(refactor) extract rcl_lifecycle package

Author: Karsten1987

rclcpp_lifecycle/CMakeLists.txt

@@ -3,85 +3,47 @@ cmake_minimum_required(VERSION 3.5)
 project(rclcpp_lifecycle)
 
 if(NOT WIN32)
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c11 -Wall -Wextra")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
 endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rcl REQUIRED)
-find_package(rmw REQUIRED)
+find_package(rcl_lifecycle REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 
+message("got lifecycle libs ${rcl_lifecycle_LIBRARIES}")
 include_directories(
   include)
 
-set(rcl_lifecycle_sources
-  src/rcl_lifecycle/default_state_machine.c
-  src/rcl_lifecycle/rcl_lifecycle.c
-  src/rcl_lifecycle/transition_map.c)
-set_source_files_properties(
-  ${rcl_lifecycle_sources}
-  PROPERTIES language "C")
-
 macro(targets)
   get_rclcpp_information("${rmw_implementation}" "rclcpp${target_suffix}")
-  get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
-  get_rmw_typesupport(typesupport_impls_c "${rmw_implementation}" LANGUAGE "c")
-  get_rmw_typesupport(typesupport_impls_cpp "${rmw_implementation}" LANGUAGE "cpp")
-
-  ### C-Library depending only on RCL
-  add_library(
-    rcl_lifecycle${target_suffix}
-    SHARED
-    ${rcl_lifecycle_sources})
-
-  ament_target_dependencies(rcl_lifecycle${target_suffix}
-    "rcl${target_suffix}"
-    "std_msgs"
-    "lifecycle_msgs")
-
-  install(TARGETS rcl_lifecycle${target_suffix}
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin)
 
   ### CPP High level library
   add_library(rclcpp_lifecycle${target_suffix}
     SHARED
-    src/rclcpp_lifecycle/lifecycle_manager.cpp)
+    src/lifecycle_manager.cpp)
   target_link_libraries(rclcpp_lifecycle${target_suffix}
-    rcl_lifecycle${target_suffix})
+    ${rcl_lifecycle_LIBRARIES})
   ament_target_dependencies(rclcpp_lifecycle${target_suffix}
     "rclcpp${target_suffix}"
+    #"rcl_lifecycle${target_suffix}"  This doesn't compile?
     "lifecycle_msgs")
 
   ### demos
   add_executable(lifecycle_talker${target_suffix}
     src/demos/lifecycle_talker.cpp)
   target_link_libraries(lifecycle_talker${target_suffix}
     rclcpp_lifecycle${target_suffix})
-  ament_target_dependencies(lifecycle_talker${target_suffix}
-    "rclcpp${target_suffix}"
-    "std_msgs")
   add_executable(lifecycle_listener${target_suffix}
     src/demos/lifecycle_listener.cpp)
   target_link_libraries(lifecycle_listener${target_suffix}
     rclcpp_lifecycle${target_suffix})
-  ament_target_dependencies(lifecycle_listener${target_suffix}
-    "rclcpp${target_suffix}"
-    "std_msgs"
-    "lifecycle_msgs")
   add_executable(lifecycle_service_client${target_suffix}
     src/demos/lifecycle_service_client.cpp)
   target_link_libraries(lifecycle_service_client${target_suffix}
     rclcpp_lifecycle${target_suffix})
-  ament_target_dependencies(lifecycle_service_client${target_suffix}
-    "rclcpp${target_suffix}"
-    "std_msgs"
-    "lifecycle_msgs")
 
   install(TARGETS
     rclcpp_lifecycle${target_suffix}