Remove inner RCL public macros for each of the modified classes and introduce a separate configure_rclcpp.cmake

Signed-off-by: Sachin Suresh Bhat <[email protected]>

Author: bhatsach

rclcpp/CMakeLists.txt

@@ -23,6 +23,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 include_directories(include)
+include(cmake/configure_rclcpp.cmake)
 
 set(${PROJECT_NAME}_SRCS
   src/rclcpp/any_executable.cpp
@@ -109,7 +110,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rosidl_typesupport_cpp"
   "rosidl_generator_cpp")
 
-configure_rcl(${PROJECT_NAME})
+configure_rclcpp(${PROJECT_NAME})
 # 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}

rclcpp/cmake/configure_rclcpp.cmake

@@ -0,0 +1,66 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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.
+#
+# Configures ros client library with custom settings.
+# The custom settings are all related to library symbol visibility, see:
+# https://gcc.gnu.org/wiki/Visibility
+# http://www.ibm.com/developerworks/aix/library/au-aix-symbol-visibility/
+#
+# Below code is heavily referenced from a similar functionality in rmw:
+# https://github.com/ros2/rmw/blob/master/rmw/cmake/configure_rmw_library.cmake
+#
+# :param library_target: the library target
+# :type library_target: string
+# :param LANGUAGE: Optional flag for the language of the library.
+#   Allowed values are "C" and "CXX". The default is "CXX".
+# :type LANGUAGE: string
+#
+# @public
+#
+macro(configure_rclcpp library_target)
+  cmake_parse_arguments(_ARG "" "LANGUAGE" "" ${ARGN})
+  if(_ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "configure_rclcpp() called with unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  if(NOT _ARG_LANGUAGE)
+    set(_ARG_LANGUAGE "CXX")
+  endif()
+
+  if(_ARG_LANGUAGE STREQUAL "C")
+    # Set the visibility to hidden by default if possible
+    if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
+      # Set the visibility of symbols to hidden by default for gcc and clang
+      # (this is already the default on Windows)
+      set_target_properties(${library_target}
+        PROPERTIES
+        COMPILE_FLAGS "-fvisibility=hidden"
+      )
+    endif()
+
+  elseif(_ARG_LANGUAGE STREQUAL "CXX")
+    # Set the visibility to hidden by default if possible
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+      # Set the visibility of symbols to hidden by default for gcc and clang
+      # (this is already the default on Windows)
+      set_target_properties(${library_target}
+        PROPERTIES
+        COMPILE_FLAGS "-fvisibility=hidden -fvisibility-inlines-hidden"
+      )
+    endif()
+
+  else()
+    message(FATAL_ERROR "configure_rclcpp() called with unsupported LANGUAGE: '${_ARG_LANGUAGE}'")
+  endif()
+endmacro()

rclcpp/include/rclcpp/client.hpp

@@ -54,27 +54,21 @@ class RCLCPP_PUBLIC ClientBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
 
-  RCLCPP_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
 
-  RCLCPP_PUBLIC
   virtual ~ClientBase();
 
-  RCLCPP_PUBLIC
   const char *
   get_service_name() const;
 
-  RCLCPP_PUBLIC
   std::shared_ptr<rcl_client_t>
   get_client_handle();
 
-  RCLCPP_PUBLIC
   std::shared_ptr<const rcl_client_t>
   get_client_handle() const;
 
-  RCLCPP_PUBLIC
   bool
   service_is_ready() const;
 
@@ -96,15 +90,12 @@ class RCLCPP_PUBLIC ClientBase
 protected:
   RCLCPP_DISABLE_COPY(ClientBase)
 
-  RCLCPP_PUBLIC
   bool
   wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
 
-  RCLCPP_PUBLIC
   rcl_node_t *
   get_rcl_node_handle();
 
-  RCLCPP_PUBLIC
   const rcl_node_t *
   get_rcl_node_handle() const;
 

rclcpp/include/rclcpp/executor.hpp

@@ -99,11 +99,9 @@ class RCLCPP_PUBLIC Executor
 
   /// Default constructor.
   // \param[in] ms The memory strategy to be used with this executor.
-  RCLCPP_PUBLIC
   explicit Executor(const ExecutorArgs & args = ExecutorArgs());
 
   /// Default destructor.
-  RCLCPP_PUBLIC
   virtual ~Executor();
 
   /// Do work periodically as it becomes available to us. Blocking call, may block indefinitely.
@@ -119,12 +117,10 @@ class RCLCPP_PUBLIC Executor
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
    */
-  RCLCPP_PUBLIC
   virtual void
   add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
   virtual void
   add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
 
@@ -135,12 +131,10 @@ class RCLCPP_PUBLIC Executor
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
    */
-  RCLCPP_PUBLIC
   virtual void
   remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
   virtual void
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
 
@@ -180,12 +174,10 @@ class RCLCPP_PUBLIC Executor
   /**
    * \param[in] node Shared pointer to the node to add.
    */
-  RCLCPP_PUBLIC
   void
   spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
@@ -200,11 +192,9 @@ class RCLCPP_PUBLIC Executor
    * Note that spin_some() may take longer than this time as it only returns once max_duration has
    * been exceeded.
    */
-  RCLCPP_PUBLIC
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
@@ -269,7 +259,6 @@ class RCLCPP_PUBLIC Executor
 
   /// Cancel any running spin* function, causing it to return.
   /* This function can be called asynchonously from any thread. */
-  RCLCPP_PUBLIC
   void
   cancel();
 
@@ -279,12 +268,10 @@ class RCLCPP_PUBLIC Executor
    * unintended consequences.
    * \param[in] memory_strategy Shared pointer to the memory strategy to set.
    */
-  RCLCPP_PUBLIC
   void
   set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
 
 protected:
-  RCLCPP_PUBLIC
   void
   spin_node_once_nanoseconds(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
@@ -294,53 +281,41 @@ class RCLCPP_PUBLIC Executor
   /** \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
    * service, client).
    */
-  RCLCPP_PUBLIC
   void
   execute_any_executable(AnyExecutable & any_exec);
 
-  RCLCPP_PUBLIC
   static void
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  RCLCPP_PUBLIC
   static void
   execute_intra_process_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  RCLCPP_PUBLIC
   static void
   execute_service(rclcpp::ServiceBase::SharedPtr service);
 
-  RCLCPP_PUBLIC
   static void
   execute_client(rclcpp::ClientBase::SharedPtr client);
 
-  RCLCPP_PUBLIC
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
-  RCLCPP_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  RCLCPP_PUBLIC
   void
   get_next_timer(AnyExecutable & any_exec);
 
-  RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  RCLCPP_PUBLIC
   bool
   get_next_executable(
     AnyExecutable & any_executable,

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -127,11 +127,9 @@ class RCLCPP_PUBLIC IntraProcessManager
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager)
 
-  RCLCPP_PUBLIC
   explicit IntraProcessManager(
     IntraProcessManagerImplBase::SharedPtr state = create_default_impl());
 
-  RCLCPP_PUBLIC
   virtual ~IntraProcessManager();
 
   /// Register a subscription with the manager, returns subscriptions unique id.
@@ -147,7 +145,6 @@ class RCLCPP_PUBLIC IntraProcessManager
    * \param subscription the Subscription to register.
    * \return an unsigned 64-bit integer which is the subscription's unique id.
    */
-  RCLCPP_PUBLIC
   uint64_t
   add_subscription(SubscriptionBase::SharedPtr subscription);
 
@@ -157,7 +154,6 @@ class RCLCPP_PUBLIC IntraProcessManager
    *
    * \param intra_process_subscription_id id of the subscription to remove.
    */
-  RCLCPP_PUBLIC
   void
   remove_subscription(uint64_t intra_process_subscription_id);
 
@@ -206,7 +202,6 @@ class RCLCPP_PUBLIC IntraProcessManager
    *
    * \param intra_process_publisher_id id of the publisher to remove.
    */
-  RCLCPP_PUBLIC
   void
   remove_publisher(uint64_t intra_process_publisher_id);
 
@@ -342,17 +337,14 @@ class RCLCPP_PUBLIC IntraProcessManager
   }
 
   /// Return true if the given rmw_gid_t matches any stored Publishers.
-  RCLCPP_PUBLIC
   bool
   matches_any_publishers(const rmw_gid_t * id) const;
 
   /// Return the number of intraprocess subscriptions to a topic, given the publisher id.
-  RCLCPP_PUBLIC
   size_t
   get_subscription_count(uint64_t intra_process_publisher_id) const;
 
 private:
-  RCLCPP_PUBLIC
   static uint64_t
   get_next_unique_id();