src/rclcpp/windows_helper.cpp)
+endif()
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SRCS})
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  "rcl_interfaces"
+  "rmw"
+  "rosidl_generator_cpp"
+)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+# It also avoids using certain parts of the code that the consuming code must
+# use, but which the library cannot consume itself.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCLCPP_BUILDING_LIBRARY")
+if(APPLE)
+  # Since the rmw_* symbols are unresolved at the time of building librclcpp,
+  # tell the linker on OS X to dynamically look them up at runtime.
+  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+endif()
 
-ament_export_dependencies(rmw)
 ament_export_dependencies(rcl_interfaces)
+ament_export_dependencies(rmw)
+ament_export_dependencies(rosidl_generator_cpp)
 
 ament_export_include_directories(include)
 
+ament_export_libraries(${PROJECT_NAME})
+
 if(AMENT_ENABLE_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  find_package(rmw REQUIRED)
-
-  if(NOT WIN32)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
-  endif()
-
-  include_directories(include)
-
   ament_add_gtest(test_function_traits test/test_function_traits.cpp)
+  if(TARGET test_function_traits)
+    target_include_directories(test_function_traits PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+    )
+  endif()
   ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
+  if(TARGET test_mapped_ring_buffer)
+    target_include_directories(test_mapped_ring_buffer PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+    )
+  endif()
   ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
   if(TARGET test_intra_process_manager)
     target_include_directories(test_intra_process_manager PUBLIC
-      "${rcl_interfaces_INCLUDE_DIRS}"
-      "${rmw_INCLUDE_DIRS}")
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+    )
   endif()
 endif()
 
@@ -45,3 +109,10 @@ install(
   DIRECTORY src/
   DESTINATION src/rclcpp
 )
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)

rclcpp/include/rclcpp/allocator/allocator_deleter.hpp

@@ -16,10 +16,10 @@
 #define RCLCPP__ALLOCATOR__ALLOCATOR_DELETER_HPP_
 
 #include <memory>
+#include <stdexcept>
 
 namespace rclcpp
 {
-
 namespace allocator
 {
 

rclcpp/include/rclcpp/any_executable.hpp

@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_ANY_EXECUTABLE_HPP_
-#define RCLCPP_RCLCPP_ANY_EXECUTABLE_HPP_
+#ifndef RCLCPP__ANY_EXECUTABLE_HPP_
+#define RCLCPP__ANY_EXECUTABLE_HPP_
 
 #include <memory>
 
-#include <rclcpp/macros.hpp>
-#include <rclcpp/node.hpp>
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -28,9 +29,10 @@ namespace executor
 struct AnyExecutable
 {
   RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable);
-  AnyExecutable()
-  : subscription(0), timer(0), callback_group(0), node(0)
-  {}
+
+  RCLCPP_PUBLIC
+  AnyExecutable();
+
   // Only one of the following pointers will be set.
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription_intra_process;
@@ -42,7 +44,7 @@ struct AnyExecutable
   rclcpp::node::Node::SharedPtr node;
 };
 
-} /* executor */
-} /* rclcpp */
+}  // namespace executor
+}  // namespace rclcpp
 
-#endif
+#endif  // RCLCPP__ANY_EXECUTABLE_HPP_

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -12,16 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_
-#define RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_
-
-#include <rclcpp/function_traits.hpp>
+#ifndef RCLCPP__ANY_SERVICE_CALLBACK_HPP_
+#define RCLCPP__ANY_SERVICE_CALLBACK_HPP_
 
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <type_traits>
 
-#include <rmw/types.h>
+#include "rclcpp/function_traits.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rmw/types.h"
 
 namespace rclcpp
 {
@@ -97,7 +98,7 @@ class AnyServiceCallback
   }
 };
 
-} /* namespace any_service_callback */
-} /* namespace rclcpp */
+}  // namespace any_service_callback
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_ */
+#endif  // RCLCPP__ANY_SERVICE_CALLBACK_HPP_

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -19,10 +19,12 @@
 
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <type_traits>
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/function_traits.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {

rclcpp/include/rclcpp/callback_group.hpp

@@ -12,17 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
-#define RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
+#ifndef RCLCPP__CALLBACK_GROUP_HPP_
+#define RCLCPP__CALLBACK_GROUP_HPP_
 
 #include <atomic>
 #include <string>
 #include <vector>
 
-#include <rclcpp/subscription.hpp>
-#include <rclcpp/timer.hpp>
-#include <rclcpp/service.hpp>
-#include <rclcpp/client.hpp>
+#include "rclcpp/client.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -31,7 +32,7 @@ namespace rclcpp
 namespace node
 {
 class Node;
-} // namespace node
+}  // namespace node
 
 namespace callback_group
 {
@@ -49,82 +50,61 @@ class CallbackGroup
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup);
 
-  CallbackGroup(CallbackGroupType group_type)
-  : type_(group_type), can_be_taken_from_(true)
-  {}
-
-  const std::vector<subscription::SubscriptionBase::WeakPtr> &
-  get_subscription_ptrs() const
-  {
-    return subscription_ptrs_;
-  }
-
-  const std::vector<timer::TimerBase::WeakPtr> &
-  get_timer_ptrs() const
-  {
-    return timer_ptrs_;
-  }
-
-  const std::vector<service::ServiceBase::SharedPtr> &
-  get_service_ptrs() const
-  {
-    return service_ptrs_;
-  }
-
-  const std::vector<client::ClientBase::SharedPtr> &
-  get_client_ptrs() const
-  {
-    return client_ptrs_;
-  }
-
-  std::atomic_bool & can_be_taken_from()
-  {
-    return can_be_taken_from_;
-  }
-
-  const CallbackGroupType & type() const
-  {
-    return type_;
-  }
+  RCLCPP_PUBLIC
+  explicit CallbackGroup(CallbackGroupType group_type);
+
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
+  get_subscription_ptrs() const;
+
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
+  get_timer_ptrs() const;
+
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::service::ServiceBase::SharedPtr> &
+  get_service_ptrs() const;
+
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::client::ClientBase::SharedPtr> &
+  get_client_ptrs() const;
+
+  RCLCPP_PUBLIC
+  std::atomic_bool &
+  can_be_taken_from();
+
+  RCLCPP_PUBLIC
+  const CallbackGroupType &
+  type() const;
 
 private:
   RCLCPP_DISABLE_COPY(CallbackGroup);
 
+  RCLCPP_PUBLIC
   void
-  add_subscription(
-    const subscription::SubscriptionBase::SharedPtr subscription_ptr)
-  {
-    subscription_ptrs_.push_back(subscription_ptr);
-  }
+  add_subscription(const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr);
 
+  RCLCPP_PUBLIC
   void
-  add_timer(const timer::TimerBase::SharedPtr timer_ptr)
-  {
-    timer_ptrs_.push_back(timer_ptr);
-  }
+  add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr);
 
+  RCLCPP_PUBLIC
   void
-  add_service(const service::ServiceBase::SharedPtr service_ptr)
-  {
-    service_ptrs_.push_back(service_ptr);
-  }
+  add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr);
 
+  RCLCPP_PUBLIC
   void
-  add_client(const client::ClientBase::SharedPtr client_ptr)
-  {
-    client_ptrs_.push_back(client_ptr);
-  }
+  add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr);
 
   CallbackGroupType type_;
-  std::vector<subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
-  std::vector<timer::TimerBase::WeakPtr> timer_ptrs_;
-  std::vector<service::ServiceBase::SharedPtr> service_ptrs_;
-  std::vector<client::ClientBase::SharedPtr> client_ptrs_;
+  std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
+  std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_;
+  std::vector<rclcpp::service::ServiceBase::SharedPtr> service_ptrs_;
+  std::vector<rclcpp::client::ClientBase::SharedPtr> client_ptrs_;
   std::atomic_bool can_be_taken_from_;
-
 };
 
-} /* namespace callback_group */
-} /* namespace rclcpp */
+}  // namespace callback_group
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_ */
+#endif  // RCLCPP__CALLBACK_GROUP_HPP_