Switch to target_link_libraries for linking. (#734)

* Switch to target_link_libraries for linking. This allows us to make more of our dependencies PRIVATE. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Nov 27, 2023 · 5b96503 · 5b96503
1 parent 68831ee
commit 5b96503
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Showing 7 changed files with 103 additions and 111 deletions.
diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -45,6 +45,7 @@ find_package(FastRTPS 2.10 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_dynamic_typesupport REQUIRED)
+find_package(rosidl_dynamic_typesupport_fastrtps REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
@@ -97,46 +98,36 @@ add_library(rmw_fastrtps_cpp
   src/type_support_common.cpp
   src/rmw_get_endpoint_network_flow.cpp
 )
-target_link_libraries(rmw_fastrtps_cpp
-  fastcdr fastrtps)
-
-# specific order: dependents before dependencies
-ament_target_dependencies(rmw_fastrtps_cpp
-  "rcpputils"
-  "rcutils"
-  "rosidl_typesupport_fastrtps_c"
-  "rosidl_typesupport_fastrtps_cpp"
-  "rmw_dds_common"
-  "rmw_fastrtps_shared_cpp"
-  "rmw"
-  "rosidl_runtime_c"
-  "tracetools"
+target_link_libraries(rmw_fastrtps_cpp PUBLIC
+  fastcdr
+  fastrtps
+  rmw::rmw
+  rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
+  rosidl_runtime_c::rosidl_runtime_c
+  rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
 )
-
-target_link_libraries(rmw_fastrtps_cpp
-  ${rmw_dds_common_LIBRARIES__rosidl_typesupport_fastrtps_cpp}
+target_link_libraries(rmw_fastrtps_cpp PRIVATE
+  rcpputils::rcpputils
+  rcutils::rcutils
+  rmw_dds_common::rmw_dds_common_library
+  rosidl_dynamic_typesupport::rosidl_dynamic_typesupport
+  rosidl_dynamic_typesupport_fastrtps::rosidl_dynamic_typesupport_fastrtps
+  rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
+  tracetools::tracetools
 )
 
 configure_rmw_library(rmw_fastrtps_cpp)
 
 # 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 "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
+  PRIVATE "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(rmw_fastrtps_cpp)
 
-# specific order: dependents before dependencies
-ament_export_dependencies(rcutils)
-ament_export_dependencies(rmw)
-ament_export_dependencies(rmw_dds_common)
-ament_export_dependencies(rmw_fastrtps_shared_cpp)
-ament_export_dependencies(rosidl_runtime_c)
-ament_export_dependencies(rosidl_typesupport_fastrtps_c)
-ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
-ament_export_dependencies(tracetools)
+ament_export_dependencies(fastcdr rmw rmw_fastrtps_shared_cpp rosidl_runtime_c rosidl_typesupport_fastrtps_cpp)
 
 register_rmw_implementation(
   "c:rosidl_typesupport_c:rosidl_typesupport_fastrtps_c:rosidl_typesupport_introspection_c"
@@ -152,14 +143,20 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_get_native_entities
     test/test_get_native_entities.cpp)
-  ament_target_dependencies(test_get_native_entities
-    osrf_testing_tools_cpp rcutils rmw test_msgs
+  target_link_libraries(test_get_native_entities
+    osrf_testing_tools_cpp::memory_tools
+    rcutils::rcutils
+    rmw::rmw
+    rmw_fastrtps_cpp
+    ${test_msgs_TARGETS}
   )
-  target_link_libraries(test_get_native_entities rmw_fastrtps_cpp)
 
   ament_add_gtest(test_logging test/test_logging.cpp)
-  ament_target_dependencies(test_logging rmw)
-  target_link_libraries(test_logging rmw_fastrtps_cpp)
+  target_link_libraries(test_logging
+    fastrtps
+    rmw::rmw
+    rmw_fastrtps_cpp
+  )
 endif()
 
 ament_package(

diff --git a/rmw_fastrtps_cpp/package.xml b/rmw_fastrtps_cpp/package.xml
@@ -29,6 +29,7 @@
   <build_depend>rmw_dds_common</build_depend>
   <build_depend>rmw_fastrtps_shared_cpp</build_depend>
   <build_depend>rosidl_dynamic_typesupport</build_depend>
+  <build_depend>rosidl_dynamic_typesupport_fastrtps</build_depend>
   <build_depend>rosidl_runtime_c</build_depend>
   <build_depend>rosidl_runtime_cpp</build_depend>
   <build_depend>rosidl_typesupport_fastrtps_c</build_depend>
@@ -54,6 +55,7 @@
   <exec_depend>rmw</exec_depend>
   <exec_depend>rmw_fastrtps_shared_cpp</exec_depend>
   <exec_depend>rosidl_dynamic_typesupport</exec_depend>
+  <exec_depend>rosidl_dynamic_typesupport_fastrtps</exec_depend>
   <exec_depend>tracetools</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -100,49 +100,46 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/type_support_registry.cpp
   src/rmw_get_endpoint_network_flow.cpp
 )
-target_link_libraries(rmw_fastrtps_dynamic_cpp
-  fastcdr fastrtps)
-
-# specific order: dependents before dependencies
-ament_target_dependencies(rmw_fastrtps_dynamic_cpp
-  "rcpputils"
-  "rcutils"
-  "rosidl_typesupport_fastrtps_c"
-  "rosidl_typesupport_fastrtps_cpp"
-  "rosidl_typesupport_introspection_c"
-  "rosidl_typesupport_introspection_cpp"
-  "rmw_dds_common"
-  "rmw_fastrtps_shared_cpp"
-  "rmw"
-  "rosidl_runtime_c"
+target_link_libraries(rmw_fastrtps_dynamic_cpp PUBLIC
+  fastcdr
+  fastrtps
+  rcpputils::rcpputils
+  rcutils::rcutils
+  rmw::rmw
+  rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
+  rosidl_runtime_c::rosidl_runtime_c
+  rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
+  rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
+  rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
+  rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp
 )
-
-target_link_libraries(rmw_fastrtps_dynamic_cpp
-  ${rmw_dds_common_LIBRARIES__rosidl_typesupport_introspection_cpp}
+target_link_libraries(rmw_fastrtps_dynamic_cpp PRIVATE
+  rmw_dds_common::rmw_dds_common_library
 )
 
 configure_rmw_library(rmw_fastrtps_dynamic_cpp)
 
 # 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 "RMW_FASTRTPS_DYNAMIC_CPP_BUILDING_LIBRARY")
+  PRIVATE "RMW_FASTRTPS_DYNAMIC_CPP_BUILDING_LIBRARY")
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(rmw_fastrtps_dynamic_cpp)
 
-# specific order: dependents before dependencies
-ament_export_dependencies(rcpputils)
-ament_export_dependencies(rcutils)
-ament_export_dependencies(rmw)
-ament_export_dependencies(rmw_dds_common)
-ament_export_dependencies(rmw_fastrtps_shared_cpp)
-ament_export_dependencies(rosidl_runtime_c)
-ament_export_dependencies(rosidl_typesupport_fastrtps_c)
-ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
-ament_export_dependencies(rosidl_typesupport_introspection_c)
-ament_export_dependencies(rosidl_typesupport_introspection_cpp)
+ament_export_dependencies(
+  fastcdr
+  rcpputils
+  rcutils
+  rmw
+  rmw_fastrtps_shared_cpp
+  rosidl_runtime_c
+  rosidl_typesupport_fastrtps_c
+  rosidl_typesupport_fastrtps_cpp
+  rosidl_typesupport_introspection_c
+  rosidl_typesupport_introspection_cpp
+)
 
 register_rmw_implementation(
   "c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
@@ -158,14 +155,20 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_get_native_entities
     test/test_get_native_entities.cpp)
-  ament_target_dependencies(test_get_native_entities
-    osrf_testing_tools_cpp rcutils rmw test_msgs
+  target_link_libraries(test_get_native_entities
+    osrf_testing_tools_cpp::memory_tools
+    rcutils::rcutils
+    rmw::rmw
+    rmw_fastrtps_dynamic_cpp
+    ${test_msgs_TARGETS}
   )
-  target_link_libraries(test_get_native_entities rmw_fastrtps_dynamic_cpp)
 
   ament_add_gtest(test_logging test/test_logging.cpp)
-  ament_target_dependencies(test_logging rmw)
-  target_link_libraries(test_logging rmw_fastrtps_dynamic_cpp)
+  target_link_libraries(test_logging
+    fastrtps
+    rmw::rmw
+    rmw_fastrtps_dynamic_cpp
+  )
 endif()
 
 ament_package(

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_dynamic_message_type_support.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_dynamic_message_type_support.cpp
@@ -15,7 +15,6 @@
 #include <fastcdr/Cdr.h>
 #include <rcutils/allocator.h>
 #include <rcutils/logging_macros.h>
-#include <rosidl_dynamic_typesupport_fastrtps/serialization_support.h>
 
 #include "rmw/allocators.h"
 #include "rmw/convert_rcutils_ret_to_rmw_ret.h"

diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -36,7 +36,6 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rosidl_dynamic_typesupport REQUIRED)
-find_package(rosidl_dynamic_typesupport_fastrtps REQUIRED)
 
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
@@ -104,27 +103,26 @@ target_include_directories(rmw_fastrtps_shared_cpp
   PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(rmw_fastrtps_shared_cpp
-  fastcdr fastrtps
+target_link_libraries(rmw_fastrtps_shared_cpp PUBLIC
+  fastcdr
+  fastrtps
+  rcpputils::rcpputils
+  rcutils::rcutils
+  rmw::rmw
+  rmw_dds_common::rmw_dds_common_library
   rosidl_dynamic_typesupport::rosidl_dynamic_typesupport
-  rosidl_dynamic_typesupport_fastrtps::rosidl_dynamic_typesupport_fastrtps
 )
 
-# specific order: dependents before dependencies
-ament_target_dependencies(rmw_fastrtps_shared_cpp
-  "rcpputils"
-  "rcutils"
-  "rmw"
-  "rmw_dds_common"
-  "rosidl_typesupport_introspection_c"
-  "rosidl_typesupport_introspection_cpp"
-  "tracetools"
+target_link_libraries(rmw_fastrtps_shared_cpp PRIVATE
+  rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
+  rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp
+  tracetools::tracetools
 )
 
 # 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 "RMW_FASTRTPS_SHARED_CPP_BUILDING_LIBRARY")
+  PRIVATE "RMW_FASTRTPS_SHARED_CPP_BUILDING_LIBRARY")
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")
@@ -133,17 +131,7 @@ ament_export_libraries(rmw_fastrtps_shared_cpp)
 # Export modern CMake targets
 ament_export_targets(rmw_fastrtps_shared_cpp)
 
-# specific order: dependents before dependencies
-ament_export_dependencies(rcpputils)
-ament_export_dependencies(rcutils)
-ament_export_dependencies(rmw)
-ament_export_dependencies(rmw_dds_common)
-ament_export_dependencies(rosidl_typesupport_introspection_c)
-ament_export_dependencies(rosidl_typesupport_introspection_cpp)
-ament_export_dependencies(tracetools)
-
-ament_export_dependencies(rosidl_dynamic_typesupport_fastrtps)
-ament_export_dependencies(rosidl_dynamic_typesupport)
+ament_export_dependencies(fastcdr rcpputils rcutils rmw rmw_dds_common rosidl_dynamic_typesupport)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/rmw_fastrtps_shared_cpp/package.xml b/rmw_fastrtps_shared_cpp/package.xml
@@ -20,7 +20,6 @@
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
-  <build_depend>rosidl_dynamic_typesupport_fastrtps</build_depend>
   <build_depend>rosidl_dynamic_typesupport</build_depend>
   <build_depend>fastcdr</build_depend>
   <build_depend>fastrtps</build_depend>
@@ -34,7 +33,6 @@
   <build_depend>rosidl_typesupport_introspection_cpp</build_depend>
   <build_depend>tracetools</build_depend>
 
-  <build_export_depend>rosidl_dynamic_typesupport_fastrtps</build_export_depend>
   <build_export_depend>rosidl_dynamic_typesupport</build_export_depend>
   <build_export_depend>fastcdr</build_export_depend>
   <build_export_depend>fastrtps</build_export_depend>

diff --git a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
@@ -3,31 +3,40 @@ find_package(osrf_testing_tools_cpp REQUIRED)
 
 ament_add_gtest(test_dds_attributes_to_rmw_qos test_dds_attributes_to_rmw_qos.cpp)
 if(TARGET test_dds_attributes_to_rmw_qos)
-    ament_target_dependencies(test_dds_attributes_to_rmw_qos)
-    target_link_libraries(test_dds_attributes_to_rmw_qos ${PROJECT_NAME})
+  target_link_libraries(test_dds_attributes_to_rmw_qos ${PROJECT_NAME})
 endif()
 
 ament_add_gtest(test_dds_qos_to_rmw_qos test_dds_qos_to_rmw_qos.cpp)
 if(TARGET test_dds_qos_to_rmw_qos)
-    ament_target_dependencies(test_dds_qos_to_rmw_qos)
-    target_link_libraries(test_dds_qos_to_rmw_qos ${PROJECT_NAME})
+  target_link_libraries(test_dds_qos_to_rmw_qos ${PROJECT_NAME})
 endif()
 
 ament_add_gtest(test_rmw_qos_to_dds_attributes test_rmw_qos_to_dds_attributes.cpp)
 if(TARGET test_rmw_qos_to_dds_attributes)
-  target_link_libraries(test_rmw_qos_to_dds_attributes ${PROJECT_NAME})
+  target_link_libraries(test_rmw_qos_to_dds_attributes
+    ${PROJECT_NAME}
+    rmw::rmw
+    rosidl_runtime_c::rosidl_runtime_c
+  )
 endif()
 
 ament_add_gmock(test_security_logging test_security_logging.cpp)
 if(TARGET test_security_logging)
-    ament_target_dependencies(test_security_logging)
-    target_link_libraries(test_security_logging ${PROJECT_NAME})
+  target_link_libraries(test_security_logging
+    ${PROJECT_NAME}
+    rcutils::rcutils
+    rmw::rmw
+  )
 endif()
 
 ament_add_gtest(test_rmw_init_options test_rmw_init_options.cpp)
 if(TARGET test_rmw_init_options)
-  ament_target_dependencies(test_rmw_init_options osrf_testing_tools_cpp rcutils rmw)
-  target_link_libraries(test_rmw_init_options ${PROJECT_NAME})
+  target_link_libraries(test_rmw_init_options
+    ${PROJECT_NAME}
+    osrf_testing_tools_cpp::memory_tools
+    rcutils::rcutils
+    rmw::rmw
+  )
 endif()
 
 ament_add_gtest(test_guid_utils test_guid_utils.cpp)
@@ -37,19 +46,15 @@ endif()
 
 ament_add_gtest(test_names test_names.cpp)
 if(TARGET test_names)
-  ament_target_dependencies(test_names rmw)
-  target_link_libraries(test_names ${PROJECT_NAME})
+  target_link_libraries(test_names ${PROJECT_NAME} rmw::rmw)
 endif()
 
 ament_add_gtest(test_qos_profile_check_compatible test_qos_profile_check_compatible.cpp)
 if(TARGET test_qos_profile_check_compatible)
-  ament_target_dependencies(test_qos_profile_check_compatible rmw)
-  target_link_libraries(test_qos_profile_check_compatible ${PROJECT_NAME})
+  target_link_libraries(test_qos_profile_check_compatible ${PROJECT_NAME} rmw::rmw)
 endif()
 
 ament_add_gtest(test_logging test_logging.cpp)
 if(TARGET test_logging)
-  ament_target_dependencies(test_logging
-    osrf_testing_tools_cpp rcutils rmw)
-  target_link_libraries(test_logging rmw_fastrtps_shared_cpp)
+  target_link_libraries(test_logging ${PROJECT_NAME} rmw::rmw)
 endif()