Remove visibility macros (#539) (#545)

* Remove visibility macros * Remove dead target_compile_definitions (cherry picked from commit f92cc21) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls · Jul 26, 2024 · d9ceb6f · d9ceb6f
1 parent 7ac7949
commit d9ceb6f
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Showing 43 changed files with 39 additions and 937 deletions.
diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
@@ -5,6 +5,9 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra)
 endif()
 
+# set the same behavior for windows as it is on linux
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   hardware_interface
@@ -19,7 +22,6 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
-
 ## COMPILE
 add_library(
   ros2_control_demo_example_1
@@ -36,10 +38,6 @@ ament_target_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_1_BUILDING_DLL")
-
 # Export hardware plugins
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_1.xml)
 

diff --git a/example_1/hardware/include/ros2_control_demo_example_1/rrbot.hpp b/example_1/hardware/include/ros2_control_demo_example_1/rrbot.hpp
@@ -26,7 +26,6 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "ros2_control_demo_example_1/visibility_control.h"
 
 namespace ros2_control_demo_example_1
 {
@@ -35,33 +34,25 @@ class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterfa
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   hardware_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   hardware_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   hardware_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   hardware_interface::return_type read(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_1_PUBLIC
   hardware_interface::return_type write(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 

diff --git a/example_1/hardware/include/ros2_control_demo_example_1/visibility_control.h b/example_1/hardware/include/ros2_control_demo_example_1/visibility_control.h
diff --git a/example_10/CMakeLists.txt b/example_10/CMakeLists.txt
@@ -5,6 +5,9 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra)
 endif()
 
+# set the same behavior for windows as it is on linux
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   hardware_interface
@@ -22,7 +25,6 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
-
 ## COMPILE
 add_library(
   ros2_control_demo_example_10
@@ -41,10 +43,6 @@ ament_target_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_10_BUILDING_DLL")
-
 # Export hardware plugins
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_10.xml)
 # Export controllers

diff --git a/example_10/controllers/include/ros2_control_demo_example_10/gpio_controller.hpp b/example_10/controllers/include/ros2_control_demo_example_10/gpio_controller.hpp
@@ -20,7 +20,6 @@
 #include <vector>
 
 #include "control_msgs/msg/interface_value.hpp"
-#include "ros2_control_demo_example_10/visibility_control.h"
 #include "std_msgs/msg/float64_multi_array.hpp"
 
 #include "controller_interface/controller_interface.hpp"
@@ -34,26 +33,19 @@ class GPIOController : public controller_interface::ControllerInterface
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(GPIOController);
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   controller_interface::return_type update(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   CallbackReturn on_init() override;
 
 private:

diff --git a/example_10/hardware/include/ros2_control_demo_example_10/rrbot.hpp b/example_10/hardware/include/ros2_control_demo_example_10/rrbot.hpp
@@ -26,7 +26,6 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "ros2_control_demo_example_10/visibility_control.h"
 
 namespace ros2_control_demo_example_10
 {
@@ -35,33 +34,25 @@ class RRBotSystemWithGPIOHardware : public hardware_interface::SystemInterface
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemWithGPIOHardware);
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   hardware_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   hardware_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   hardware_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   hardware_interface::return_type read(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_10_PUBLIC
   hardware_interface::return_type write(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 

diff --git a/example_10/hardware/include/ros2_control_demo_example_10/visibility_control.h b/example_10/hardware/include/ros2_control_demo_example_10/visibility_control.h
diff --git a/example_11/CMakeLists.txt b/example_11/CMakeLists.txt
@@ -5,6 +5,9 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra)
 endif()
 
+# set the same behavior for windows as it is on linux
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   hardware_interface
@@ -19,7 +22,6 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
-
 ## COMPILE
 add_library(
   ros2_control_demo_example_11
@@ -36,10 +38,6 @@ ament_target_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_11_BUILDING_DLL")
-
 # Export hardware plugins
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_11.xml)
 

diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -32,8 +32,6 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 
-#include "ros2_control_demo_example_11/visibility_control.h"
-
 namespace ros2_control_demo_example_11
 {
 struct JointValue
@@ -62,29 +60,22 @@ class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(CarlikeBotSystemHardware);
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   hardware_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   hardware_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   hardware_interface::return_type read(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  ROS2_CONTROL_DEMO_EXAMPLE_11_PUBLIC
   hardware_interface::return_type write(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;