From 157a487fbbaed5ea56a5d2d30ef13dcb254b6bd1 Mon Sep 17 00:00:00 2001
From: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Date: Tue, 21 Jul 2020 17:11:43 +0200
Subject: [PATCH] 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 <julianbermudez@eprosima.com>
---
 rosidl_typesupport_c/CMakeLists.txt           | 20 ++++++++++++++++---
 ...dl_typesupport_c_generate_interfaces.cmake |  4 +++-
 .../src/type_support_dispatch.hpp             |  5 +++++
 3 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/rosidl_typesupport_c/CMakeLists.txt b/rosidl_typesupport_c/CMakeLists.txt
index c519c2e1..4ae09919 100644
--- 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)
@@ -16,12 +18,16 @@ 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(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)
 
@@ -36,14 +42,22 @@ 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(${PROJECT_NAME}
-  "rcpputils"
   "rosidl_runtime_c"
 )
+if(NOT ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT)
+  ament_target_dependencies(${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
index c02ffddd..ffa6727d 100644
--- 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
index 188fbefa..ab273d5a 100644
--- 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 "rosidl_typesupport_c/identifier.h"
 #include "rosidl_typesupport_c/type_support_map.h"
 
@@ -43,6 +45,7 @@ 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);
@@ -90,6 +93,8 @@ get_typesupport_handle_function(
       return ts;
     }
   }
+#endif // ROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT
+
   return nullptr;
 }