Heavily cleanup pluginlib.

pluginlib/CMakeLists.txt → CMakeLists.txt

@@ -46,12 +46,15 @@ install(
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
-  include_directories(include test/include)
+  find_package(ament_cmake_gtest REQUIRED)
 
   add_library(test_plugins SHARED ./test/test_plugins.cpp)
   target_compile_definitions(test_plugins PRIVATE "TEST_PLUGINLIB_FIXTURE_BUILDING_LIBRARY")
+  target_include_directories(test_plugins PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>")
   target_link_libraries(test_plugins ${PROJECT_NAME})
 
   include("cmake/pluginlib_enable_plugin_testing.cmake")
@@ -72,6 +75,8 @@ if(BUILD_TESTING)
   )
   if(TARGET ${PROJECT_NAME}_unique_ptr_test)
     target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${PROJECT_NAME})
+    target_include_directories(${PROJECT_NAME}_unique_ptr_test PRIVATE
+      "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>")
     add_dependencies(${PROJECT_NAME}_unique_ptr_test "${mock_install_target}")
   endif()
 
@@ -84,6 +89,8 @@ if(BUILD_TESTING)
     #   rcutils::rcutils
     target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME})
     add_dependencies(${PROJECT_NAME}_utest "${mock_install_target}")
+    target_include_directories(${PROJECT_NAME}_utest PRIVATE
+      "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>")
   endif()
 
 endif()

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).

pluginlib/cmake/pluginlib_enable_plugin_testing.cmake → cmake/pluginlib_enable_plugin_testing.cmake

@@ -119,7 +119,8 @@ function(pluginlib_enable_plugin_testing)
 
   set(target_name "pluginlib_enable_plugin_testing__${ARG_PLUGIN_CATEGORY}__${ARG_PACKAGE_NAME}")
   if(TARGET "${target_name}")
-    message(FATAL_ERROR "pluginlib_enable_plugin_testing has already been called with category '${ARG_PLUGIN_CATEGORY}' and package name '${ARG_PACKAGE_NAME}'")
+    message(FATAL_ERROR "pluginlib_enable_plugin_testing has already been called with "
+      "category '${ARG_PLUGIN_CATEGORY}' and package name '${ARG_PACKAGE_NAME}'")
   endif()
 
   #####

include/pluginlib/class_desc.hpp

@@ -0,0 +1,76 @@
+// Copyright 2008, Willow Garage, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef PLUGINLIB__CLASS_DESC_HPP_
+#define PLUGINLIB__CLASS_DESC_HPP_
+
+#include <string>
+
+namespace pluginlib
+{
+
+/// Storage for information about a given class.
+class ClassDesc
+{
+public:
+  /**
+   * \param lookup_name The lookup name of the class
+   * \param derived_class The type of the derived class of the class
+   * \param base_class The type of the class, corresponds to the type of the base class
+   * \param package The package the class lives in
+   * \param description A description for the class
+   * \param library_name The name of the containing library for the class (not a full path!)
+   * \param plugin_manifest_path The path to the plugin manifest file
+   */
+  ClassDesc(
+    const std::string & lookup_name, const std::string & derived_class,
+    const std::string & base_class, const std::string & package,
+    const std::string & description, const std::string & library_name,
+    const std::string & plugin_manifest_path)
+  : lookup_name_(lookup_name),
+    derived_class_(derived_class),
+    base_class_(base_class),
+    package_(package),
+    description_(description),
+    library_name_(library_name),
+    resolved_library_path_("UNRESOLVED"),
+    plugin_manifest_path_(plugin_manifest_path) {}
+
+  std::string lookup_name_;
+  std::string derived_class_;
+  std::string base_class_;
+  std::string package_;
+  std::string description_;
+  std::string library_name_;
+  std::string resolved_library_path_;  // This is set by pluginlib::ClassLoader at load time.
+  std::string plugin_manifest_path_;
+};
+
+}  // namespace pluginlib
+
+#endif  // PLUGINLIB__CLASS_DESC_HPP_

include/pluginlib/class_list_macros.hpp

@@ -0,0 +1,43 @@
+// Copyright 2008, Willow Garage, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef PLUGINLIB__CLASS_LIST_MACROS_HPP_
+#define PLUGINLIB__CLASS_LIST_MACROS_HPP_
+
+#include <class_loader/class_loader.hpp>
+
+/// Register a class with class loader to effectively export it for plugin loading later.
+/**
+ * \def PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
+ * \param class_type The real class name with namespace qualifier (e.g. Animals::Lion)
+ * \param base_class_type The real base class type from which class_type inherits
+ */
+#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type) \
+  CLASS_LOADER_REGISTER_CLASS(class_type, base_class_type)
+
+#endif  // PLUGINLIB__CLASS_LIST_MACROS_HPP_

pluginlib/include/pluginlib/class_loader.hpp → include/pluginlib/class_loader.hpp

@@ -1,31 +1,30 @@
-/*
- * Copyright (c) 2009, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the Willow Garage, Inc. nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
+// Copyright 2009, Willow Garage, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
 #ifndef PLUGINLIB__CLASS_LOADER_HPP_
 #define PLUGINLIB__CLASS_LOADER_HPP_

pluginlib/include/pluginlib/class_loader_base.hpp → include/pluginlib/class_loader_base.hpp

@@ -1,31 +1,30 @@
-/*
- * Copyright (c) 2012, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the Willow Garage, Inc. nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
+// Copyright 2012, Willow Garage, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
 #ifndef PLUGINLIB__CLASS_LOADER_BASE_HPP_
 #define PLUGINLIB__CLASS_LOADER_BASE_HPP_

pluginlib/include/pluginlib/class_loader_imp.hpp → include/pluginlib/class_loader_imp.hpp

@@ -1,38 +1,30 @@
-/*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-*********************************************************************/
+// Copyright 2008, Willow Garage, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
 #ifndef PLUGINLIB__CLASS_LOADER_IMP_HPP_
 #define PLUGINLIB__CLASS_LOADER_IMP_HPP_
@@ -284,7 +276,7 @@ std::string ClassLoader<T>::extractPackageNameFromPackageXML(const std::string &
     return "";
   }
 
-  const char* package_name_node_txt = package_name_node->GetText();
+  const char * package_name_node_txt = package_name_node->GetText();
   if (NULL == package_name_node_txt) {
     RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
       "package.xml at %s has an invalid <name> tag! Cannot determine package "
@@ -643,12 +635,12 @@ void ClassLoader<T>::processSingleXMLPluginFile(
             "' has no Root Element. This likely means the XML is malformed or missing.");
     return;
   }
-  const char* config_value = config->Value();
+  const char * config_value = config->Value();
   if (NULL == config_value) {
-      throw pluginlib::InvalidXMLException(
+    throw pluginlib::InvalidXMLException(
               "XML Document '" + xml_file +
               "' has an invalid Root Element. This likely means the XML is malformed or missing.");
-      return;
+    return;
   }
   if (!(strcmp(config_value, "library") == 0 ||
     strcmp(config_value, "class_libraries") == 0))
@@ -665,7 +657,7 @@ void ClassLoader<T>::processSingleXMLPluginFile(
 
   tinyxml2::XMLElement * library = config;
   while (library != NULL) {
-    const char* path = library->Attribute("path");
+    const char * path = library->Attribute("path");
     if (NULL == path) {
       RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
         "Attribute 'path' in 'library' tag is missing in %s.", xml_file.c_str());