Splitted rosidl_generator_c and rosidl_generator_cpp in two: rosidl_generator_x and rosidl_runtime_x

rosidl_generator_c/CMakeLists.txt

@@ -13,33 +13,10 @@ endif()
 
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
-find_package(rosidl_typesupport_interface REQUIRED)
-
-include_directories(include)
-add_library(${PROJECT_NAME}
-  "src/message_bounds.c"
-  "src/message_type_support.c"
-  "src/primitives_sequence_functions.c"
-  "src/service_type_support.c"
-  "src/string_functions.c"
-  "src/u16string_functions.c"
-)
-ament_target_dependencies(${PROJECT_NAME}
-  "rosidl_typesupport_interface")
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  set_target_properties(${PROJECT_NAME} PROPERTIES
-    COMPILE_OPTIONS -Wall -Wextra -Wpedantic)
-endif()
-if(WIN32)
-  target_compile_definitions(${PROJECT_NAME}
-    PRIVATE "ROSIDL_GENERATOR_C_BUILDING_DLL")
-endif()
+find_package(rosidl_runtime_c REQUIRED)
 
 ament_export_dependencies(rosidl_cmake)
 ament_export_dependencies(rosidl_typesupport_interface)
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
-
 ament_index_register_resource("rosidl_generator_packages")
 
 ament_python_install_package(${PROJECT_NAME})
@@ -59,7 +36,6 @@ if(BUILD_TESTING)
   # Trick ament_target_dependencies() into thinking this package has been found
   set(rosidl_generator_c_FOUND "1")
   set(rosidl_generator_c_DIR "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-  set(rosidl_generator_c_LIBRARIES "${PROJECT_NAME}")
 
   rosidl_generator_c_extras(
     "${CMAKE_CURRENT_SOURCE_DIR}/bin/rosidl_generator_c"
@@ -76,8 +52,7 @@ if(BUILD_TESTING)
   add_executable(test_compilation_c test/test_compilation.c test/separate_compilation.c)
   add_executable(test_interfaces_c test/test_interfaces.c)
   add_executable(test_invalid_initialization_c test/test_invalid_initialization.c)
-  add_dependencies(test_interfaces_c ${PROJECT_NAME})
-  add_dependencies(test_invalid_initialization_c ${PROJECT_NAME})
+
   ament_add_test(
     test_compilation_c
     COMMAND "$<TARGET_FILE:test_compilation_c>"
@@ -95,10 +70,30 @@ if(BUILD_TESTING)
   )
 
   # include the built files directly, instead of their install location
-  include_directories("${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}")
-  target_link_libraries(test_compilation_c ${PROJECT_NAME} ${PROJECT_NAME}_interfaces__${PROJECT_NAME})
-  target_link_libraries(test_interfaces_c ${PROJECT_NAME} ${PROJECT_NAME}_interfaces__${PROJECT_NAME})
-  target_link_libraries(test_invalid_initialization_c ${PROJECT_NAME} ${PROJECT_NAME}_interfaces__${PROJECT_NAME})
+  target_link_libraries(test_compilation_c
+    ${PROJECT_NAME}_interfaces__${PROJECT_NAME}
+    ${rosidl_runtime_c_LIBRARIES}
+  )
+  target_include_directories(test_compilation_c PUBLIC
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    ${rosidl_runtime_c_INCLUDE_DIRS}
+  )
+  target_link_libraries(test_interfaces_c
+    ${PROJECT_NAME}_interfaces__${PROJECT_NAME}
+    ${rosidl_runtime_c_LIBRARIES}
+  )
+  target_include_directories(test_interfaces_c PUBLIC
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    ${rosidl_runtime_c_INCLUDE_DIRS}
+  )
+  target_link_libraries(test_invalid_initialization_c
+    ${PROJECT_NAME}_interfaces__${PROJECT_NAME}
+    ${rosidl_runtime_c_LIBRARIES}
+  )
+  target_include_directories(test_invalid_initialization_c PUBLIC
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    ${rosidl_runtime_c_INCLUDE_DIRS}
+  )
 endif()
 
 ament_package(
@@ -113,13 +108,3 @@ install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}
 )
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-install(
-  TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)

rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake

@@ -125,7 +125,7 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
     ${_pkg_name})
 endforeach()
 ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
   "rosidl_typesupport_interface")
 
 add_dependencies(

rosidl_generator_c/package.xml

@@ -7,10 +7,9 @@
   <maintainer email="[email protected]">William Woodall</maintainer>
   <license>Apache License 2.0</license>
 
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <build_depend>rosidl_typesupport_interface</build_depend>
-
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
@@ -22,10 +21,10 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rosidl_cmake</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
   <test_depend>test_interface_files</test_depend>
 
   <member_of_group>rosidl_generator_packages</member_of_group>
-  <member_of_group>rosidl_runtime_packages</member_of_group>
 
   <export>
     <build_type>ament_cmake</build_type>

rosidl_generator_cpp/CMakeLists.txt

@@ -6,17 +6,15 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 
 ament_export_dependencies(rosidl_cmake)
-ament_export_dependencies(rosidl_generator_c)
-ament_export_include_directories(include)
 
 ament_index_register_resource("rosidl_generator_packages")
-ament_index_register_resource("rosidl_runtime_packages")
 
 ament_python_install_package(${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  find_package(rosidl_generator_c REQUIRED)
+  find_package(rosidl_runtime_c REQUIRED)
+  find_package(rosidl_runtime_cpp REQUIRED)
   find_package(test_interface_files REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
@@ -45,32 +43,65 @@ if(BUILD_TESTING)
     add_compile_options(-Wall -Wextra -Wpedantic)
   endif()
 
-  include_directories(include
-    ${rosidl_generator_c_INCLUDE_DIRS})
-
   ament_add_gtest(test_bounded_vector test/test_bounded_vector.cpp)
+  if(TARGET test_bounded_vector)
+    add_dependencies(test_bounded_vector ${PROJECT_NAME})
+    target_include_directories(test_bounded_vector PUBLIC
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME})
+    ament_target_dependencies(test_bounded_vector
+      rosidl_runtime_cpp
+      rosidl_runtime_c)
+  endif()
   ament_add_gtest(test_msg_initialization test/test_msg_initialization.cpp)
   if(TARGET test_msg_initialization)
     add_dependencies(test_msg_initialization ${PROJECT_NAME})
+    ament_target_dependencies(test_msg_initialization
+      rosidl_runtime_cpp
+      rosidl_runtime_c)
+    target_include_directories(test_msg_initialization PUBLIC
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    )
   endif()
   ament_add_gtest(test_srv_initialization test/test_srv_initialization.cpp)
   if(TARGET test_srv_initialization)
     add_dependencies(test_srv_initialization ${PROJECT_NAME})
+    ament_target_dependencies(test_srv_initialization
+      rosidl_runtime_cpp
+      rosidl_runtime_c)
+    target_include_directories(test_srv_initialization PUBLIC
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    )
   endif()
   ament_add_gtest(test_interfaces_cpp test/test_interfaces.cpp)
   if(TARGET test_interfaces_cpp)
     add_dependencies(test_interfaces_cpp ${PROJECT_NAME})
+    ament_target_dependencies(test_interfaces_cpp
+      rosidl_runtime_cpp
+      rosidl_runtime_c)
+    target_include_directories(test_interfaces_cpp PUBLIC
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    )
   endif()
   ament_add_gtest(test_msg_datatype test/test_msg_datatype.cpp)
   if(TARGET test_msg_datatype)
     add_dependencies(test_msg_datatype ${PROJECT_NAME})
+    ament_target_dependencies(test_msg_datatype
+      rosidl_runtime_cpp
+      rosidl_runtime_c)
+    target_include_directories(test_msg_datatype PUBLIC
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    )
   endif()
   ament_add_gtest(test_traits test/test_traits.cpp)
   if(TARGET test_traits)
     add_dependencies(test_traits ${PROJECT_NAME})
+    ament_target_dependencies(test_traits
+      rosidl_runtime_cpp
+      rosidl_runtime_c)
+    target_include_directories(test_traits PUBLIC
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}
+    )
   endif()
-  # include the built files directly, instead of their install location
-  include_directories("${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}")
 endif()
 
 ament_package(
@@ -85,7 +116,3 @@ install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}
 )
-install(
-  DIRECTORY include/
-  DESTINATION include
-)

rosidl_generator_cpp/package.xml

@@ -7,6 +7,7 @@
   <maintainer email="[email protected]">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
 
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
@@ -21,11 +22,11 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rosidl_cmake</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
+  <test_depend>rosidl_runtime_cpp</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
   <test_depend>test_interface_files</test_depend>
 
   <member_of_group>rosidl_generator_packages</member_of_group>
-  <member_of_group>rosidl_runtime_packages</member_of_group>
 
   <export>
     <build_type>ament_cmake</build_type>

rosidl_runtime_c/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_runtime_c C)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+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(rosidl_typesupport_interface REQUIRED)
+
+include_directories(include)
+add_library(${PROJECT_NAME}
+  "src/message_bounds.c"
+  "src/message_type_support.c"
+  "src/primitives_sequence_functions.c"
+  "src/service_type_support.c"
+  "src/string_functions.c"
+  "src/u16string_functions.c"
+)
+ament_target_dependencies(${PROJECT_NAME}
+  "rosidl_typesupport_interface")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    COMPILE_OPTIONS -Wall -Wextra -Wpedantic)
+endif()
+if(WIN32)
+  target_compile_definitions(${PROJECT_NAME}
+    PRIVATE "ROSIDL_RUNTIME_C_BUILDING_DLL")
+endif()
+
+ament_export_dependencies(rosidl_typesupport_interface)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+ament_index_register_resource("rosidl_runtime_packages")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_package()

rosidl_runtime_c/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_runtime_c</name>
+  <version>0.8.2</version>
+  <description>Generate the ROS interfaces in C.</description>
+  <maintainer email="[email protected]">William Woodall</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <build_depend>rosidl_typesupport_interface</build_depend>
+
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+
+  <build_export_depend>rosidl_typesupport_interface</build_export_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_runtime_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosidl_runtime_cpp/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_runtime_cpp)
+
+find_package(ament_cmake REQUIRED)
+
+ament_export_dependencies(rosidl_cmake)
+ament_export_include_directories(include)
+
+ament_index_register_resource("rosidl_runtime_packages")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+ament_package()

rosidl_runtime_cpp/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_runtime_cpp</name>
+  <version>0.8.2</version>
+  <description>Generate the ROS interfaces in C++.</description>
+  <maintainer email="[email protected]">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_runtime_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosidl_typesupport_introspection_c/CMakeLists.txt

@@ -15,7 +15,7 @@ find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 
 ament_export_dependencies(rosidl_cmake)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
 # The reason the impl folder is exported is that it contains the implementation
 # for the get_*_type_support_handle functions and defines the opensplice
 # specific version of these functions.