Refs #3061. Package rmw_fastrtps_cpp duplicated as rmw_fastrtps_dynam…

…ic_cpp.

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -0,0 +1,135 @@
+# Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.5)
+
+project(rmw_fastrtps_cpp)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+
+find_package(rcutils REQUIRED)
+find_package(rmw_fastrtps_shared_cpp REQUIRED)
+
+find_package(fastrtps_cmake_module REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+
+find_package(rmw REQUIRED)
+find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_typesupport_introspection_c REQUIRED)
+find_package(rosidl_typesupport_introspection_cpp REQUIRED)
+
+include_directories(include)
+
+add_library(rmw_fastrtps_cpp
+  src/client_service_common.cpp
+  src/get_client.cpp
+  src/get_participant.cpp
+  src/get_publisher.cpp
+  src/get_service.cpp
+  src/get_subscriber.cpp
+  src/identifier.cpp
+  src/namespace_prefix.cpp
+  src/qos.cpp
+  src/rmw_logging.cpp
+  src/rmw_client.cpp
+  src/rmw_compare_gids_equal.cpp
+  src/rmw_count.cpp
+  src/rmw_get_gid_for_publisher.cpp
+  src/rmw_get_implementation_identifier.cpp
+  src/rmw_guard_condition.cpp
+  src/rmw_init.cpp
+  src/rmw_node.cpp
+  src/rmw_node_names.cpp
+  src/rmw_publish.cpp
+  src/rmw_publisher.cpp
+  src/rmw_request.cpp
+  src/rmw_response.cpp
+  src/rmw_serialize.cpp
+  src/rmw_service.cpp
+  src/rmw_service_names_and_types.cpp
+  src/rmw_service_server_is_available.cpp
+  src/rmw_subscription.cpp
+  src/rmw_take.cpp
+  src/rmw_topic_names_and_types.cpp
+  src/rmw_trigger_guard_condition.cpp
+  src/rmw_wait.cpp
+  src/rmw_wait_set.cpp
+  src/type_support_common.cpp
+)
+target_link_libraries(rmw_fastrtps_cpp
+  fastcdr fastrtps)
+
+# specific order: dependents before dependencies
+ament_target_dependencies(rmw_fastrtps_cpp
+  "rcutils"
+  "rosidl_typesupport_introspection_c"
+  "rosidl_typesupport_introspection_cpp"
+  "rmw_fastrtps_shared_cpp"
+  "rmw"
+  "rosidl_generator_c"
+)
+
+configure_rmw_library(rmw_fastrtps_cpp)
+
+# 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 "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
+
+# specific order: dependents before dependencies
+ament_export_include_directories(include)
+ament_export_libraries(rmw_fastrtps_cpp)
+
+ament_export_dependencies(rosidl_typesupport_introspection_cpp)
+ament_export_dependencies(rosidl_typesupport_introspection_c)
+ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rcutils)
+ament_export_dependencies(rmw_fastrtps_shared_cpp)
+ament_export_dependencies(rmw)
+
+register_rmw_implementation(
+  "c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
+  "cpp:rosidl_typesupport_cpp:rosidl_typesupport_introspection_cpp")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS_POST "rmw_fastrtps_cpp-extras.cmake"
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS rmw_fastrtps_cpp
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport.hpp

@@ -0,0 +1,42 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__MESSAGETYPESUPPORT_HPP_
+#define RMW_FASTRTPS_CPP__MESSAGETYPESUPPORT_HPP_
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include <cassert>
+#include <memory>
+
+#include "TypeSupport.hpp"
+#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+template<typename MembersType>
+class MessageTypeSupport : public TypeSupport<MembersType>
+{
+public:
+  explicit MessageTypeSupport(const MembersType * members);
+};
+
+}  // namespace rmw_fastrtps_cpp
+
+#include "MessageTypeSupport_impl.hpp"
+
+#endif  // RMW_FASTRTPS_CPP__MESSAGETYPESUPPORT_HPP_

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp

@@ -0,0 +1,54 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
+#define RMW_FASTRTPS_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include <cassert>
+#include <memory>
+#include <string>
+
+#include "rmw_fastrtps_cpp/MessageTypeSupport.hpp"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+template<typename MembersType>
+MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
+{
+  assert(members);
+  this->members_ = members;
+
+  std::string name = std::string(members->package_name_) + "::msg::dds_::" +
+    members->message_name_ + "_";
+  this->setName(name.c_str());
+
+  // Fully bound by default
+  this->max_size_bound_ = true;
+  // Encapsulation size
+  this->m_typeSize = 4;
+  if (this->members_->member_count_ != 0) {
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(members, 0));
+  } else {
+    this->m_typeSize++;
+  }
+}
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__MESSAGETYPESUPPORT_IMPL_HPP_

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport.hpp

@@ -0,0 +1,53 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_HPP_
+#define RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_HPP_
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+#include <cassert>
+
+#include "TypeSupport.hpp"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+template<typename MembersType>
+class ServiceTypeSupport : public TypeSupport<MembersType>
+{
+protected:
+  ServiceTypeSupport();
+};
+
+template<typename ServiceMembersType, typename MessageMembersType>
+class RequestTypeSupport : public ServiceTypeSupport<MessageMembersType>
+{
+public:
+  explicit RequestTypeSupport(const ServiceMembersType * members);
+};
+
+template<typename ServiceMembersType, typename MessageMembersType>
+class ResponseTypeSupport : public ServiceTypeSupport<MessageMembersType>
+{
+public:
+  explicit ResponseTypeSupport(const ServiceMembersType * members);
+};
+
+}  // namespace rmw_fastrtps_cpp
+
+#include "ServiceTypeSupport_impl.hpp"
+
+#endif  // RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_HPP_

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp

@@ -0,0 +1,80 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_IMPL_HPP_
+#define RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_IMPL_HPP_
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+#include <cassert>
+#include <string>
+
+#include "rmw_fastrtps_cpp/ServiceTypeSupport.hpp"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+template<typename MembersType>
+ServiceTypeSupport<MembersType>::ServiceTypeSupport()
+{
+}
+
+template<typename ServiceMembersType, typename MessageMembersType>
+RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
+  const ServiceMembersType * members)
+{
+  assert(members);
+  this->members_ = members->request_members_;
+
+  std::string name = std::string(members->package_name_) + "::srv::dds_::" +
+    members->service_name_ + "_Request_";
+  this->setName(name.c_str());
+
+  // Fully bound by default
+  this->max_size_bound_ = true;
+  // Encapsulation size
+  this->m_typeSize = 4;
+  if (this->members_->member_count_ != 0) {
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
+  } else {
+    this->m_typeSize++;
+  }
+}
+
+template<typename ServiceMembersType, typename MessageMembersType>
+ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport(
+  const ServiceMembersType * members)
+{
+  assert(members);
+  this->members_ = members->response_members_;
+
+  std::string name = std::string(members->package_name_) + "::srv::dds_::" +
+    members->service_name_ + "_Response_";
+  this->setName(name.c_str());
+
+  // Fully bound by default
+  this->max_size_bound_ = true;
+  // Encapsulation size
+  this->m_typeSize = 4;
+  if (this->members_->member_count_ != 0) {
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
+  } else {
+    this->m_typeSize++;
+  }
+}
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_IMPL_HPP_