Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Generate node interfaces' getters and traits. #1069

Merged
merged 8 commits into from
Apr 22, 2020
Merged

Generate node interfaces' getters and traits. #1069

Show file tree
Hide file tree
Changes from 4 commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
092b269
first try of node like something
Karsten1987 May 9, 2019
20bbf8e
Do not hardcode node interfaces for generation.
hidmic Apr 16, 2020
235f8c1
Generate node interfaces getters.
hidmic Apr 16, 2020
8d21dce
touchups
Karsten1987 Apr 17, 2020
1b28df4
use rcpputils::remove_pointer
Karsten1987 Apr 17, 2020
b7441e3
create_timer takes shared pointers
Karsten1987 Apr 17, 2020
ad10603
Add nullptr checks in node interfaces' getters.
hidmic Apr 17, 2020
20795de
Fix node interface traits' tests.
hidmic Apr 17, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
60 changes: 57 additions & 3 deletions rclcpp/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,19 +97,65 @@ configure_file(
COPYONLY
)
# generate header with logging macros
set(python_code
set(python_code_logging
"import em"
"em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
add_custom_command(OUTPUT include/rclcpp/logging.hpp
COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code}"
COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"
DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
COMMENT "Expanding logging.hpp.em"
VERBATIM
)
list(APPEND ${PROJECT_NAME}_SRCS
include/rclcpp/logging.hpp)

file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
foreach(interface_file ${interface_files})
get_filename_component(interface_name ${interface_file} NAME_WE)

# "watch" template for changes
configure_file(
"resource/interface_traits.hpp.em"
"${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
COPYONLY
)
set(python_${interface_name}_traits
"import em"
"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/${interface_name}_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")
string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")
add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp
COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_${interface_name}_traits}"
DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"
VERBATIM
)
list(APPEND ${PROJECT_NAME}_SRCS
include/rclcpp/node_interfaces/${interface_name}_traits.hpp)

# "watch" template for changes
configure_file(
"resource/get_interface.hpp.em"
"get_${interface_name}.hpp.em.watch"
COPYONLY
)
set(python_get_${interface_name}
"import em"
"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/get_${interface_name}.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/get_interface.hpp.em'])")
string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")
add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp
COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_get_${interface_name}}"
DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"
COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"
VERBATIM
)
list(APPEND ${PROJECT_NAME}_SRCS
include/rclcpp/node_interfaces/get_${interface_name}.hpp)
endforeach()

include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")

add_library(${PROJECT_NAME}
Expand Down Expand Up @@ -514,6 +560,14 @@ if(BUILD_TESTING)
target_link_libraries(test_init ${PROJECT_NAME})
endif()

ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_interface_traits)
ament_target_dependencies(test_interface_traits
"rcl")
target_link_libraries(test_interface_traits ${PROJECT_NAME})
endif()

ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_multi_threaded_executor)
Expand Down
4 changes: 2 additions & 2 deletions rclcpp/include/rclcpp/create_timer.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,8 +60,8 @@ create_timer(
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
{
return create_timer(
rclcpp::node_interfaces::get_node_base_interface(node),
rclcpp::node_interfaces::get_node_timers_interface(node),
rclcpp::node_interfaces::get_node_base_interface(node).get(),
rclcpp::node_interfaces::get_node_timers_interface(node).get(),
Karsten1987 marked this conversation as resolved.
Show resolved Hide resolved
clock,
period,
std::forward<CallbackT>(callback),
Expand Down
149 changes: 0 additions & 149 deletions rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp
View file
Open in desktop

This file was deleted.

149 changes: 0 additions & 149 deletions rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp
View file
Open in desktop

This file was deleted.

Loading