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remove dependency on rmw_implementation #62

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merged 2 commits into from Apr 10, 2020
Merged

remove dependency on rmw_implementation #62

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2e1f376
remove dependency on rmw_implementation
dirk-thomas Apr 9, 2020
8112ad7
fix linter warning
dirk-thomas Apr 10, 2020
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69 changes: 34 additions & 35 deletions rosidl_typesupport_c/cmake/get_used_typesupports.cmake
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@@ -1,4 +1,4 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
# Copyright 2016-2020 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.
Expand All @@ -15,6 +15,12 @@
#
# Get the concrete typesupport names to be used.
#
# The result can be overridden by setting either a CMake or environment
# variable named ``STATIC_${typesupport_type}`` (all uppercase).
# The variable can contain ROS IDL typesupport names separated by the platform
# specific path separator.
# Including an unavailable ROS IDL typesupport results in a fatal error message.
#
# :param var: the output variable name for the typesupport names
# :type var: list of strings
# :param typesupport_type: the type of the typesupport to look for
Expand All @@ -23,50 +29,43 @@
# @public
#
function(get_used_typesupports var typesupport_type)
ament_index_get_resources(rmw_implementations "rmw_typesupport")
if(rmw_implementations STREQUAL "")
message(FATAL_ERROR "No RMW implementations found")
endif()

# all type supports available
ament_index_get_resources(available_typesupports "${typesupport_type}")
if(available_typesupports STREQUAL "")
message(FATAL_ERROR "No '${typesupport_type}' found")
endif()

# supported type supports across all rmw implementations
set(supported_typesupports "")
foreach(rmw_implementation IN LISTS rmw_implementations)
ament_index_get_resource(resource "rmw_typesupport" "${rmw_implementation}")
foreach(ts IN LISTS resource)
if(NOT ts IN_LIST supported_typesupports)
list(APPEND supported_typesupports "${ts}")
# use explicitly provided list if provided
# option()
string(TOUPPER "${typesupport_type}" typesupport_type_upper)
if(NOT "$ENV{STATIC_${typesupport_type_upper}}" STREQUAL "")
string(REPLACE ":" ";" STATIC_${typesupport_type_upper} "$ENV{STATIC_${typesupport_type_upper}}")
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In this case, the ENV variable is overriding the compile option if provided?
Is that the expected behavior?

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It is the same behavior we are using for RMW_IMPLEMENTATIONS.

endif()
if(NOT "${STATIC_${typesupport_type_upper}}" STREQUAL "")
# check if given ROS IDL typesupports are available
foreach(typesupport ${STATIC_${typesupport_type_upper}})
if(NOT "${typesupport}" IN_LIST available_typesupports)
message(FATAL_ERROR
"The ROS IDL typesupport '${typesupport}' specified in "
"'STATIC_${typesupport_type_upper}' is not available ("
"${available_typesupports})")
endif()
endforeach()
endforeach()

# supported type supports across all rmw implementations which are available
set(matching_typesupports "")
foreach(ts IN LISTS supported_typesupports)
if(ts IN_LIST available_typesupports)
list(APPEND matching_typesupports "${ts}")
endif()
endforeach()
list(REMOVE_ITEM matching_typesupports "${typesupport_type}")
if(matching_typesupports STREQUAL "")
message(FATAL_ERROR "No '${typesupport_type}' found for the following "
"rmw implementations: ${rmw_implementations}")
set(selected_typesupports ${STATIC_${typesupport_type_upper}})
message(STATUS
"Filtered available ROS IDL typesupport implementations: ${selected_typesupports}")
set(msg_used_typesupports "selected")
else()
set(selected_typesupports ${available_typesupports})
set(msg_used_typesupports "all available")
endif()

# if across all available rmw implementation only one type support is supported
# then return only that one which will ignore all other available
# and enable to bypass the dynamic dispatch
list(LENGTH matching_typesupports count)
# if only one type support is available / selected the caller might decide to
# bypass the dynamic dispatch
list(LENGTH selected_typesupports count)
if(count EQUAL 1)
message(STATUS "Using single matching ${typesupport_type}: ${matching_typesupports}")
set(${var} "${matching_typesupports}" PARENT_SCOPE)
else()
message(STATUS "Using all available ${typesupport_type}: ${available_typesupports}")
set(${var} "${available_typesupports}" PARENT_SCOPE)
set(msg_used_typesupports "single")
endif()
message(STATUS "Using ${msg_used_typesupports} ${typesupport_type}: ${selected_typesupports}")
set(${var} "${selected_typesupports}" PARENT_SCOPE)
endfunction()
3 changes: 1 addition & 2 deletions rosidl_typesupport_c/package.xml
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Expand Up @@ -10,7 +10,7 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>

<depend>rcpputils</depend>

<build_depend>rosidl_runtime_c</build_depend>
<!--
Bloom does not support group_depend so entries below duplicate the group rosidl_typesupport_c_packages.
Expand All @@ -21,7 +21,6 @@
<!-- end of group rosidl_typesupport_c_packages for bloom -->

<buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
<build_export_depend>rmw_implementation</build_export_depend>
<build_export_depend>rosidl_runtime_c</build_export_depend>

<exec_depend>rosidl_typesupport_interface</exec_depend>
Expand Down
1 change: 0 additions & 1 deletion rosidl_typesupport_cpp/package.xml
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Expand Up @@ -20,7 +20,6 @@
<!-- end of group rosidl_typesupport_cpp_packages for bloom -->

<buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
<build_export_depend>rmw_implementation</build_export_depend>
<build_export_depend>rosidl_typesupport_c</build_export_depend>
<build_export_depend>rosidl_runtime_c</build_export_depend>
<build_export_depend>rosidl_runtime_cpp</build_export_depend>
Expand Down