Release micro-ROS Foxy

rcl/CMakeLists.txt

@@ -2,19 +2,28 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcl)
 
+option(RCL_COMMAND_LINE_ENABLED "Enable/disable the rcl_yaml_param_parser tool" OFF)
+option(RCL_LOGGING_ENABLED "Enable/disable logging" OFF)
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcl_interfaces REQUIRED)
-find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(tracetools REQUIRED)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  find_package(rcl_yaml_param_parser REQUIRED)
+endif()
+
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
-include(cmake/get_default_rcl_logging_implementation.cmake)
-get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+
+if(RCL_LOGGING_ENABLED)
+  include(cmake/get_default_rcl_logging_implementation.cmake)
+  get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+endif()
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -31,7 +40,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -45,12 +54,12 @@ set(${PROJECT_NAME}_sources
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
   src/rcl/localhost.c
-  src/rcl/logging_rosout.c
-  src/rcl/logging.c
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging_rosout.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging.c>
   src/rcl/node.c
   src/rcl/node_options.c
   src/rcl/publisher.c
-  src/rcl/remap.c
+  $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:src/rcl/remap.c>
   src/rcl/rmw_implementation_identifier_check.c
   src/rcl/security.c
   src/rcl/service.c
@@ -69,15 +78,31 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
-  "rcl_yaml_param_parser"
   "rcutils"
   "rmw"
   "rmw_implementation"
-  ${RCL_LOGGING_IMPL}
   "rosidl_runtime_c"
   "tracetools"
 )
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcl_yaml_param_parser"
+  )
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    ${RCL_LOGGING_IMPL}
+  )
+endif()
+
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:RCL_COMMAND_LINE_ENABLED>
+    $<$<BOOL:${RCL_LOGGING_ENABLED}>:RCL_LOGGING_ENABLED>
+  )
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
@@ -102,14 +127,20 @@ ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
-ament_export_dependencies(${RCL_LOGGING_IMPL})
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(tracetools)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

rcl/include/rcl/context.h

@@ -23,7 +23,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/init_options.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
@@ -107,9 +109,11 @@ struct rcl_context_impl_t;
  */
 typedef struct rcl_context_t
 {
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// Global arguments for all nodes which share this context.
   /** Typically generated by the parsing of argc/argv in `rcl_init()`. */
   rcl_arguments_t global_arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Implementation specific pointer.
   struct rcl_context_impl_t * impl;

rcl/include/rcl/node.h

@@ -23,7 +23,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/context.h"
 #include "rcl/macros.h"
 #include "rcl/node_options.h"

rcl/include/rcl/node_options.h

@@ -21,7 +21,10 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
+#include "rcl/macros.h"
 
 #include "rcl/domain_id.h"
 
@@ -57,8 +60,10 @@ typedef struct rcl_node_options_t
   /// If false then only use arguments in this struct, otherwise use global arguments also.
   bool use_global_arguments;
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Flag to enable rosout for this node
   bool enable_rosout;

rcl/src/rcl/client.c

@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/expand_topic_name.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/remap.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcutils/logging_macros.h"
 #include "rcutils/stdatomic_helper.h"
 #include "rmw/error_handling.h"
@@ -130,6 +132,7 @@ rcl_client_init(
     ret = RCL_RET_ERROR;
     goto cleanup;
   }
+#ifdef RCL_COMMAND_LINE_ENABLED
   rcl_arguments_t * global_args = NULL;
   if (node_options->use_global_arguments) {
     global_args = &(node->context->global_arguments);
@@ -143,6 +146,10 @@ rcl_client_init(
     remapped_service_name = expanded_service_name;
     expanded_service_name = NULL;
   }
+#else
+  remapped_service_name = (char *)allocator->allocate(strlen(expanded_service_name) + 1, allocator->state);
+  memcpy(remapped_service_name, expanded_service_name, strlen(expanded_service_name) + 1);
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Validate the expanded service name.
   int validation_result;

rcl/src/rcl/context.c

@@ -32,7 +32,9 @@ rcl_get_zero_initialized_context(void)
     .instance_id_storage = {0},
   };
   // this is not constexpr so it cannot be in the struct initialization
+#ifdef RCL_COMMAND_LINE_ENABLED
   context.global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
   // ensure assumption about static storage
   static_assert(
     sizeof(context.instance_id_storage) >= sizeof(atomic_uint_least64_t),
@@ -103,6 +105,7 @@ __cleanup_context(rcl_context_t * context)
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
   rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     rcl_ret_t ret = rcl_arguments_fini(&(context->global_arguments));
@@ -115,6 +118,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {

rcl/src/rcl/event.c

@@ -23,7 +23,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/expand_topic_name.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/remap.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/validate_full_topic_name.h"

rcl/src/rcl/init.c

@@ -27,15 +27,21 @@ extern "C"
 
 #include "tracetools/tracetools.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
 #include "rcl/localhost.h"
+#ifdef RCL_LOGGING_ENABLED
 #include "rcl/logging.h"
+#endif // RCL_LOGGING_ENABLED
 #include "rcl/security.h"
 #include "rcl/validate_enclave_name.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "./arguments_impl.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./common.h"
 #include "./context_impl.h"
 #include "./init_options_impl.h"
@@ -80,8 +86,10 @@ rcl_init(
     return RCL_RET_ALREADY_INIT;
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Zero initialize global arguments.
   context->global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Setup impl for context.
   // use zero_allocate so the cleanup function will not try to clean up uninitialized parts later
@@ -123,13 +131,15 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Parse the ROS specific arguments.
   ret = rcl_parse_arguments(argc, argv, allocator, &context->global_arguments);
   if (RCL_RET_OK != ret) {
     fail_ret = ret;
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments");
     goto fail;
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Set the instance id.
   uint64_t next_instance_id = rcutils_atomic_fetch_add_uint64_t(&__rcl_next_unique_id, 1);
@@ -164,6 +174,7 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (context->global_arguments.impl->enclave) {
     context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
       context->global_arguments.impl->enclave,
@@ -172,6 +183,7 @@ rcl_init(
     context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
       "/", context->impl->allocator);
   }
+#endif RCL_COMMAND_LINE_ENABLED
   int validation_result;
   size_t invalid_index;
   ret = rcl_validate_enclave_name(

rcl/src/rcl/logging.c

@@ -72,9 +72,13 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
     g_logging_allocator = *allocator;
   int default_level = global_args->impl->log_level;
   const char * config_file = global_args->impl->external_log_config_file;
-  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
-  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
-  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
+  bool global_disable = false;
+  #ifdef RCUTILS_NO_LOGGING
+    global_disable = true;
+  #endif
+  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled && !global_disable;
+  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled && !global_disable;
+  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled && !global_disable;
   rcl_ret_t status = RCL_RET_OK;
   g_rcl_logging_num_out_handlers = 0;