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Use rcpputils for the filesystem implementation. #212

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Merged
clalancette merged 1 commit into from
Jan 13, 2021
Merged

Use rcpputils for the filesystem implementation. #212

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51 changes: 0 additions & 51 deletions pluginlib/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -27,34 +27,6 @@ ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils tinyxml
ament_export_include_directories(include)
ament_export_targets(${PROJECT_NAME})

if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_FLAGS MATCHES "-stdlib=libc\\+\\+")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
# Before LLVM 7.0, filesystem is part of experimental
set(FILESYSTEM_LIB c++experimental)
elseif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 9.0)
# Before LLVM 9.0 you have to manually link the fs library
set(FILESYSTEM_LIB c++fs)
else()
# Starting at LLVM 9.0 filesystem is built in
set(FILESYSTEM_LIB)
endif()
elseif(CMAKE_CXX_COMPILER_ID MATCHES "QCC")
if(CMAKE_CXX_FLAGS MATCHES "-stdlib=libc\\+\\+")
set(FILESYSTEM_LIB c++fs)
else()
set(FILESYSTEM_LIB)
endif()
else()
set(FILESYSTEM_LIB stdc++fs)
endif()

if(UNIX AND NOT APPLE)
# this is needed to use the experimental/filesystem on Linux, but cannot be passed with
# ament_export_libraries() because it is not absolute and cannot be found with find_library
target_link_libraries(${PROJECT_NAME}
INTERFACE ${FILESYSTEM_LIB})
endif()

install(
TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
)
Expand All @@ -72,23 +44,6 @@ install(
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)

# NOTE this block is also defined in pluginlib-extras.cmake
# changes here need to be duplicated there
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_FLAGS MATCHES "-stdlib=libc\\+\\+")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
# Before LLVM 7.0, filesystem is part of experimental
set(FILESYSTEM_LIB c++experimental)
elseif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 9.0)
# Before LLVM 9.0 you have to manually link the fs library
set(FILESYSTEM_LIB c++fs)
else()
# Starting at LLVM 9.0 filesystem is built in
set(FILESYSTEM_LIB)
endif()
else()
set(FILESYSTEM_LIB stdc++fs)
endif()

include_directories(include test/include)

add_library(test_plugins SHARED ./test/test_plugins.cpp)
Expand Down Expand Up @@ -124,9 +79,6 @@ if(BUILD_TESTING)
TinyXML2
)

if(UNIX AND NOT APPLE)
target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${FILESYSTEM_LIB})
endif()
add_dependencies(${PROJECT_NAME}_unique_ptr_test "${mock_install_target}")
endif()

Expand All @@ -144,9 +96,6 @@ if(BUILD_TESTING)
TinyXML2
)

if(UNIX AND NOT APPLE)
target_link_libraries(${PROJECT_NAME}_utest ${FILESYSTEM_LIB})
endif()
add_dependencies(${PROJECT_NAME}_utest "${mock_install_target}")
endif()

Expand Down
14 changes: 7 additions & 7 deletions pluginlib/include/pluginlib/class_loader_imp.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,11 +68,11 @@
#include "ament_index_cpp/get_resource.hpp"
#include "ament_index_cpp/get_resources.hpp"
#include "class_loader/class_loader.hpp"
#include "rcpputils/filesystem_helper.hpp"
#include "rcpputils/shared_library.hpp"
#include "rcutils/logging_macros.h"

#include "./class_loader.hpp"
#include "./impl/filesystem_helper.hpp"
#include "./impl/split.hpp"

#ifdef _WIN32
Expand Down Expand Up @@ -510,7 +510,7 @@ std::string ClassLoader<T>::getClassLibraryPath(const std::string & lookup_name)
library_name.c_str());
for (auto it = paths_to_try.begin(); it != paths_to_try.end(); it++) {
RCUTILS_LOG_DEBUG_NAMED("pluginlib.ClassLoader", "Checking path %s ", it->c_str());
if (pluginlib::impl::fs::exists(*it)) {
if (rcpputils::fs::exists(*it)) {
RCUTILS_LOG_DEBUG_NAMED("pluginlib.ClassLoader", "Library %s found at explicit path %s.",
library_name.c_str(), it->c_str());
return *it;
Expand Down Expand Up @@ -587,12 +587,12 @@ ClassLoader<T>::getPackageFromPluginXMLFilePath(const std::string & plugin_xml_f
// 2. Extract name of package from package.xml

std::string package_name;
pluginlib::impl::fs::path p(plugin_xml_file_path);
pluginlib::impl::fs::path parent = p.parent_path();
rcpputils::fs::path p(plugin_xml_file_path);
rcpputils::fs::path parent = p.parent_path();

// Figure out exactly which package the passed XML file is exported by.
while (true) {
if (pluginlib::impl::fs::exists(parent / "package.xml")) {
if (rcpputils::fs::exists(parent / "package.xml")) {
std::string package_file_path = (parent / "package.xml").string();
return extractPackageNameFromPackageXML(package_file_path);
}
Expand All @@ -613,7 +613,7 @@ template<class T>
std::string ClassLoader<T>::getPathSeparator()
/***************************************************************************/
{
return std::string(1, pluginlib::impl::fs::path::preferred_separator);
return std::string(1, rcpputils::fs::kPreferredSeparator);
}


Expand Down Expand Up @@ -647,7 +647,7 @@ template<class T>
std::string ClassLoader<T>::joinPaths(const std::string & path1, const std::string & path2)
/***************************************************************************/
{
pluginlib::impl::fs::path p1(path1);
rcpputils::fs::path p1(path1);
return (p1 / path2).string();
}

Expand Down
195 changes: 0 additions & 195 deletions pluginlib/include/pluginlib/impl/filesystem_helper.hpp
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This file was deleted.

21 changes: 0 additions & 21 deletions pluginlib/pluginlib-extras.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -20,24 +20,3 @@ ament_register_extension("ament_package" "pluginlib"

include("${pluginlib_DIR}/pluginlib_export_plugin_description_file.cmake")
include("${pluginlib_DIR}/pluginlib_enable_plugin_testing.cmake")

if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_FLAGS MATCHES "-stdlib=libc\\+\\+")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
# Before LLVM 7.0, filesystem is part of experimental
set(FILESYSTEM_LIB c++experimental)
elseif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 9.0)
# Before LLVM 9.0 you have to manually link the fs library
set(FILESYSTEM_LIB c++fs)
else()
# Starting at LLVM 9.0 filesystem is built in
set(FILESYSTEM_LIB)
endif()
else()
set(FILESYSTEM_LIB stdc++fs)
endif()

if(UNIX AND NOT APPLE)
# this is needed to use the experimental/filesystem on Linux, but cannot be passed with
# ament_export_libraries() because it is not absolute and cannot be found with find_library
list(APPEND pluginlib_LIBRARIES ${FILESYSTEM_LIB})
endif()