micro-ROS Rolling patch

* Avoid logging on build time based on RCutils flags (#6) * Add RCL_YAML_PARSER and RCL_LOGGING CMake options. * Replace RCL_YAML_PARSER by RCL_COMMAND_LINE_ENABLED and RCL_LOGGING by RCL_LOGGING_ENABLED. * Disabled logging fix * Fix remapping (#7) Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: julibert <julianbermudez@eprosima.com> Updates 17092020 *Release micro-ROS Foxy (#9) Cleaning Update Update Update
micro-ROS · Mar 12, 2021 · 167bea6 · 167bea6
1 parent ce2a436
commit 167bea6
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Showing 12 changed files with 126 additions and 14 deletions.
diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
@@ -2,20 +2,29 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcl)
 
+option(RCL_COMMAND_LINE_ENABLED "Enable/disable the rcl_yaml_param_parser tool" OFF)
+option(RCL_LOGGING_ENABLED "Enable/disable logging" OFF)
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_logging_interface REQUIRED)
-find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(tracetools REQUIRED)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  find_package(rcl_yaml_param_parser REQUIRED)
+endif()
+
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
-include(cmake/get_default_rcl_logging_implementation.cmake)
-get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+
+if(RCL_LOGGING_ENABLED)
+  include(cmake/get_default_rcl_logging_implementation.cmake)
+  get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+endif()
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -32,7 +41,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -46,9 +55,9 @@ set(${PROJECT_NAME}_sources
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
   src/rcl/localhost.c
-  src/rcl/logging_rosout.c
-  src/rcl/logging.c
-  src/rcl/log_level.c
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging_rosout.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/log_level.c>
   src/rcl/node.c
   src/rcl/node_options.c
   src/rcl/publisher.c
@@ -73,15 +82,31 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
   "rcl_logging_interface"
-  "rcl_yaml_param_parser"
   "rcutils"
   "rmw"
   "rmw_implementation"
-  ${RCL_LOGGING_IMPL}
   "rosidl_runtime_c"
   "tracetools"
 )
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcl_yaml_param_parser"
+  )
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    ${RCL_LOGGING_IMPL}
+  )
+endif()
+
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:RCL_COMMAND_LINE_ENABLED>
+    $<$<BOOL:${RCL_LOGGING_ENABLED}>:RCL_LOGGING_ENABLED>
+  )
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
@@ -111,14 +136,20 @@ ament_export_targets(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 ament_export_dependencies(rcl_logging_interface)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
-ament_export_dependencies(${RCL_LOGGING_IMPL})
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(tracetools)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
@@ -22,7 +22,11 @@
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_COMMAND_LINE_ENABLED
 
 #ifdef __cplusplus
 extern "C"

diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h
@@ -25,7 +25,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/init_options.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
@@ -112,9 +114,11 @@ struct rcl_context_impl_t;
  */
 typedef struct rcl_context_t
 {
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// Global arguments for all nodes which share this context.
   /** Typically generated by the parsing of argc/argv in rcl_init(). */
   rcl_arguments_t global_arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Implementation specific pointer.
   struct rcl_context_impl_t * impl;

diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
@@ -25,7 +25,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/context.h"
 #include "rcl/macros.h"
 #include "rcl/node_options.h"

diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
@@ -23,7 +23,10 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
+#include "rcl/macros.h"
 
 #include "rcl/domain_id.h"
 
@@ -46,8 +49,10 @@ typedef struct rcl_node_options_t
   /// If false then only use arguments in this struct, otherwise use global arguments also.
   bool use_global_arguments;
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Flag to enable rosout for this node
   bool enable_rosout;

diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
@@ -17,7 +17,11 @@
 
 #include "rcl/arguments.h"
 #include "rcl/log_level.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./remap_impl.h"
 
 #ifdef __cplusplus

diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
@@ -33,7 +33,9 @@ rcl_get_zero_initialized_context(void)
     .instance_id_storage = {0},
   };
   // this is not constexpr so it cannot be in the struct initialization
+#ifdef RCL_COMMAND_LINE_ENABLED
   context.global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
   // ensure assumption about static storage
   static_assert(
     sizeof(context.instance_id_storage) >= sizeof(atomic_uint_least64_t),
@@ -112,6 +114,7 @@ __cleanup_context(rcl_context_t * context)
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
   rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     ret = rcl_arguments_fini(&(context->global_arguments));
@@ -124,6 +127,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {

diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
@@ -27,15 +27,21 @@ extern "C"
 
 #include "tracetools/tracetools.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
 #include "rcl/localhost.h"
+#ifdef RCL_LOGGING_ENABLED
 #include "rcl/logging.h"
+#endif // RCL_LOGGING_ENABLED
 #include "rcl/security.h"
 #include "rcl/validate_enclave_name.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "./arguments_impl.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./common.h"
 #include "./context_impl.h"
 #include "./init_options_impl.h"
@@ -80,8 +86,10 @@ rcl_init(
     return RCL_RET_ALREADY_INIT;
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Zero initialize global arguments.
   context->global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Setup impl for context.
   // use zero_allocate so the cleanup function will not try to clean up uninitialized parts later
@@ -123,13 +131,15 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Parse the ROS specific arguments.
   ret = rcl_parse_arguments(argc, argv, allocator, &context->global_arguments);
   if (RCL_RET_OK != ret) {
     fail_ret = ret;
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments");
     goto fail;
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Set the instance id.
   uint64_t next_instance_id = rcutils_atomic_fetch_add_uint64_t(&__rcl_next_unique_id, 1);
@@ -164,6 +174,7 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (context->global_arguments.impl->enclave) {
     context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
       context->global_arguments.impl->enclave,
@@ -178,6 +189,7 @@ rcl_init(
     fail_ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
+#endif //RCL_COMMAND_LINE_ENABLED
 
   int validation_result;
   size_t invalid_index;

diff --git a/rcl/src/rcl/logging.c b/rcl/src/rcl/logging.c
@@ -67,9 +67,13 @@ rcl_logging_configure_with_output_handler(
   int default_level = -1;
   rcl_log_levels_t * log_levels = &global_args->impl->log_levels;
   const char * config_file = global_args->impl->external_log_config_file;
-  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
-  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
-  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
+  bool global_disable = false;
+  #ifdef RCUTILS_NO_LOGGING
+    global_disable = true;
+  #endif
+  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled && !global_disable;
+  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled && !global_disable;
+  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled && !global_disable;
   rcl_ret_t status = RCL_RET_OK;
   g_rcl_logging_num_out_handlers = 0;