Lifecyle node and C state_machine

rclcpp_lifecycle/CMakeLists.txt

@@ -0,0 +1,99 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rclcpp_lifecycle)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++14")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcl_lifecycle REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+
+include_directories(include)
+
+macro(targets)
+  get_rclcpp_information("${rmw_implementation}" "rclcpp${target_suffix}")
+  get_rcl_lifecycle_information("${rmw_implementation}" "rcl_lifecycle${target_suffix}")
+
+  ### CPP High level library
+  add_library(rclcpp_lifecycle${target_suffix}
+    SHARED
+    src/lifecycle_node.cpp
+    src/node_interfaces/lifecycle_node_interface.cpp
+    src/state.cpp
+    src/transition.cpp
+  )
+  ament_target_dependencies(rclcpp_lifecycle${target_suffix}
+    "rclcpp${target_suffix}"
+    "rcl_lifecycle${target_suffix}"
+    "lifecycle_msgs")
+
+  # Causes the visibility macros to use dllexport rather than dllimport,
+  # which is appropriate when building the dll but not consuming it.
+  target_compile_definitions(rclcpp_lifecycle${target_suffix} PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")
+
+  install(TARGETS
+    rclcpp_lifecycle${target_suffix}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin)
+endmacro()
+
+call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_lifecycle_node test/test_lifecycle_node.cpp)
+  if(TARGET test_lifecycle_node)
+    target_include_directories(test_lifecycle_node PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_lifecycle_node ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_state_machine_info test/test_state_machine_info.cpp)
+  if(TARGET test_state_machine_info)
+    target_include_directories(test_state_machine_info PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_state_machine_info ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_register_custom_callbacks test/test_register_custom_callbacks.cpp)
+  if(TARGET test_register_custom_callbacks)
+    target_include_directories(test_register_custom_callbacks PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_register_custom_callbacks ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_callback_exceptions test/test_callback_exceptions.cpp)
+  if(TARGET test_callback_exceptions)
+    target_include_directories(test_callback_exceptions PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_callback_exceptions ${PROJECT_NAME})
+  endif()
+endif()
+
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(rcl_lifecycle)
+ament_export_dependencies(lifecycle_msgs)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_package()
+
+install(DIRECTORY include/
+  DESTINATION include)