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Resource loaning #187

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Karsten1987 wants to merge 18 commits into from
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Resource loaning #187

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3759843
add main repos
Karsten1987 Sep 25, 2020
e11b77e
resource manager parses urdf
Karsten1987 Sep 26, 2020
8d2a28b
cleanup hardware_interface cmake
Karsten1987 Sep 26, 2020
9f07f43
rebase
Karsten1987 Sep 26, 2020
d349914
renaming
Karsten1987 Sep 28, 2020
c1067ef
load hardware and components
Karsten1987 Sep 28, 2020
3acf937
review comments
Karsten1987 Sep 29, 2020
6d5f918
introduce component interfaces
Karsten1987 Sep 29, 2020
76ca4ce
wip make components pure interfaces
Karsten1987 Sep 30, 2020
4b62a7c
introduce multi_interface_joint package
Karsten1987 Sep 30, 2020
ff46c23
transfer unit tests to new package
Karsten1987 Sep 30, 2020
9273277
use component interfaces
Karsten1987 Oct 1, 2020
4c3ff41
update doxygen
Karsten1987 Oct 7, 2020
9c7e1b6
safe resource loaning
Karsten1987 Oct 8, 2020
9b05613
fix gcc
Karsten1987 Oct 9, 2020
09ce264
claim joint components
Karsten1987 Oct 9, 2020
34e5317
allow for interface api access
Karsten1987 Oct 9, 2020
0a33718
hardware_interface_status -> status
Karsten1987 Oct 12, 2020
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32 changes: 29 additions & 3 deletions controller_manager/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ find_package(rclcpp REQUIRED)

add_library(controller_manager SHARED
src/controller_manager.cpp
src/resource_manager.cpp
)
target_include_directories(controller_manager PRIVATE include)
ament_target_dependencies(controller_manager
Expand Down Expand Up @@ -65,6 +66,10 @@ if(BUILD_TESTING)
target_include_directories(test_controller PRIVATE include)
target_link_libraries(test_controller controller_manager)
target_compile_definitions(test_controller PRIVATE "CONTROLLER_MANAGER_BUILDING_DLL")
install(TARGETS test_controller
DESTINATION lib
)
pluginlib_export_plugin_description_file(controller_interface test/test_controller.xml)

ament_add_gmock(
test_controller_manager
Expand Down Expand Up @@ -101,11 +106,32 @@ if(BUILD_TESTING)
test_robot_hardware
)

pluginlib_export_plugin_description_file(controller_interface test/test_controller.xml)

install(TARGETS test_controller
add_library(test_hardware_resources SHARED
test/test_hardware_resources/test_actuator_hardware.cpp
test/test_hardware_resources/test_joint_component.cpp
test/test_hardware_resources/test_sensor_component.cpp
test/test_hardware_resources/test_sensor_hardware.cpp
test/test_hardware_resources/test_system_hardware.cpp)
target_include_directories(test_hardware_resources PRIVATE include)
ament_target_dependencies(test_hardware_resources
hardware_interface
pluginlib
)
install(TARGETS test_hardware_resources
DESTINATION lib
)
pluginlib_export_plugin_description_file(
hardware_interface test/test_hardware_resources.xml)

ament_add_gmock(
test_resource_manager
test/test_resource_manager.cpp
ENV ASAN_OPTIONS=detect_container_overflow=0
)
target_include_directories(test_resource_manager PRIVATE include src)
target_link_libraries(test_resource_manager controller_manager test_hardware_resources)
set_target_properties(test_resource_manager PROPERTIES COMPILE_FLAGS "-fsanitize=undefined -fsanitize=address")
set_target_properties(test_resource_manager PROPERTIES LINK_FLAGS "-fsanitize=undefined -fsanitize=address")
endif()

ament_export_libraries(
Expand Down
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