visibility control

kuka_iiqka_eac_driver/CMakeLists.txt

@@ -71,11 +71,16 @@ else()
   remove_definitions(-DNON_MOCK_SETUP)
 endif()
 
-add_library(kuka_iiqka_eac_driver SHARED
+add_library(${PROJECT_NAME} SHARED
   src/hardware_interface.cpp
 )
-ament_target_dependencies(kuka_iiqka_eac_driver rclcpp sensor_msgs hardware_interface)
-target_link_libraries(kuka_iiqka_eac_driver motion-external-proto-api-nanopb motion-services-ecs-proto-api-cpp
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "KUKA_IIQKA_EAC_DRIVER_BUILDING_LIBRARY")
+
+ament_target_dependencies(${PROJECT_NAME} rclcpp sensor_msgs hardware_interface)
+target_link_libraries(${PROJECT_NAME} motion-external-proto-api-nanopb motion-services-ecs-proto-api-cpp
   motion-services-ecs-proto-api-nanopb yaml-cpp kuka::os-core-udp-communication kuka::nanopb-helpers)
 
 
@@ -86,7 +91,7 @@ target_link_libraries(robot_manager_node kuka_drivers_core::communication_helper
 
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface.xml)
 
-install(TARGETS kuka_iiqka_eac_driver robot_manager_node
+install(TARGETS ${PROJECT_NAME} robot_manager_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY config launch

kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/hardware_interface.hpp

@@ -41,6 +41,8 @@
 #include "nanopb/kuka/ecs/v1/motion_state_external.pb.hh"
 #include "os-core-udp-communication/replier.h"
 
+#include "kuka_iiqka_eac_driver/visibility_control.h"
+
 using hardware_interface::return_type;
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
@@ -52,24 +54,34 @@ class KukaEACHardwareInterface : public hardware_interface::SystemInterface
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(KukaEACHardwareInterface)
 
-  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_init(const hardware_interface::HardwareInfo & info)
+  override;
 
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC std::vector<hardware_interface::StateInterface>
+  export_state_interfaces() override;
 
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC std::vector<hardware_interface::CommandInterface>
+  export_command_interfaces() override;
 
-  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
 
-  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
 
-  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC return_type read(
+    const rclcpp::Time & time,
+    const rclcpp::Duration & period) override;
 
-  return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC return_type write(
+    const rclcpp::Time & time,
+    const rclcpp::Duration & period) override;
 
 private:
-  void ObserveControl();
+  KUKA_IIQKA_EAC_DRIVER_LOCAL void ObserveControl();
 
   bool is_active_ = false;
   bool msg_received_ = false;

kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/visibility_control.h

@@ -1,23 +1,16 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+//    Copyright 2023 Áron Svastits
 //
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+//        http://www.apache.org/licenses/LICENSE-2.0
 //
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/* This header must be included by all rclcpp headers which declare symbols
- * which are defined in the rclcpp library. When not building the rclcpp
- * library, i.e. when using the headers in other package's code, the contents
- * of this header change the visibility of certain symbols which the rclcpp
- * library cannot have, but the consuming code must have inorder to link.
- */
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
 #ifndef KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
 #define KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
@@ -33,7 +26,7 @@
 #define KUKA_IIQKA_EAC_DRIVER_EXPORT __declspec(dllexport)
 #define KUKA_IIQKA_EAC_DRIVER_IMPORT __declspec(dllimport)
 #endif
-#ifdef KUKA_IIQKA_EAC_DRIVER_BUILDING_DLL
+#ifdef KUKA_IIQKA_EAC_DRIVER_BUILDING_LIBRARY
 #define KUKA_IIQKA_EAC_DRIVER_PUBLIC KUKA_IIQKA_EAC_DRIVER_EXPORT
 #else
 #define KUKA_IIQKA_EAC_DRIVER_PUBLIC KUKA_IIQKA_EAC_DRIVER_IMPORT
@@ -50,7 +43,7 @@
 #define KUKA_IIQKA_EAC_DRIVER_PUBLIC
 #define KUKA_IIQKA_EAC_DRIVER_LOCAL
 #endif
-#define KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
+#define KUKA_IIQKA_EAC_DRIVER_PUBLIC_TYPE
 #endif
 
-#endif  // KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
+#endif  // KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_

kuka_kss_rsi_driver/CMakeLists.txt

@@ -35,7 +35,7 @@ add_library(${PROJECT_NAME} SHARED
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "JOINT_STATE_BROADCASTER_BUILDING_DLL")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "KUKA_KSS_RSI_DRIVER_BUILDING_LIBRARY")
 # prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 

kuka_kss_rsi_driver/include/kuka_kss_rsi_driver/visibility_control.h

@@ -1,23 +1,16 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+//    Copyright 2023 Áron Svastits
 //
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+//        http://www.apache.org/licenses/LICENSE-2.0
 //
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/* This header must be included by all rclcpp headers which declare symbols
- * which are defined in the rclcpp library. When not building the rclcpp
- * library, i.e. when using the headers in other package's code, the contents
- * of this header change the visibility of certain symbols which the rclcpp
- * library cannot have, but the consuming code must have inorder to link.
- */
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
 #ifndef KUKA_KSS_RSI_DRIVER__VISIBILITY_CONTROL_H_
 #define KUKA_KSS_RSI_DRIVER__VISIBILITY_CONTROL_H_
@@ -33,7 +26,7 @@
 #define KUKA_KSS_RSI_DRIVER_EXPORT __declspec(dllexport)
 #define KUKA_KSS_RSI_DRIVER_IMPORT __declspec(dllimport)
 #endif
-#ifdef KUKA_KSS_RSI_DRIVER_BUILDING_DLL
+#ifdef KUKA_KSS_RSI_DRIVER_BUILDING_LIBRARY
 #define KUKA_KSS_RSI_DRIVER_PUBLIC KUKA_KSS_RSI_DRIVER_EXPORT
 #else
 #define KUKA_KSS_RSI_DRIVER_PUBLIC KUKA_KSS_RSI_DRIVER_IMPORT
@@ -53,4 +46,4 @@
 #define KUKA_KSS_RSI_DRIVER_PUBLIC_TYPE
 #endif
 
-#endif  // KUKA_KSS_RSI_DRIVER__VISIBILITY_CONTROL_H_
+#endif  // KUKA_KSS_RSI_DRIVER__VISIBILITY_CONTROL_H_

kuka_sunrise_fri_driver/CMakeLists.txt

@@ -72,11 +72,16 @@ target_link_libraries(fri_client_sdk PRIVATE protobuf-nanopb)
 install(DIRECTORY include/fri_client_sdk DESTINATION include)
 install(FILES ${private_headers} DESTINATION include)
 
-add_library(kuka_fri_hw_interface SHARED
+add_library(${PROJECT_NAME} SHARED
   src/hardware_interface.cpp
 )
-ament_target_dependencies(kuka_fri_hw_interface kuka_driver_interfaces rclcpp rclcpp_lifecycle hardware_interface)
-target_link_libraries(kuka_fri_hw_interface fri_client_sdk)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "KUKA_SUNRISE_FRI_DRIVER_BUILDING_LIBRARY")
+
+ament_target_dependencies(${PROJECT_NAME} kuka_driver_interfaces rclcpp rclcpp_lifecycle hardware_interface)
+target_link_libraries(${PROJECT_NAME} fri_client_sdk)
 
 add_library(configuration_manager SHARED
   src/connection_helpers/configuration_manager.cpp)
@@ -92,7 +97,7 @@ target_link_libraries(robot_manager_node
 
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface.xml)
 
-install(TARGETS fri_connection fri_client_sdk kuka_fri_hw_interface robot_manager_node
+install(TARGETS ${PROJECT_NAME} fri_connection fri_client_sdk robot_manager_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY launch config

kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/hardware_interface.hpp

@@ -32,6 +32,8 @@
 #include "fri_client_sdk/friUdpConnection.h"
 #include "fri_client_sdk/friClientIf.h"
 
+#include "kuka_sunrise_fri_driver/visibility_control.h"
+
 
 #include "pluginlib/class_list_macros.hpp"
 
@@ -55,26 +57,33 @@ class KukaFRIHardwareInterface : public hardware_interface::SystemInterface,
   public KUKA::FRI::LBRClient
 {
 public:
-  KukaFRIHardwareInterface()
-  : client_application_(udp_connection_, *this) {}
-  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
-  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
-  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  RCLCPP_SHARED_PTR_DEFINITIONS(KukaFRIHardwareInterface)
 
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-
-  hardware_interface::return_type read(
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC KukaFRIHardwareInterface()
+  : client_application_(udp_connection_, *this) {}
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_init(
+    const hardware_interface::HardwareInfo & info) override;
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC std::vector<hardware_interface::StateInterface>
+  export_state_interfaces() override;
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC std::vector<hardware_interface::CommandInterface>
+  export_command_interfaces() override;
+
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC hardware_interface::return_type read(
     const rclcpp::Time & time,
     const rclcpp::Duration & period) override;
-  hardware_interface::return_type write(
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC hardware_interface::return_type write(
     const rclcpp::Time & time,
     const rclcpp::Duration & period) override;
-  void updateCommand(const rclcpp::Time & stamp);
-  bool setReceiveMultiplier(int receive_multiplier);
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC void updateCommand(const rclcpp::Time & stamp);
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC bool setReceiveMultiplier(int receive_multiplier);
 
-  void waitForCommand() final;
-  void command() final;
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC void waitForCommand() final;
+  KUKA_SUNRISE_FRI_DRIVER_PUBLIC void command() final;
 
   class InvalidGPIOTypeException : public std::runtime_error
   {
@@ -124,7 +133,7 @@ class KukaFRIHardwareInterface : public hardware_interface::SystemInterface,
 
   RobotState robot_state_;
 
-  IOTypes getType(const std::string & type_string) const
+  KUKA_SUNRISE_FRI_DRIVER_LOCAL IOTypes getType(const std::string & type_string) const
   {
     auto it = types.find(type_string);
     if (it != types.end()) {

kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/visibility_control.h

@@ -1,23 +1,16 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+//    Copyright 2023 Áron Svastits
 //
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+//        http://www.apache.org/licenses/LICENSE-2.0
 //
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/* This header must be included by all rclcpp headers which declare symbols
- * which are defined in the rclcpp library. When not building the rclcpp
- * library, i.e. when using the headers in other package's code, the contents
- * of this header change the visibility of certain symbols which the rclcpp
- * library cannot have, but the consuming code must have inorder to link.
- */
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
 #ifndef KUKA_SUNRISE_FRI_DRIVER__VISIBILITY_CONTROL_H_
 #define KUKA_SUNRISE_FRI_DRIVER__VISIBILITY_CONTROL_H_
@@ -33,7 +26,7 @@
 #define KUKA_SUNRISE_FRI_DRIVER_EXPORT __declspec(dllexport)
 #define KUKA_SUNRISE_FRI_DRIVER_IMPORT __declspec(dllimport)
 #endif
-#ifdef KUKA_SUNRISE_FRI_DRIVER_BUILDING_DLL
+#ifdef KUKA_SUNRISE_FRI_DRIVER_BUILDING_LIBRARY
 #define KUKA_SUNRISE_FRI_DRIVER_PUBLIC KUKA_SUNRISE_FRI_DRIVER_EXPORT
 #else
 #define KUKA_SUNRISE_FRI_DRIVER_PUBLIC KUKA_SUNRISE_FRI_DRIVER_IMPORT
@@ -50,7 +43,7 @@
 #define KUKA_SUNRISE_FRI_DRIVER_PUBLIC
 #define KUKA_SUNRISE_FRI_DRIVER_LOCAL
 #endif
-#define KUKA_SUNRISE_FRI_DRIVER__VISIBILITY_CONTROL_H_
+#define KUKA_SUNRISE_FRI_DRIVER_PUBLIC_TYPE
 #endif
 
-#endif  // KUKA_SUNRISE_FRI_DRIVER__VISIBILITY_CONTROL_H_
+#endif  // KUKA_SUNRISE_FRI_DRIVER__VISIBILITY_CONTROL_H_