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Make rclcpp in to a library #140

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merged 7 commits into from
Nov 6, 2015
Merged

Make rclcpp in to a library #140

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f0faa1f
prepare splitting headers into cpp files
wjwwood Nov 6, 2015
f531b02
split headers into cpp files
wjwwood Nov 6, 2015
0bbe9b2
update code after splitting into headers and cpp files
wjwwood Nov 6, 2015
51695d1
[style] cpplint/uncrustify
wjwwood Nov 5, 2015
ef89f5a
remove unnecessary header
wjwwood Nov 6, 2015
3dd193e
fixes for Windows
wjwwood Nov 6, 2015
36cd6e3
[style] uncrustify
wjwwood Nov 6, 2015
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93 changes: 82 additions & 11 deletions rclcpp/CMakeLists.txt
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Expand Up @@ -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()

Expand All @@ -45,3 +109,10 @@ install(
DIRECTORY src/
DESTINATION src/rclcpp
)

install(
TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/allocator/allocator_deleter.hpp
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Expand Up @@ -16,10 +16,10 @@
#define RCLCPP__ALLOCATOR__ALLOCATOR_DELETER_HPP_

#include <memory>
#include <stdexcept>

namespace rclcpp
{

namespace allocator
{

Expand Down
22 changes: 12 additions & 10 deletions rclcpp/include/rclcpp/any_executable.hpp
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Expand Up @@ -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
{
Expand All @@ -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;
Expand All @@ -42,7 +44,7 @@ struct AnyExecutable
rclcpp::node::Node::SharedPtr node;
};

} /* executor */
} /* rclcpp */
} // namespace executor
} // namespace rclcpp

#endif
#endif // RCLCPP__ANY_EXECUTABLE_HPP_
17 changes: 9 additions & 8 deletions rclcpp/include/rclcpp/any_service_callback.hpp
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Expand Up @@ -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
{
Expand Down Expand Up @@ -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_
2 changes: 2 additions & 0 deletions rclcpp/include/rclcpp/any_subscription_callback.hpp
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Expand Up @@ -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
{
Expand Down
118 changes: 49 additions & 69 deletions rclcpp/include/rclcpp/callback_group.hpp
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Expand Up @@ -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
{
Expand All @@ -31,7 +32,7 @@ namespace rclcpp
namespace node
{
class Node;
} // namespace node
} // namespace node

namespace callback_group
{
Expand All @@ -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> &
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Is there a need to prepend the local namespace rclcpp?

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I think the headers should us the fully qualified names so people reading it can easily track down what the full namespace of parameters are. Plus I had to do this in the .cpp file or do using namespace rclcpp which I was trying to avoid and this made the function prototypes in the hpp and cpp files consistent with each other.

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_
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