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Removed poco dependency #59

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merged 10 commits into from
Apr 8, 2020
Merged

Removed poco dependency #59

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569d4e5
Removed poco dependency
ahcorde Mar 12, 2020
611823d
Included feedback: throwing errors and deallocate memory
ahcorde Mar 16, 2020
006336f
Removed unnecessary line in CMakeLists.txt
ahcorde Mar 16, 2020
57ea7c8
Used new and delete
ahcorde Mar 16, 2020
2d4f54d
Replace rcutils for rcpputils
ahcorde Mar 23, 2020
fe794b8
catch bad alloc exception
ahcorde Mar 23, 2020
1fbe57c
reverted unrelated whitespace change
ahcorde Mar 23, 2020
e13ef1d
Restored original error messages
ahcorde Apr 3, 2020
39114d2
Fixed exceptions
ahcorde Apr 3, 2020
30fe13f
Fixed exceptions
ahcorde Apr 3, 2020
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12 changes: 0 additions & 12 deletions rosidl_typesupport_c/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,14 +16,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake_ros REQUIRED)
# provides FindPoco.cmake and Poco on platforms without it
find_package(poco_vendor)
find_package(Poco COMPONENTS Foundation)
find_package(rcpputils REQUIRED)
find_package(rosidl_generator_c REQUIRED)

link_directories(${Poco_LIBRARY_DIR})

ament_export_dependencies(rosidl_typesupport_interface)

ament_export_include_directories(include)
Expand All @@ -35,10 +30,6 @@ add_library(${PROJECT_NAME}
src/message_type_support_dispatch.cpp
src/service_type_support_dispatch.cpp
src/type_support_dispatch.cpp)
if(Poco_FOUND)
target_compile_definitions(${PROJECT_NAME}
PRIVATE "ROSIDL_TYPESUPPORT_C_USE_POCO")
endif()
if(WIN32)
target_compile_definitions(${PROJECT_NAME}
PRIVATE "ROSIDL_TYPESUPPORT_C_BUILDING_DLL")
Expand All @@ -48,9 +39,6 @@ target_include_directories(${PROJECT_NAME}
include
)

if(Poco_FOUND)
ament_target_dependencies(${PROJECT_NAME} "Poco")
endif()
ament_target_dependencies(${PROJECT_NAME} "rcpputils" "rosidl_generator_c")
ament_export_libraries(${PROJECT_NAME})

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4 changes: 0 additions & 4 deletions rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -123,10 +123,6 @@ else()
message(FATAL_ERROR "Multiple typesupports [${typesupports}] but static "
"linking was requested")
endif()
if(NOT rosidl_typesupport_c_SUPPORTS_POCO)
message(FATAL_ERROR "Multiple typesupports [${typesupports}] but Poco was "
"not available when rosidl_typesupport_c was built")
endif()
endif()

ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
Expand Down
4 changes: 0 additions & 4 deletions rosidl_typesupport_c/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,6 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>

<depend>rcpputils</depend>
<build_depend>libpoco-dev</build_depend>
<build_depend>poco_vendor</build_depend>
<build_depend>rosidl_generator_c</build_depend>
<!--
Bloom does not support group_depend so entries below duplicate the group rosidl_typesupport_c_packages.
Expand All @@ -25,8 +23,6 @@
<build_export_depend>rmw_implementation</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend>

<exec_depend>libpoco-dev</exec_depend>
<exec_depend>poco_vendor</exec_depend>
<exec_depend>rosidl_typesupport_interface</exec_depend>

<test_depend>ament_lint_auto</test_depend>
Expand Down
2 changes: 0 additions & 2 deletions rosidl_typesupport_c/rosidl_typesupport_c-extras.cmake.in
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,6 @@ ament_register_extension(
"rosidl_typesupport_c"
"rosidl_typesupport_c_generate_interfaces.cmake")

set(rosidl_typesupport_c_SUPPORTS_POCO @Poco_FOUND@)

set(rosidl_typesupport_c_BIN
"${rosidl_typesupport_c_DIR}/../../../lib/rosidl_typesupport_c/rosidl_typesupport_c")
normalize_path(rosidl_typesupport_c_BIN
Expand Down
34 changes: 21 additions & 13 deletions rosidl_typesupport_c/src/type_support_dispatch.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,14 +19,13 @@
#include <cstdio>
#include <cstring>

#include <memory>
#include <stdexcept>
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#include <list>
#include <string>

#ifdef ROSIDL_TYPESUPPORT_C_USE_POCO
#include "Poco/SharedLibrary.h"
#endif

#include "rcpputils/find_library.hpp"
#include "rcpputils/shared_library.hpp"
#include "rosidl_typesupport_c/identifier.h"
#include "rosidl_typesupport_c/type_support_map.h"

Expand All @@ -44,15 +43,15 @@ get_typesupport_handle_function(
return handle;
}

#ifdef ROSIDL_TYPESUPPORT_C_USE_POCO
if (handle->typesupport_identifier == rosidl_typesupport_c__typesupport_identifier) {
const type_support_map_t * map = \
static_cast<const type_support_map_t *>(handle->data);
for (size_t i = 0; i < map->size; ++i) {
if (strcmp(map->typesupport_identifier[i], identifier) != 0) {
continue;
}
Poco::SharedLibrary * lib = nullptr;
rcpputils::SharedLibrary * lib = nullptr;

if (!map->data[i]) {
char library_name[1024];
snprintf(
Expand All @@ -63,25 +62,34 @@ get_typesupport_handle_function(
fprintf(stderr, "Failed to find library '%s'\n", library_name);
return nullptr;
}
lib = new Poco::SharedLibrary(library_path);

try {
lib = new rcpputils::SharedLibrary(library_path.c_str());
} catch (const std::runtime_error & e) {
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throw std::runtime_error(
"Could not load library " + library_path + " :" +
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std::string(e.what()));
} catch (const std::bad_alloc & e) {
throw std::runtime_error(
"Could not load library " + library_path + " :" +
std::string(e.what()));
}
map->data[i] = lib;
}
auto clib = static_cast<const Poco::SharedLibrary *>(map->data[i]);
lib = const_cast<Poco::SharedLibrary *>(clib);
if (!lib->hasSymbol(map->symbol_name[i])) {
auto clib = static_cast<const rcpputils::SharedLibrary *>(map->data[i]);
lib = const_cast<rcpputils::SharedLibrary *>(clib);
if (!lib->has_symbol(map->symbol_name[i])) {
fprintf(stderr, "Failed to find symbol '%s' in library\n", map->symbol_name[i]);
return nullptr;
}
void * sym = lib->getSymbol(map->symbol_name[i]);
void * sym = lib->get_symbol(map->symbol_name[i]);

typedef const TypeSupport * (* funcSignature)(void);
funcSignature func = reinterpret_cast<funcSignature>(sym);
const TypeSupport * ts = func();
return ts;
}
}
#endif

return nullptr;
}

Expand Down
12 changes: 0 additions & 12 deletions rosidl_typesupport_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake_ros REQUIRED)
# provides FindPoco.cmake and Poco on platforms without it
find_package(poco_vendor)
find_package(Poco COMPONENTS Foundation)
find_package(rcpputils REQUIRED)
find_package(rosidl_generator_c REQUIRED)

link_directories(${Poco_LIBRARY_DIR})

ament_export_dependencies(rosidl_typesupport_interface)
ament_export_dependencies(rosidl_typesupport_c)

Expand All @@ -32,10 +27,6 @@ add_library(${PROJECT_NAME}
src/message_type_support_dispatch.cpp
src/service_type_support_dispatch.cpp
src/type_support_dispatch.cpp)
if(Poco_FOUND)
target_compile_definitions(${PROJECT_NAME}
PRIVATE "ROSIDL_TYPESUPPORT_CPP_USE_POCO")
endif()
if(WIN32)
target_compile_definitions(${PROJECT_NAME}
PRIVATE "ROSIDL_TYPESUPPORT_CPP_BUILDING_DLL")
Expand All @@ -45,9 +36,6 @@ target_include_directories(${PROJECT_NAME}
include
)

if(Poco_FOUND)
ament_target_dependencies(${PROJECT_NAME} "Poco")
endif()
ament_target_dependencies(${PROJECT_NAME} "rcpputils" "rosidl_generator_c")
ament_export_libraries(${PROJECT_NAME})

Expand Down
4 changes: 0 additions & 4 deletions rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -109,10 +109,6 @@ else()
message(FATAL_ERROR "Multiple typesupports [${typesupports}] but static "
"linking was requested")
endif()
if(NOT rosidl_typesupport_cpp_SUPPORTS_POCO)
message(FATAL_ERROR "Multiple typesupports [${typesupports}] but Poco was "
"not available when rosidl_typesupport_cpp was built")
endif()
endif()

ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
Expand Down
4 changes: 0 additions & 4 deletions rosidl_typesupport_cpp/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,6 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>

<depend>rcpputils</depend>
<build_depend>libpoco-dev</build_depend>
<build_depend>poco_vendor</build_depend>
<build_depend>rosidl_generator_c</build_depend>
<!--
Bloom does not support group_depend so entries below duplicate the group rosidl_typesupport_cpp_packages.
Expand All @@ -26,8 +24,6 @@
<build_export_depend>rosidl_generator_c</build_export_depend>
<build_export_depend>rosidl_typesupport_c</build_export_depend>

<exec_depend>libpoco-dev</exec_depend>
<exec_depend>poco_vendor</exec_depend>
<exec_depend>rosidl_typesupport_interface</exec_depend>

<test_depend>ament_lint_auto</test_depend>
Expand Down
2 changes: 0 additions & 2 deletions rosidl_typesupport_cpp/rosidl_typesupport_cpp-extras.cmake.in
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,6 @@ ament_register_extension(
"rosidl_typesupport_cpp"
"rosidl_typesupport_cpp_generate_interfaces.cmake")

set(rosidl_typesupport_cpp_SUPPORTS_POCO @Poco_FOUND@)

set(rosidl_typesupport_cpp_BIN
"${rosidl_typesupport_cpp_DIR}/../../../lib/rosidl_typesupport_cpp/rosidl_typesupport_cpp")
normalize_path(rosidl_typesupport_cpp_BIN
Expand Down
35 changes: 22 additions & 13 deletions rosidl_typesupport_cpp/src/type_support_dispatch.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,14 +18,13 @@
#include <cstddef>
#include <cstdio>
#include <cstring>
#include <memory>
#include <stdexcept>

#include <string>

#ifdef ROSIDL_TYPESUPPORT_CPP_USE_POCO
#include "Poco/SharedLibrary.h"
#endif

#include "rcpputils/find_library.hpp"
#include "rcpputils/shared_library.hpp"
#include "rosidl_typesupport_cpp/type_support_map.h"

namespace rosidl_typesupport_cpp
Expand All @@ -42,15 +41,15 @@ get_typesupport_handle_function(
return handle;
}

#ifdef ROSIDL_TYPESUPPORT_CPP_USE_POCO
if (handle->typesupport_identifier == rosidl_typesupport_cpp::typesupport_identifier) {
const type_support_map_t * map = \
static_cast<const type_support_map_t *>(handle->data);
for (size_t i = 0; i < map->size; ++i) {
if (strcmp(map->typesupport_identifier[i], identifier) != 0) {
continue;
}
Poco::SharedLibrary * lib = nullptr;
rcpputils::SharedLibrary * lib = nullptr;

if (!map->data[i]) {
char library_name[1024];
snprintf(
Expand All @@ -61,25 +60,35 @@ get_typesupport_handle_function(
fprintf(stderr, "Failed to find library '%s'\n", library_name);
return nullptr;
}
lib = new Poco::SharedLibrary(library_path);

try {
lib = new rcpputils::SharedLibrary(library_path.c_str());
} catch (const std::runtime_error & e) {
throw std::runtime_error(
"Could not load library " + library_path + " :" +
std::string(e.what()));
} catch (const std::bad_alloc & e) {
throw std::runtime_error(
"Could not load library " + library_path + " :" +
std::string(e.what()));
}
map->data[i] = lib;
}
auto clib = static_cast<const Poco::SharedLibrary *>(map->data[i]);
lib = const_cast<Poco::SharedLibrary *>(clib);
if (!lib->hasSymbol(map->symbol_name[i])) {
auto clib = static_cast<const rcpputils::SharedLibrary *>(map->data[i]);
lib = const_cast<rcpputils::SharedLibrary *>(clib);
if (!lib->has_symbol(map->symbol_name[i])) {
fprintf(stderr, "Failed to find symbol '%s' in library\n", map->symbol_name[i]);
return nullptr;
}
void * sym = lib->getSymbol(map->symbol_name[i]);
void * sym = lib->get_symbol(map->symbol_name[i]);


typedef const TypeSupport * (* funcSignature)(void);
funcSignature func = reinterpret_cast<funcSignature>(sym);
const TypeSupport * ts = func();
return ts;
}
}
#endif

return nullptr;
}

Expand Down