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cmake: Add RMW_IMPLEMENTATION_FORCE_POCO #59

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Mar 26, 2019
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cmake: Add RMW_IMPLEMENTATION_FORCE_POCO #59

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cmake: Add `RMW_IMPLEMENTATION_FORCE_POCO`
EricCousineau-TRI Mar 26, 2019
1be6c07
WIP Address comments
EricCousineau-TRI Mar 26, 2019
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WIP Address comments
EricCousineau-TRI Mar 26, 2019
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30 changes: 23 additions & 7 deletions rmw_implementation/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,20 +35,36 @@ foreach(impl IN LISTS RMW_IMPLEMENTATIONS)
endforeach()

message(STATUS "")
message(STATUS "Using default rmw implementation: '${RMW_IMPLEMENTATION}'")
message(STATUS "Default rmw implementation: '${RMW_IMPLEMENTATION}'")
message(STATUS "")

# if only a single rmw impl. is available or poco is not available
# this package will directly reference the default rmw impl.
if(NOT RMW_IMPLEMENTATIONS MATCHES ";" OR NOT Poco_FOUND)
option(RMW_IMPLEMENTATION_FORCE_DYNAMIC_LOADING
"Force use of dynamic loading (via poco), even if there is only one implementation available"
OFF)

# Nominally use dynamic loading if poco is available.
set(RMW_IMPLEMENTATION_SUPPORTS_POCO ${Poco_FOUND})
# Determine if we're going to actually support dynamic loading.
if(RMW_IMPLEMENTATION_FORCE_DYNAMIC_LOADING)
# Force usage.
if(NOT Poco_FOUND)
message(FATAL_ERROR "Dynamic loading forced, but poco is not found!")
endif()
set(RMW_IMPLEMENTATION_SUPPORTS_POCO TRUE)
elseif(NOT RMW_IMPLEMENTATIONS MATCHES ";")
set(RMW_IMPLEMENTATION_SUPPORTS_POCO FALSE)
endif()

if(NOT RMW_IMPLEMENTATION_SUPPORTS_POCO)
message(STATUS "Dynamic loading disabled; directly referencing '${RMW_IMPLEMENTATION}'")
message(STATUS "")

else()
set(RMW_IMPLEMENTATION_SUPPORTS_POCO TRUE)
message(STATUS "Dynamic loading enabled with any of the available rmw implementations")
message(STATUS "")

find_package(rmw REQUIRED)

message(STATUS "Support runtime override with any of the available rmw implementations")
message(STATUS "")
link_directories(${Poco_LIBRARY_DIR})
add_library(${PROJECT_NAME} SHARED
src/functions.cpp)
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