Refs #3061. Added code generating packages rosidl_typesupport_fastrtp…

…s_c(pp).

rosidl_typesupport_fastrtps_c/CMakeLists.txt

@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_typesupport_fastrtps_c)
+
+set(FASTRTPS_STATIC_DISABLE $ENV{FASTRTPS_STATIC_DISABLE}
+  CACHE BOOL "If fastrtps Static should be disabled.")
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(fastrtps_cmake_module REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+if(FASTRTPS_STATIC_DISABLE)
+  ament_package()
+  message(STATUS "fastrtps static rmw implementation explicitly disabled - skipping '${PROJECT_NAME}'")
+  return()
+endif()
+
+find_package(ament_cmake_python REQUIRED)
+find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
+
+ament_export_dependencies(rmw)
+ament_export_dependencies(rosidl_cmake)
+ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_generator_dds_idl)
+ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
+ament_export_include_directories(include)
+
+ament_python_install_package(${PROJECT_NAME})
+
+add_library(${PROJECT_NAME} SHARED src/identifier.cpp)
+if(WIN32)
+  target_compile_definitions(${PROJECT_NAME}
+    PRIVATE "ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL")
+endif()
+target_include_directories(${PROJECT_NAME} PUBLIC include)
+ament_target_dependencies(${PROJECT_NAME} "rosidl_typesupport_fastrtps_cpp")
+ament_export_libraries(${PROJECT_NAME})
+
+ament_index_register_resource("rosidl_typesupport_c")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_typesupport_fastrtps_c-extras.cmake.in"
+)
+
+install(
+  PROGRAMS bin/rosidl_typesupport_fastrtps_c
+  DESTINATION lib/rosidl_typesupport_fastrtps_c
+)
+
+install(
+  DIRECTORY cmake resource
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)

rosidl_typesupport_fastrtps_c/bin/rosidl_typesupport_fastrtps_c

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_parser import UnknownMessageType
+from rosidl_typesupport_fastrtps_c import generate_typesupport_fastrtps_c
+
+
+def is_valid_file(parser, file_name):
+    if not os.path.exists(file_name):
+        parser.error("File does not exist: '{0}'".format(file_name))
+    file_name_abs = os.path.abspath(file_name)
+    if not os.path.isfile(file_name_abs):
+        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
+    return file_name
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C interfaces for fastrtps.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+
+    try:
+        rc = generate_typesupport_fastrtps_c(generator_args)
+    except UnknownMessageType as e:
+        print(str(e), file=sys.stderr)
+        return 1
+    if rc:
+        return rc
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())