Add message interfaces generation

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

rmw_dds_common/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rmw_dds_common)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_cmake REQUIRED)
+find_package(rmw_dds_common_generators REQUIRED)
+
+ament_export_dependencies(ament_cmake_core)
+ament_export_dependencies(rosidl_cmake)
+
+rosidl_generate_interfaces(
+  ${PROJECT_NAME}
+  "msg/Gid.idl"
+  "msg/NodeCustomInfo.idl"
+  "msg/ParticipantCustomInfo.idl"
+  SKIP_GROUP_MEMBERSHIP_CHECK
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+)

rmw_dds_common/include/rmw_dds_common/visibility_control.h

@@ -0,0 +1,58 @@
+// Copyright 2019 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.
+
+#ifndef RMW_DDS_COMMON__VISIBILITY_CONTROL_H_
+#define RMW_DDS_COMMON__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define RMW_DDS_COMMON_EXPORT __attribute__ ((dllexport))
+    #define RMW_DDS_COMMON_IMPORT __attribute__ ((dllimport))
+  #else
+    #define RMW_DDS_COMMON_EXPORT __declspec(dllexport)
+    #define RMW_DDS_COMMON_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef RMW_DDS_COMMON_BUILDING_DLL
+    #define RMW_DDS_COMMON_PUBLIC RMW_DDS_COMMON_EXPORT
+  #else
+    #define RMW_DDS_COMMON_PUBLIC RMW_DDS_COMMON_IMPORT
+  #endif
+  #define RMW_DDS_COMMON_PUBLIC_TYPE RMW_DDS_COMMON_PUBLIC
+  #define RMW_DDS_COMMON_LOCAL
+#else
+  #define RMW_DDS_COMMON_EXPORT __attribute__ ((visibility("default")))
+  #define RMW_DDS_COMMON_IMPORT
+  #if __GNUC__ >= 4
+    #define RMW_DDS_COMMON_PUBLIC __attribute__ ((visibility("default")))
+    #define RMW_DDS_COMMON_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define RMW_DDS_COMMON_PUBLIC
+    #define RMW_DDS_COMMON_LOCAL
+  #endif
+  #define RMW_DDS_COMMON_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW_DDS_COMMON__VISIBILITY_CONTROL_H_

rmw_dds_common/msg/Gid.idl

@@ -0,0 +1,8 @@
+module rmw_dds_common {
+  module msg {
+    typedef char data_t[24];
+    struct Gid {
+      data_t data;
+    };
+  };
+};

rmw_dds_common/msg/NodeCustomInfo.idl

@@ -0,0 +1,15 @@
+#include "rmw_dds_common/msg/Gid.idl"
+
+module rmw_dds_common {
+  module msg {
+    typedef sequence<rmw_dds_common::msg::Gid, 1024> gid_sequence_t;
+    struct NodeCustomInfo {
+        @key
+        string<256> node_name;
+        gid_sequence_t clients;
+        gid_sequence_t publishers;
+        gid_sequence_t services;
+        gid_sequence_t subscriptions;
+    };
+  };
+};

rmw_dds_common/msg/ParticipantCustomInfo.idl

@@ -0,0 +1,12 @@
+#include "rmw_dds_common/msg/Gid.idl"
+#include "rmw_dds_common/msg/NodeCustomInfo.idl"
+
+module rmw_dds_common {
+  module msg {
+    struct ParticipantCustomInfo {
+        @key
+        rmw_dds_common::msg::Gid id;
+        sequence<rmw_dds_common::msg::NodeCustomInfo, 1024> type;
+    };
+  };
+};

rmw_dds_common/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmw_dds_common</name>
+  <version>0.7.3</version>
+  <description>Define a common interface between DDS implementations of ROS middleware.</description>
+  <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Ivan Paunovic</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_cmake</buildtool_depend>
+  <buildtool_depend>rmw_dds_common_generators</buildtool_depend>
+
+  <depend>rmw</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rmw_dds_common/rmw_dds_common_base-extras.cmake

@@ -0,0 +1,17 @@
+# Copyright 2019 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.
+
+# copied from rmw_dds_common_base/rmw_dds_common_base-extras.cmake
+
+include("${rmw_dds_common_base_DIR}/rosidl_generate_some_interface_files.cmake")

rmw_dds_common_generators/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rmw_dds_common_generators NONE)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rmw_dds_common_generators-extras.cmake.in"
+)

rmw_dds_common_generators/package.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmw_dds_common_generators</name>
+  <version>0.7.3</version>
+  <description>Generators used in rmw_dds_common.</description>
+  <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Ivan Paunovic</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_cmake</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+
+  <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_cpp</buildtool_export_depend>
+
+  <!-- <buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend> -->
+  <!-- <buildtool_export_depend>rosidl_typesupport_cpp</buildtool_export_depend> -->
+  <buildtool_export_depend>rosidl_typesupport_introspection_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_typesupport_introspection_cpp</buildtool_export_depend>
+
+  <group_depend>rosidl_typesupport_cpp_packages</group_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rmw_dds_common_generators/rmw_dds_common_generators-extras.cmake.in

@@ -0,0 +1,29 @@
+# generated from
+# rmw_dds_common_generators/rmw_dds_common_generators-extras.cmake
+
+find_package(ament_cmake_core REQUIRED)
+ament_index_get_resources(rosidl_typesupport_cpp_packages "rosidl_typesupport_cpp")
+ament_index_get_resources(rosidl_generator_packages "rosidl_generator_packages")
+set(_exported_dependencies
+  ${rosidl_typesupport_cpp_packages}
+  ${rosidl_generator_packages}
+)
+
+# find_package() all dependencies (if available)
+# and append their DEFINITIONS INCLUDE_DIRS and LIBRARIES variables
+# to @PROJECT_NAME@_DEFINITIONS , @PROJECT_NAME@_INCLUDE_DIRS and
+# @PROJECT_NAME@_LIBRARIES.
+foreach(_dep ${_exported_dependencies})
+  find_package("${_dep}" QUIET)
+  if(${_dep}_FOUND)
+    if(${_dep}_DEFINITIONS)
+      list(APPEND @PROJECT_NAME@_DEFINITIONS "${${_dep}_DEFINITIONS}")
+    endif()
+    if(${_dep}_INCLUDE_DIRS)
+      list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+    endif()
+    if(${_dep}_LIBRARIES)
+      list(APPEND @PROJECT_NAME@_LIBRARIES "${${_dep}_LIBRARIES}")
+    endif()
+  endif()
+endforeach()