Adding visibility macros to demos

demo_nodes_cpp/CMakeLists.txt

@@ -11,8 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
 find_package(ament_cmake REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -21,6 +19,8 @@ find_package(rcutils)
 find_package(rmw REQUIRED)
 find_package(std_msgs REQUIRED)
 
+include_directories(include)
+
 function(custom_executable subfolder target)
   add_executable(${target} src/${subfolder}/${target}.cpp)
   ament_target_dependencies(${target}
@@ -33,6 +33,8 @@ function(custom_executable subfolder target)
 endfunction()
 
 function(add_dependencies library)
+  target_compile_definitions(${library}
+    PRIVATE "DEMO_NODES_CPP_BUILDING_DLL")
   ament_target_dependencies(${library}
     "example_interfaces"
     "rclcpp"

demo_nodes_cpp/include/demo_nodes_cpp/visibility_control.h

@@ -0,0 +1,58 @@
+// Copyright 2016 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 DEMO_NODES_CPP__VISIBILITY_CONTROL_H_
+#define DEMO_NODES_CPP__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 DEMO_NODES_CPP_EXPORT __attribute__ ((dllexport))
+    #define DEMO_NODES_CPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DEMO_NODES_CPP_EXPORT __declspec(dllexport)
+    #define DEMO_NODES_CPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DEMO_NODES_CPP_BUILDING_DLL
+    #define DEMO_NODES_CPP_PUBLIC DEMO_NODES_CPP_EXPORT
+  #else
+    #define DEMO_NODES_CPP_PUBLIC DEMO_NODES_CPP_IMPORT
+  #endif
+  #define DEMO_NODES_CPP_PUBLIC_TYPE DEMO_NODES_CPP_PUBLIC
+  #define DEMO_NODES_CPP_LOCAL
+#else
+  #define DEMO_NODES_CPP_EXPORT __attribute__ ((visibility("default")))
+  #define DEMO_NODES_CPP_IMPORT
+  #if __GNUC__ >= 4
+    #define DEMO_NODES_CPP_PUBLIC __attribute__ ((visibility("default")))
+    #define DEMO_NODES_CPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DEMO_NODES_CPP_PUBLIC
+    #define DEMO_NODES_CPP_LOCAL
+  #endif
+  #define DEMO_NODES_CPP_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // DEMO_NODES_CPP__VISIBILITY_CONTROL_H_

demo_nodes_cpp/src/parameters/even_parameters_node.cpp

@@ -18,11 +18,14 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 class EvenParameterNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit EvenParameterNode(const rclcpp::NodeOptions options)
   : Node("even_parameters_node", options)
   {

demo_nodes_cpp/src/parameters/list_parameters.cpp

@@ -18,6 +18,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -26,6 +28,7 @@ namespace demo_nodes_cpp
 class ListParameters : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ListParameters(const rclcpp::NodeOptions & options)
   : Node("list_paramters", options)
   {

demo_nodes_cpp/src/parameters/parameter_blackboard.cpp

@@ -19,12 +19,15 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 
 class ParameterBlackboard : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ParameterBlackboard(
     const rclcpp::NodeOptions & options = (
       rclcpp::NodeOptions()

demo_nodes_cpp/src/parameters/parameter_events_async.cpp

@@ -20,6 +20,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 using SetParametersResult =
   std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>;
@@ -28,6 +30,7 @@ namespace demo_nodes_cpp
 class ParameterEventsAsyncNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ParameterEventsAsyncNode(const rclcpp::NodeOptions & options)
   : Node("parameter_events", options)
   {
@@ -74,7 +77,9 @@ class ParameterEventsAsyncNode : public rclcpp::Node
         });
   }
 
+private:
   // Set several different types of parameters.
+  DEMO_NODES_CPP_LOCAL
   void queue_first_set_parameter_request()
   {
     timer_->cancel();  // Prevent another request from being queued by the timer.
@@ -105,6 +110,7 @@ class ParameterEventsAsyncNode : public rclcpp::Node
   }
 
   // Change the value of some of them.
+  DEMO_NODES_CPP_LOCAL
   void queue_second_set_parameter_request()
   {
     auto response_received_callback = [this](SetParametersResult future) {
@@ -128,7 +134,6 @@ class ParameterEventsAsyncNode : public rclcpp::Node
       }, response_received_callback);
   }
 
-private:
   rclcpp::AsyncParametersClient::SharedPtr parameters_client_;
   rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;
   rclcpp::TimerBase::SharedPtr timer_;

demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp

@@ -19,6 +19,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -27,6 +29,7 @@ namespace demo_nodes_cpp
 class SetAndGetParameters : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit SetAndGetParameters(const rclcpp::NodeOptions & options)
   : Node("set_and_get_parameters", options)
   {

demo_nodes_cpp/src/services/add_two_ints_client_async.cpp

@@ -25,13 +25,16 @@
 
 #include "example_interfaces/srv/add_two_ints.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
 {
 class ClientNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ClientNode(const rclcpp::NodeOptions & options)
   : Node("add_two_ints_client", options)
   {
@@ -50,6 +53,7 @@ class ClientNode : public rclcpp::Node
     }
   }
 
+  DEMO_NODES_CPP_PUBLIC
   void queue_async_request()
   {
     while (!client_->wait_for_service(1s)) {
@@ -77,6 +81,8 @@ class ClientNode : public rclcpp::Node
     auto future_result = client_->async_send_request(request, response_received_callback);
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
   void print_usage()
   {
     printf("Usage for add_two_ints_client app:\n");
@@ -86,11 +92,13 @@ class ClientNode : public rclcpp::Node
     printf("-s service_name : Specify the service name for client. Defaults to add_two_ints.\n");
   }
 
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -100,7 +108,6 @@ class ClientNode : public rclcpp::Node
     return std::string();
   }
 
-private:
   rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client_;
   std::string service_name_ = "add_two_ints";
 };

demo_nodes_cpp/src/services/add_two_ints_server.cpp

@@ -24,12 +24,15 @@
 
 #include "example_interfaces/srv/add_two_ints.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 
 class ServerNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ServerNode(const rclcpp::NodeOptions & options)
   : Node("add_two_ints_server", options)
   {
@@ -45,18 +48,9 @@ class ServerNode : public rclcpp::Node
       }
       execute();
     }
-    // Create a callback function for when service requests are received.
-  }
-
-  void print_usage()
-  {
-    printf("Uage for add_two_ints_server app:\n");
-    printf("add_two_ints_server [-s service_name] [-h]\n");
-    printf("options:\n");
-    printf("-h : Print this help function\n");
-    printf("-s service_name : Specify the service name for this sever. Defaults to add_two_ints\n");
   }
 
+  DEMO_NODES_CPP_PUBLIC
   void execute()
   {
     auto handle_add_two_ints =
@@ -73,11 +67,24 @@ class ServerNode : public rclcpp::Node
     srv_ = create_service<example_interfaces::srv::AddTwoInts>(service_name_, handle_add_two_ints);
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
+  void print_usage()
+  {
+    printf("Usage for add_two_ints_server app:\n");
+    printf("add_two_ints_server [-s service_name] [-h]\n");
+    printf("options:\n");
+    printf("-h : Print this help function.\n");
+    printf("-s service_name : Specify the service name for server. Defaults to add_two_ints.\n");
+  }
+
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -87,7 +94,6 @@ class ServerNode : public rclcpp::Node
     return std::string();
   }
 
-private:
   rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr srv_;
   std::string service_name_ = "add_two_ints";
 };

demo_nodes_cpp/src/timers/one_off_timer.cpp

@@ -19,6 +19,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -27,6 +29,7 @@ namespace demo_nodes_cpp
 class OneOffTimerNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit OneOffTimerNode(const rclcpp::NodeOptions & options)
   : Node("one_off_timer", options), count(0)
   {

demo_nodes_cpp/src/timers/reuse_timer.cpp

@@ -18,6 +18,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -26,6 +28,7 @@ namespace demo_nodes_cpp
 class ReuseTimerNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ReuseTimerNode(const rclcpp::NodeOptions & options)
   : Node("reuse_timer", options), count(0)
   {