Add support for FastDDS versions earlier than 2.13

Signed-off-by: Irene Bandera <irenebandera@eprosima.com>
eProsima · Jan 10, 2024 · d8721e1 · d8721e1
1 parent 824e664
commit d8721e1
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Showing 154 changed files with 7,504 additions and 55 deletions.
diff --git a/controller/controller_tool/CMakeLists.txt b/controller/controller_tool/CMakeLists.txt
@@ -52,8 +52,17 @@ if (BUILD_DDSRECORDER_CONTROLLER)
     ###############################################################################
     # Build and install types
     ###############################################################################
-    add_subdirectory(ddstypes/DdsRecorderCommand)
-    add_subdirectory(ddstypes/DdsRecorderStatus)
+
+    # Determine Fast DDS version
+    if ("${FASTRTPS_VERSION}" LESS 2.13)
+        set(FASTDDS_SUBDIRECTORY "v1")
+    else()
+        set(FASTDDS_SUBDIRECTORY "v2")
+    endif()
+
+    # Add subdirectory based on Fast DDS version
+    add_subdirectory(ddstypes/${FASTDDS_SUBDIRECTORY}/DdsRecorderCommand)
+    add_subdirectory(ddstypes/${FASTDDS_SUBDIRECTORY}/DdsRecorderStatus)
 
     ###############################################################################
     # Install Tool

diff --git a/controller/controller_tool/ddstypes/v1/DdsRecorderCommand/CMakeLists.txt b/controller/controller_tool/ddstypes/v1/DdsRecorderCommand/CMakeLists.txt
@@ -0,0 +1,112 @@
+
+cmake_minimum_required(VERSION 3.16.3)
+
+# SWIG: use standard target name.
+if(POLICY CMP0078)
+  cmake_policy(SET CMP0078 NEW)
+endif()
+
+# SWIG: use SWIG_MODULE_NAME property.
+if(POLICY CMP0086)
+  cmake_policy(SET CMP0086 NEW)
+endif()
+
+###############################################################################
+# Library for types defined in DdsRecorderCommand IDL
+###############################################################################
+
+message(STATUS "Configuring python wrapper for types in DdsRecorderCommand...")
+
+###############################################################################
+# Type library on C++
+
+project(DdsRecorderCommand)
+
+find_package(fastcdr REQUIRED)
+find_package(fastrtps REQUIRED)
+
+
+set(${PROJECT_NAME}_FILES
+    DdsRecorderCommand.cxx
+    DdsRecorderCommandPubSubTypes.cxx
+    )
+
+include_directories()
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+#Create library for C++ types
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_FILES})
+if(WIN32)
+    target_compile_definitions(${PROJECT_NAME} PRIVATE EPROSIMA_USER_DLL_EXPORT)
+endif(WIN32)
+target_link_libraries(${PROJECT_NAME} PUBLIC fastcdr fastrtps)
+
+###############################################################################
+# Python bindings for type
+
+find_package(SWIG REQUIRED)
+include(${SWIG_USE_FILE})
+set(CMAKE_SWIG_FLAGS "")
+
+find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+set(PYTHON_INCLUDE_PATH ${Python3_INCLUDE_DIRS})
+set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
+set(PYTHON_LIBRARIES ${Python3_LIBRARIES})
+
+include_directories(${PYTHON_INCLUDE_PATH})
+
+set(${PROJECT_NAME}_MODULE
+    DdsRecorderCommandWrapper
+    )
+
+set(${PROJECT_NAME}_MODULE_FILES
+    ${PROJECT_NAME}.i
+    )
+
+SET_SOURCE_FILES_PROPERTIES(
+    ${${PROJECT_NAME}_MODULE_FILES}
+    PROPERTIES CPLUSPLUS ON
+    USE_TARGET_INCLUDE_DIRECTORIES TRUE
+    )
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}
+    )
+
+SWIG_ADD_LIBRARY(${${PROJECT_NAME}_MODULE}
+    TYPE SHARED
+    LANGUAGE python
+    SOURCES ${${PROJECT_NAME}_MODULE_FILES})
+
+if(UNIX AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set_property(TARGET ${${PROJECT_NAME}_MODULE} PROPERTY SWIG_COMPILE_DEFINITIONS SWIGWORDSIZE64)
+endif()
+
+SWIG_LINK_LIBRARIES(${${PROJECT_NAME}_MODULE}
+    Python3::Module
+    fastrtps
+    ${PROJECT_NAME}
+    )
+
+# Find the installation path
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(plat_specific=True, prefix='${CMAKE_INSTALL_PREFIX}'))"
+    OUTPUT_VARIABLE _ABS_PYTHON_MODULE_PATH
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+get_filename_component (_ABS_PYTHON_MODULE_PATH ${_ABS_PYTHON_MODULE_PATH} ABSOLUTE)
+file (RELATIVE_PATH _REL_PYTHON_MODULE_PATH ${CMAKE_INSTALL_PREFIX} ${_ABS_PYTHON_MODULE_PATH})
+SET (PYTHON_MODULE_PATH
+    ${_REL_PYTHON_MODULE_PATH}
+    )
+
+# Install
+install(TARGETS ${PROJECT_NAME}
+    RUNTIME DESTINATION bin/
+    LIBRARY DESTINATION lib/
+    ARCHIVE DESTINATION lib/
+    )
+install(TARGETS ${${PROJECT_NAME}_MODULE} DESTINATION ${PYTHON_MODULE_PATH})
+get_property(support_files TARGET ${${PROJECT_NAME}_MODULE} PROPERTY SWIG_SUPPORT_FILES)
+install(FILES ${support_files} DESTINATION ${PYTHON_MODULE_PATH})
diff --git a/controller/controller_tool/ddstypes/v1/DdsRecorderCommand/DdsRecorderCommand.cxx b/controller/controller_tool/ddstypes/v1/DdsRecorderCommand/DdsRecorderCommand.cxx
@@ -0,0 +1,112 @@
+
+cmake_minimum_required(VERSION 3.16.3)
+
+# SWIG: use standard target name.
+if(POLICY CMP0078)
+  cmake_policy(SET CMP0078 NEW)
+endif()
+
+# SWIG: use SWIG_MODULE_NAME property.
+if(POLICY CMP0086)
+  cmake_policy(SET CMP0086 NEW)
+endif()
+
+###############################################################################
+# Library for types defined in DdsRecorderCommand IDL
+###############################################################################
+
+message(STATUS "Configuring python wrapper for types in DdsRecorderCommand...")
+
+###############################################################################
+# Type library on C++
+
+project(DdsRecorderCommand)
+
+find_package(fastcdr REQUIRED)
+find_package(fastrtps REQUIRED)
+
+
+set(${PROJECT_NAME}_FILES
+    DdsRecorderCommand.cxx
+    DdsRecorderCommandPubSubTypes.cxx
+    )
+
+include_directories()
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+#Create library for C++ types
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_FILES})
+if(WIN32)
+    target_compile_definitions(${PROJECT_NAME} PRIVATE EPROSIMA_USER_DLL_EXPORT)
+endif(WIN32)
+target_link_libraries(${PROJECT_NAME} PUBLIC fastcdr fastrtps)
+
+###############################################################################
+# Python bindings for type
+
+find_package(SWIG REQUIRED)
+include(${SWIG_USE_FILE})
+set(CMAKE_SWIG_FLAGS "")
+
+find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+set(PYTHON_INCLUDE_PATH ${Python3_INCLUDE_DIRS})
+set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
+set(PYTHON_LIBRARIES ${Python3_LIBRARIES})
+
+include_directories(${PYTHON_INCLUDE_PATH})
+
+set(${PROJECT_NAME}_MODULE
+    DdsRecorderCommandWrapper
+    )
+
+set(${PROJECT_NAME}_MODULE_FILES
+    ${PROJECT_NAME}.i
+    )
+
+SET_SOURCE_FILES_PROPERTIES(
+    ${${PROJECT_NAME}_MODULE_FILES}
+    PROPERTIES CPLUSPLUS ON
+    USE_TARGET_INCLUDE_DIRECTORIES TRUE
+    )
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}
+    )
+
+SWIG_ADD_LIBRARY(${${PROJECT_NAME}_MODULE}
+    TYPE SHARED
+    LANGUAGE python
+    SOURCES ${${PROJECT_NAME}_MODULE_FILES})
+
+if(UNIX AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set_property(TARGET ${${PROJECT_NAME}_MODULE} PROPERTY SWIG_COMPILE_DEFINITIONS SWIGWORDSIZE64)
+endif()
+
+SWIG_LINK_LIBRARIES(${${PROJECT_NAME}_MODULE}
+    Python3::Module
+    fastrtps
+    ${PROJECT_NAME}
+    )
+
+# Find the installation path
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(plat_specific=True, prefix='${CMAKE_INSTALL_PREFIX}'))"
+    OUTPUT_VARIABLE _ABS_PYTHON_MODULE_PATH
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+get_filename_component (_ABS_PYTHON_MODULE_PATH ${_ABS_PYTHON_MODULE_PATH} ABSOLUTE)
+file (RELATIVE_PATH _REL_PYTHON_MODULE_PATH ${CMAKE_INSTALL_PREFIX} ${_ABS_PYTHON_MODULE_PATH})
+SET (PYTHON_MODULE_PATH
+    ${_REL_PYTHON_MODULE_PATH}
+    )
+
+# Install
+install(TARGETS ${PROJECT_NAME}
+    RUNTIME DESTINATION bin/
+    LIBRARY DESTINATION lib/
+    ARCHIVE DESTINATION lib/
+    )
+install(TARGETS ${${PROJECT_NAME}_MODULE} DESTINATION ${PYTHON_MODULE_PATH})
+get_property(support_files TARGET ${${PROJECT_NAME}_MODULE} PROPERTY SWIG_SUPPORT_FILES)
+install(FILES ${support_files} DESTINATION ${PYTHON_MODULE_PATH})