Static type support initial

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Author: pablogs9

rosidl_typesupport_c/CMakeLists.txt

@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rosidl_typesupport_c)
 
+option(ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT "Enable static typesupport" OFF)
+
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 11)
@@ -16,13 +18,17 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
+if(NOT ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT)
+  find_package(rcpputils REQUIRED)
+endif()
 
-ament_export_dependencies(rcpputils)
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(rosidl_typesupport_interface)
+if(NOT ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT)
+  ament_export_dependencies(rcpputils)
+endif()
 
 ament_export_include_directories(include)
 
@@ -36,15 +42,23 @@ if(WIN32)
   target_compile_definitions(${PROJECT_NAME}
     PRIVATE "ROSIDL_TYPESUPPORT_C_BUILDING_DLL")
 endif()
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    $<$<BOOL:${ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT}>:ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT>
+)
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 
 ament_target_dependencies(${PROJECT_NAME}
-  "rcpputils"
   "rcutils"
   "rosidl_runtime_c"
 )
+if(NOT ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcpputils"
+  )
+endif()
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
 

rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake

@@ -126,8 +126,10 @@ if(NOT typesupports MATCHES ";")
     ${rosidl_generate_interfaces_TARGET}__${typesupports})
 else()
   if("${rosidl_typesupport_c_LIBRARY_TYPE}" STREQUAL "STATIC")
-    message(FATAL_ERROR "Multiple typesupports [${typesupports}] but static "
-      "linking was requested")
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE
+    ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
+  )
   endif()
 endif()
 
@@ -151,6 +153,7 @@ add_dependencies(
 add_dependencies(
   ${rosidl_generate_interfaces_TARGET}${_target_suffix}
   ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c
+  ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
 )
 
 if(NOT rosidl_generate_interfaces_SKIP_INSTALL)

rosidl_typesupport_c/resource/msg__type_support.cpp.em

@@ -76,13 +76,34 @@ typedef struct _@(message.structure.namespaced_type.name)_type_support_data_t
   void * data[@(len(type_supports))];
 } _@(message.structure.namespaced_type.name)_type_support_data_t;
 
+#ifdef ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+@[for type_support in sorted(type_supports)]@
+rosidl_message_type_support_t * ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(@(type_support), @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(message.structure.namespaced_type.name))();
+@[end for]@
+#ifdef __cplusplus
+}
+#endif
+
+static _@(message.structure.namespaced_type.name)_type_support_data_t _@(message.structure.namespaced_type.name)_message_typesupport_data = {
+  {
+@[for type_support in sorted(type_supports)]@
+    (void*) ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(@(type_support), @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(message.structure.namespaced_type.name)),
+@[end for]@
+  }
+};
+#else
 static _@(message.structure.namespaced_type.name)_type_support_data_t _@(message.structure.namespaced_type.name)_message_typesupport_data = {
   {
 @[for type_support in sorted(type_supports)]@
     0,  // will store the shared library later
 @[end for]@
   }
 };
+#endif // ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
 
 static const type_support_map_t _@(message.structure.namespaced_type.name)_message_typesupport_map = {
   @(len(type_supports)),

rosidl_typesupport_c/resource/srv__type_support.cpp.em

@@ -84,13 +84,34 @@ typedef struct _@(service.namespaced_type.name)_type_support_data_t
   void * data[@(len(type_supports))];
 } _@(service.namespaced_type.name)_type_support_data_t;
 
+#ifdef ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+@[for type_support in sorted(type_supports)]@
+rosidl_service_type_support_t * ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(@(type_support), @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name))();
+@[end for]@
+#ifdef __cplusplus
+}
+#endif
+
+static _@(service.namespaced_type.name)_type_support_data_t _@(service.namespaced_type.name)_service_typesupport_data = {
+  {
+@[for type_support in sorted(type_supports)]@
+    (void*) ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(@(type_support), @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)),
+@[end for]@
+  }
+};
+#else
 static _@(service.namespaced_type.name)_type_support_data_t _@(service.namespaced_type.name)_service_typesupport_data = {
   {
 @[for type_support in sorted(type_supports)]@
     0,  // will store the shared library later
 @[end for]@
   }
 };
+#endif // ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
 
 static const type_support_map_t _@(service.namespaced_type.name)_service_typesupport_map = {
   @(len(type_supports)),

rosidl_typesupport_c/src/type_support_dispatch.hpp

@@ -15,6 +15,8 @@
 #ifndef TYPE_SUPPORT_DISPATCH_HPP_
 #define TYPE_SUPPORT_DISPATCH_HPP_
 
+#ifndef ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
+
 #include <cstddef>
 #include <cstdio>
 #include <cstring>
@@ -24,6 +26,9 @@
 #include <string>
 
 #include "rcpputils/shared_library.hpp"
+
+#endif  // ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
+
 #include "rcutils/error_handling.h"
 #include "rcutils/snprintf.h"
 #include "rosidl_typesupport_c/identifier.h"
@@ -50,6 +55,8 @@ get_typesupport_handle_function(
       if (strcmp(map->typesupport_identifier[i], identifier) != 0) {
         continue;
       }
+      typedef const TypeSupport * (* funcSignature)(void);
+#ifndef ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
       rcpputils::SharedLibrary * lib = nullptr;
 
       if (!map->data[i]) {
@@ -103,9 +110,10 @@ get_typesupport_handle_function(
           map->symbol_name[i], e.what());
         return nullptr;
       }
-
-      typedef const TypeSupport * (* funcSignature)(void);
       funcSignature func = reinterpret_cast<funcSignature>(sym);
+#else
+      funcSignature func = reinterpret_cast<funcSignature>(map->data[i]);
+#endif  // ROSIDL_TYPESUPPORT_STATIC_TYPESUPPORT
       const TypeSupport * ts = func();
       return ts;
     }