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remove dependency on rmw_implementation #102

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merged 2 commits into from
Apr 10, 2020
Merged

remove dependency on rmw_implementation #102

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e46ff4e
remove dependency on rmw_implementation
dirk-thomas Apr 9, 2020
6d5edfa
fix logic in rosidl_generator_py_get_typesupports to actually set the…
dirk-thomas Apr 10, 2020
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1 change: 0 additions & 1 deletion rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.

find_package(rmw_implementation_cmake REQUIRED)
find_package(rmw REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_typesupport_c REQUIRED)
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21 changes: 8 additions & 13 deletions rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
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Expand Up @@ -12,19 +12,14 @@
# See the License for the specific language governing permissions and
# limitations under the License.

macro(accumulate_typesupports)
set(_typesupport_impl "")
if(${rmw_implementation}_FOUND)
get_rmw_typesupport(_typesupport_impl ${rmw_implementation} LANGUAGE "C")
list_append_unique(_typesupport_impls ${_typesupport_impl})
endif()
endmacro()

macro(rosidl_generator_py_get_typesupports TYPESUPPORT_IMPLS)
set(TYPESUPPORT_IMPLS "")
set(_typesupport_impls "")
call_for_each_rmw_implementation(accumulate_typesupports)
foreach(_typesupport_impl ${_typesupport_impls})
list_append_unique(TYPESUPPORT_IMPLS ${_typesupport_impl})
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The previous logic was broken. The variable which name is passed in TYPESUPPORT_IMPLS is never set by the macro. This only happened to work if the caller expected the result in _typesupport_impls. 🤯

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Oh, cmake macros are really tricky.

set(${TYPESUPPORT_IMPLS} "")
ament_index_get_resources(${TYPESUPPORT_IMPLS} "rosidl_typesupport_c")
list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_c")
foreach(_typesupport ${${TYPESUPPORT_IMPLS}})
find_package(${_typesupport} QUIET)
if(NOT ${_typesupport}_FOUND)
list(REMOVE_ITEM ${TYPESUPPORT_IMPLS} "${_typesupport}")
endif()
endforeach()
endmacro()
5 changes: 1 addition & 4 deletions rosidl_generator_py/package.xml
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Expand Up @@ -23,8 +23,7 @@
<buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>

<exec_depend>python3-numpy</exec_depend>
<exec_depend>rmw_implementation</exec_depend>
<exec_depend>rmw_implementation_cmake</exec_depend>
<exec_depend>rosidl_generator_c</exec_depend>
<exec_depend>rosidl_parser</exec_depend>
<exec_depend>rosidl_runtime_c</exec_depend>

Expand All @@ -36,8 +35,6 @@
<test_depend>python3-pytest</test_depend>
<test_depend>python_cmake_module</test_depend>
<test_depend>rmw</test_depend>
<test_depend>rmw_implementation</test_depend>
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I believe this change led to a failure on the binary job. We're generating messages for tests, but there's no C typesupport available (previously transitively brought in by rmw_implementation).

Here is a proposed fix: #110

<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>rosidl_cmake</test_depend>
<test_depend>rosidl_generator_c</test_depend>
<test_depend>rosidl_generator_cpp</test_depend>
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