Move rclpp_generic into rclcpp

Signed-off-by: Nikolai Morin <[email protected]>

rclcpp/CMakeLists.txt

@@ -5,6 +5,7 @@ project(rclcpp)
 find_package(Threads REQUIRED)
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_index_cpp REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
@@ -55,6 +56,9 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
   src/rclcpp/future_return_code.cpp
+  src/rclcpp/generic/generic_publisher.cpp
+  src/rclcpp/generic/generic_subscription.cpp
+  src/rclcpp/generic/typesupport_helpers.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp
@@ -176,6 +180,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
+  "ament_index_cpp"
   "libstatistics_collector"
   "rcl"
   "rcl_yaml_param_parser"
@@ -206,6 +211,7 @@ ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
 
+ament_export_dependencies(ament_index_cpp)
 ament_export_dependencies(libstatistics_collector)
 ament_export_dependencies(rcl)
 ament_export_dependencies(rcpputils)

rclcpp_generic/include/rclcpp_generic/generic_publisher.hpp → rclcpp/include/rclcpp/generic/generic_publisher.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_GENERIC__GENERIC_PUBLISHER_HPP_
-#define RCLCPP_GENERIC__GENERIC_PUBLISHER_HPP_
+#ifndef RCLCPP__GENERIC__GENERIC_PUBLISHER_HPP_
+#define RCLCPP__GENERIC__GENERIC_PUBLISHER_HPP_
 
 #include <memory>
 #include <string>
@@ -89,4 +89,4 @@ class GenericPublisher : public rclcpp::PublisherBase
 
 }  // namespace rclcpp_generic
 
-#endif  // RCLCPP_GENERIC__GENERIC_PUBLISHER_HPP_
+#endif  // RCLCPP__GENERIC__GENERIC_PUBLISHER_HPP_

rclcpp_generic/include/rclcpp_generic/generic_subscription.hpp → rclcpp/include/rclcpp/generic/generic_subscription.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_GENERIC__GENERIC_SUBSCRIPTION_HPP_
-#define RCLCPP_GENERIC__GENERIC_SUBSCRIPTION_HPP_
+#ifndef RCLCPP__GENERIC__GENERIC_SUBSCRIPTION_HPP_
+#define RCLCPP__GENERIC__GENERIC_SUBSCRIPTION_HPP_
 
 #include <functional>
 #include <memory>
@@ -109,4 +109,4 @@ class GenericSubscription : public rclcpp::SubscriptionBase
 
 }  // namespace rclcpp_generic
 
-#endif  // RCLCPP_GENERIC__GENERIC_SUBSCRIPTION_HPP_
+#endif  // RCLCPP__GENERIC__GENERIC_SUBSCRIPTION_HPP_

rclcpp_generic/include/rclcpp_generic/typesupport_helpers.hpp → rclcpp/include/rclcpp/generic/typesupport_helpers.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_GENERIC__TYPESUPPORT_HELPERS_HPP_
-#define RCLCPP_GENERIC__TYPESUPPORT_HELPERS_HPP_
+#ifndef RCLCPP__GENERIC__TYPESUPPORT_HELPERS_HPP_
+#define RCLCPP__GENERIC__TYPESUPPORT_HELPERS_HPP_
 
 #include <memory>
 #include <string>
 #include <tuple>
 
-#include "rclcpp_generic/visibility_control.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 #include "rcpputils/shared_library.hpp"
 
@@ -28,21 +28,21 @@
 namespace rclcpp_generic
 {
 
-RCLCPP_GENERIC_PUBLIC
+RCLCPP_PUBLIC
 std::shared_ptr<rcpputils::SharedLibrary>
 get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
 
-RCLCPP_GENERIC_PUBLIC
+RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_typesupport_handle(
   const std::string & type,
   const std::string & typesupport_identifier,
   std::shared_ptr<rcpputils::SharedLibrary> library);
 
-RCLCPP_GENERIC_PUBLIC
+RCLCPP_PUBLIC
 std::tuple<std::string, std::string, std::string>
 extract_type_identifier(const std::string & full_type);
 
 }  // namespace rclcpp_generic
 
-#endif  // RCLCPP_GENERIC__TYPESUPPORT_HELPERS_HPP_
+#endif  // RCLCPP__GENERIC__TYPESUPPORT_HELPERS_HPP_

rclcpp/package.xml

@@ -25,6 +25,7 @@
   <build_export_depend>rosidl_typesupport_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>libstatistics_collector</depend>
   <depend>rcl</depend>
   <depend>rcl_yaml_param_parser</depend>

rclcpp_generic/src/rclcpp_generic/generic_publisher.cpp → rclcpp/src/rclcpp/generic/generic_publisher.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp_generic/generic_publisher.hpp"
+#include "rclcpp/generic/generic_publisher.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
-#include "rclcpp_generic/typesupport_helpers.hpp"
+#include "rclcpp/generic/typesupport_helpers.hpp"
 
 namespace rclcpp_generic
 {

rclcpp_generic/src/rclcpp_generic/generic_subscription.cpp → rclcpp/src/rclcpp/generic/generic_subscription.cpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp_generic/generic_subscription.hpp"
+#include "rclcpp/generic/generic_subscription.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
 #include "rcl/subscription.h"
-#include "rclcpp_generic/typesupport_helpers.hpp"
+#include "rclcpp/generic/typesupport_helpers.hpp"
 
 namespace rclcpp_generic
 {

rclcpp_generic/src/rclcpp_generic/typesupport_helpers.cpp → rclcpp/src/rclcpp/generic/typesupport_helpers.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp_generic/typesupport_helpers.hpp"
+#include "rclcpp/generic/typesupport_helpers.hpp"
 
 #include <memory>
 #include <sstream>

rclcpp/test/rclcpp/CMakeLists.txt

@@ -358,6 +358,22 @@ if(TARGET test_qos)
     ${PROJECT_NAME}
   )
 endif()
+function(test_pubsub_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_pubsub${target_suffix} generic/test_pubsub.cpp
+    ENV ${rmw_implementation_env_var}
+  )
+  if(TARGET test_pubsub${target_suffix})
+    target_link_libraries(test_pubsub${target_suffix} ${PROJECT_NAME})
+    target_include_directories(test_pubsub${target_suffix} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/rclcpp/src/generic>)
+    ament_target_dependencies(test_pubsub${target_suffix}
+      "rcpputils"
+      "rosidl_typesupport_cpp"
+      "test_msgs"
+    )
+  endif()
+endfunction()
+call_for_each_rmw_implementation(test_pubsub_for_rmw_implementation)
 ament_add_gtest(test_qos_event test_qos_event.cpp)
 if(TARGET test_qos_event)
   ament_target_dependencies(test_qos_event
@@ -463,6 +479,14 @@ if(TARGET test_type_support)
   )
   target_link_libraries(test_type_support ${PROJECT_NAME})
 endif()
+ament_add_gmock(test_typesupport_helpers generic/test_typesupport_helpers.cpp)
+if(TARGET test_typesupport_helpers)
+  ament_target_dependencies(test_typesupport_helpers
+    "rcpputils"
+    "rosidl_runtime_cpp"
+  )
+  target_link_libraries(test_typesupport_helpers ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_find_weak_nodes test_find_weak_nodes.cpp)
 if(TARGET test_find_weak_nodes)
   ament_target_dependencies(test_find_weak_nodes

rclcpp_generic/test/rclcpp_generic/memory_management.hpp → rclcpp/test/rclcpp/generic/memory_management.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_GENERIC__MEMORY_MANAGEMENT_HPP_
-#define RCLCPP_GENERIC__MEMORY_MANAGEMENT_HPP_
+#ifndef RCLCPP__GENERIC__MEMORY_MANAGEMENT_HPP_
+#define RCLCPP__GENERIC__MEMORY_MANAGEMENT_HPP_
 
 #include <memory>
 #include <string>
@@ -109,4 +109,4 @@ class MemoryManagement
 
 }  // namespace rclcpp_generic
 
-#endif  // RCLCPP_GENERIC__MEMORY_MANAGEMENT_HPP_
+#endif  // RCLCPP__GENERIC__MEMORY_MANAGEMENT_HPP_

rclcpp_generic/test/rclcpp_generic/test_pubsub.cpp → rclcpp/test/rclcpp/generic/test_pubsub.cpp

@@ -27,8 +27,8 @@
 #include "test_msgs/message_fixtures.hpp"
 #include "test_msgs/msg/basic_types.hpp"
 
-#include "rclcpp_generic/generic_publisher.hpp"
-#include "rclcpp_generic/generic_subscription.hpp"
+#include "rclcpp/generic/generic_publisher.hpp"
+#include "rclcpp/generic/generic_subscription.hpp"
 
 using namespace ::testing;  // NOLINT
 using namespace rclcpp_generic;  // NOLINT

rclcpp_generic/test/rclcpp_generic/test_typesupport_helpers.cpp → rclcpp/test/rclcpp/generic/test_typesupport_helpers.cpp

@@ -20,7 +20,7 @@
 
 #include "rcpputils/shared_library.hpp"
 
-#include "rclcpp_generic/typesupport_helpers.hpp"
+#include "rclcpp/generic/typesupport_helpers.hpp"
 
 using namespace ::testing;  // NOLINT