Release micro-ROS Foxy (#1)

* Fix exporting for static library. * Add ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT compile definition. * Handle rcpputils in case of single typesupport. Co-authored-by: julibert <[email protected]>
micro-ROS · May 25, 2023 · 01121b6 · 01121b6
1 parent 841e5c2
commit 01121b6
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Showing 3 changed files with 25 additions and 4 deletions.
diff --git a/rosidl_typesupport_c/CMakeLists.txt b/rosidl_typesupport_c/CMakeLists.txt
@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rosidl_typesupport_c)
 
+option(ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT "Enable single typesupport" ON)
+
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 11)
@@ -16,13 +18,17 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
+if(NOT ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT)
+  find_package(rcpputils REQUIRED)
+endif()
 
-ament_export_dependencies(rcpputils)
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(rosidl_typesupport_interface)
+if(NOT ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT)
+  ament_export_dependencies(rcpputils)
+endif()
 
 ament_export_include_directories(include)
 
@@ -37,15 +43,23 @@ if(WIN32)
   target_compile_definitions(${PROJECT_NAME}
     PRIVATE "ROSIDL_TYPESUPPORT_C_BUILDING_DLL")
 endif()
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    $<$<BOOL:${ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT}>:ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT>
+  )
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 
 ament_target_dependencies(${PROJECT_NAME}
-  "rcpputils"
   "rcutils"
   "rosidl_runtime_c"
 )
+if(NOT ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcpputils"
+  )
+endif()
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
 

diff --git a/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake b/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake
@@ -155,7 +155,9 @@ add_dependencies(
 
 if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   install(
-    TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    TARGETS
+      ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+      ${rosidl_generate_interfaces_TARGET}__${typesupports}
     EXPORT ${rosidl_generate_interfaces_TARGET}${_target_suffix}
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib

diff --git a/rosidl_typesupport_c/src/type_support_dispatch.hpp b/rosidl_typesupport_c/src/type_support_dispatch.hpp
@@ -24,8 +24,10 @@
 #include <list>
 #include <string>
 
+#ifndef ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT
 #include "rcpputils/find_library.hpp"
 #include "rcpputils/shared_library.hpp"
+#endif // ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT
 #include "rcutils/error_handling.h"
 #include "rosidl_typesupport_c/identifier.h"
 #include "rosidl_typesupport_c/type_support_map.h"
@@ -44,6 +46,7 @@ get_typesupport_handle_function(
     return handle;
   }
 
+#ifndef ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT
   if (handle->typesupport_identifier == rosidl_typesupport_c__typesupport_identifier) {
     const type_support_map_t * map = \
       static_cast<const type_support_map_t *>(handle->data);
@@ -116,6 +119,8 @@ get_typesupport_handle_function(
   RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
     "Handle's typesupport identifier (%s) is not supported by this library\n",
     handle->typesupport_identifier);
+#endif // ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT
+
   return nullptr;
 }