Updates for Foxy

jacobperron · jacobperron · commit fe96b5e8cb37 · 2021-06-22T16:10:47.000-07:00
* Depend on new package rosidl_runtime_c for rosidl C structures
* Ensure Java support library links against C generator target

Signed-off-by: Jacob Perron &lt;jacob@openrobotics.org&gt;
diff --git a/rcljava/package.xml b/rcljava/package.xml
@@ -22,7 +22,7 @@
   <build_export_depend>builtin_interfaces</build_export_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
-  <build_export_depend>rosidl_generator_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
   <build_export_depend>rosidl_generator_java</build_export_depend>
   <build_export_depend>rosidl_typesupport_c</build_export_depend>
 
@@ -31,7 +31,7 @@
   <exec_depend>rcl</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
+  <exec_depend>rosidl_runtime_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
@@ -41,7 +41,7 @@
   <test_depend>rcljava_common</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rmw</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
   <test_depend>rosidl_generator_java</test_depend>
   <test_depend>std_msgs</test_depend>
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
@@ -23,7 +23,7 @@
 #include "rcl/rcl.h"
 #include "rcl/timer.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
@@ -23,7 +23,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
@@ -23,7 +23,7 @@
 #include "rcl/rcl.h"
 #include "rcl/timer.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rosidl_generator_java/CMakeLists.txt b/rosidl_generator_java/CMakeLists.txt
@@ -28,7 +28,7 @@ ament_index_register_resource("rosidl_generator_packages")
 
 if(BUILD_TESTING)
   find_package(rosidl_cmake REQUIRED)
-  find_package(rosidl_generator_c REQUIRED)
+  find_package(rosidl_runtime_c REQUIRED)
   find_package(test_interface_files REQUIRED)
 
   # Disable flake8 linter
diff --git a/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake b/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
@@ -244,6 +244,7 @@ foreach(_generated_cpp_file ${_generated_extension_files})
   target_link_libraries(
     ${_library_name}
     ${PROJECT_NAME}__${_typesupport_impl}
+    ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c
     ${_extension_link_flags}
   )
   rosidl_target_interfaces(${_library_name}
diff --git a/rosidl_generator_java/package.xml b/rosidl_generator_java/package.xml
@@ -24,7 +24,7 @@
 
   <exec_depend>rmw_implementation</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
+  <exec_depend>rosidl_runtime_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
@@ -33,7 +33,11 @@
 
   <test_depend>rmw_implementation</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
+  <!-- It's not clear why we need to depend on rosidl_generator_cpp, but without it
+       the tests will not compile.
+       See https://github.com/ros2/rosidl_python/pull/100#issuecomment-608558735 -->
+  <test_depend>rosidl_generator_cpp</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
 
   <test_depend>rosidl_cmake</test_depend>
   <test_depend>rosidl_parser</test_depend>
diff --git a/rosidl_generator_java/resource/action.cpp.em b/rosidl_generator_java/resource/action.cpp.em
@@ -88,7 +88,7 @@ expand_template(
 
 #include <cstdint>
 
-#include "rosidl_generator_c/action_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
 
 #include "@(idl_structure_type_to_c_include_prefix(action.namespaced_type)).h"
 
diff --git a/rosidl_generator_java/resource/msg.cpp.em b/rosidl_generator_java/resource/msg.cpp.em
@@ -43,20 +43,20 @@ for member in message.structure.members:
         cache[array_list_normalized_type] = array_list_jni_type
         type_ = type_.value_type
         if isinstance(type_, BasicType):
-            member_includes.add('rosidl_generator_c/primitives_sequence.h')
-            member_includes.add('rosidl_generator_c/primitives_sequence_functions.h')
+            member_includes.add('rosidl_runtime_c/primitives_sequence.h')
+            member_includes.add('rosidl_runtime_c/primitives_sequence_functions.h')
 
     # We do not cache strings because java.lang.String behaves differently
     if not isinstance(type_, AbstractGenericString):
         cache[get_normalized_type(type_)] = get_jni_type(type_)
 
     if isinstance(type_, AbstractString):
-        member_includes.add('rosidl_generator_c/string.h')
-        member_includes.add('rosidl_generator_c/string_functions.h')
+        member_includes.add('rosidl_runtime_c/string.h')
+        member_includes.add('rosidl_runtime_c/string_functions.h')
 
     if isinstance(type_, AbstractWString):
-        member_includes.add('rosidl_generator_c/u16string.h')
-        member_includes.add('rosidl_generator_c/u16string_functions.h')
+        member_includes.add('rosidl_runtime_c/u16string.h')
+        member_includes.add('rosidl_runtime_c/u16string_functions.h')
 
     if isinstance(type_, NamespacedType):
         namespaced_types.add(get_jni_type(type_))
@@ -110,7 +110,7 @@ elif message_c_include_prefix.endswith('__get_result'):
 #include <cstdint>
 #include <string>
 
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
@@ -232,16 +232,16 @@ normalized_type = get_normalized_type(member.type)
     jmethodID _jlist_@(member.name)_size_mid = env->GetMethodID(_j@(list_normalized_type)_class_global, "size", "()I");
     jint _jlist_@(member.name)_size = env->CallIntMethod(_jlist_@(member.name)_object, _jlist_@(member.name)_size_mid);
 @[      if isinstance(member.type.value_type, AbstractString)]@
-    if (!rosidl_generator_c__String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
+    if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
       rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create String__Array ros_message");
     }
 @[      elif isinstance(member.type.value_type, AbstractWString)]@
-    if (!rosidl_generator_c__U16String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
+    if (!rosidl_runtime_c__U16String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
       rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create U16String__Array ros_message");
     }
 @[      else]@
 @[        if isinstance(member.type.value_type, BasicType)]@
-    if (!rosidl_generator_c__@(member.type.value_type.typename)__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
+    if (!rosidl_runtime_c__@(member.type.value_type.typename)__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
       rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create @(member.type.value_type)__Array ros_message");
     }
 @[        else]@
@@ -264,15 +264,15 @@ normalized_type = get_normalized_type(member.type)
       jstring _jfield_@(member.name)_value = static_cast<jstring>(element);
       if (_jfield_@(member.name)_value != nullptr) {
         const char * _str@(member.name) = env->GetStringUTFChars(_jfield_@(member.name)_value, 0);
-        rosidl_generator_c__String__assign(
+        rosidl_runtime_c__String__assign(
           &_dest_@(member.name)[i], _str@(member.name));
         env->ReleaseStringUTFChars(_jfield_@(member.name)_value, _str@(member.name));
       }
 @[    elif isinstance(member.type.value_type, AbstractWString)]@
       jstring _jfield_@(member.name)_value = static_cast<jstring>(element);
       if (_jfield_@(member.name)_value != nullptr) {
         const jchar * _str@(member.name) = env->GetStringChars(_jfield_@(member.name)_value, 0);
-        rosidl_generator_c__U16String__assign(
+        rosidl_runtime_c__U16String__assign(
           &_dest_@(member.name)[i], _str@(member.name));
         env->ReleaseStringChars(_jfield_@(member.name)_value, _str@(member.name));
       }
@@ -295,12 +295,12 @@ call_method_name = 'Call%sMethod' % get_java_type(member.type.value_type, use_pr
   if (_jvalue@(member.name) != nullptr) {
 @[      if isinstance(member.type, AbstractString)]@
     const char * _str@(member.name) = env->GetStringUTFChars(_jvalue@(member.name), 0);
-    rosidl_generator_c__String__assign(
+    rosidl_runtime_c__String__assign(
       &ros_message->@(member.name), _str@(member.name));
     env->ReleaseStringUTFChars(_jvalue@(member.name), _str@(member.name));
 @[      else]@
     const jchar * _str@(member.name) = env->GetStringChars(_jvalue@(member.name), 0);
-    rosidl_generator_c__U16String__assign(
+    rosidl_runtime_c__U16String__assign(
       &ros_message->@(member.name), _str@(member.name));
     env->ReleaseStringChars(_jvalue@(member.name), _str@(member.name));
 @[      end if]@
diff --git a/rosidl_generator_java/resource/srv.cpp.em b/rosidl_generator_java/resource/srv.cpp.em
@@ -38,7 +38,7 @@ expand_template(
 
 #include <cstdint>
 
-#include "rosidl_generator_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
 
 @{
 include_prefix = idl_structure_type_to_c_include_prefix(service.namespaced_type)

Original file line number	Diff line number	Diff line change
`@@ -244,6 +244,7 @@ foreach(_generated_cpp_file ${_generated_extension_files})`
`244`	`244`	`target_link_libraries(`
`245`	`245`	`${_library_name}`
`246`	`246`	`${PROJECT_NAME}__${_typesupport_impl}`
	`247`	`+ ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c`
`247`	`248`	`${_extension_link_flags}`
`248`	`249`	`)`
`249`	`250`	`rosidl_target_interfaces(${_library_name}`