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Fix jazzy interfaces #82

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628ba38
Fix jazzy interfaces
EugenioCollado Jun 16, 2026
ced42ec
Addressed suggestions
EugenioCollado Jun 16, 2026
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40 changes: 38 additions & 2 deletions ...esupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -159,9 +159,45 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${_pkg_name}
)
target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${${_pkg_name}_LIBRARIES${_target_suffix}}
set(_dep_tslibs "")
get_filename_component(_dep_prefix "${${_pkg_name}_DIR}/../../.." ABSOLUTE)
foreach(_dep_tslib ${${_pkg_name}_LIBRARIES${_target_suffix}})
if(IS_ABSOLUTE "${_dep_tslib}" AND EXISTS "${_dep_tslib}")
list(APPEND _dep_tslibs "${_dep_tslib}")
else()
unset(_dep_tslib_abs CACHE)
unset(_dep_tslib_abs)
find_library(_dep_tslib_abs
NAMES "${_dep_tslib}" "${_pkg_name}${_target_suffix}"
HINTS "${_dep_prefix}"
PATH_SUFFIXES lib lib64 "lib/${CMAKE_LIBRARY_ARCHITECTURE}"
NO_DEFAULT_PATH
)
if(_dep_tslib_abs)
list(APPEND _dep_tslibs "${_dep_tslib_abs}")
else()
# Preserve previous behavior if resolution fails (e.g. plain link name or CMake target)
list(APPEND _dep_tslibs "${_dep_tslib}")
endif()
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endif()
endforeach()
if(NOT _dep_tslibs)
unset(_dep_tslib_abs CACHE)
unset(_dep_tslib_abs)
find_library(_dep_tslib_abs
NAMES "${_pkg_name}${_target_suffix}"
HINTS "${_dep_prefix}/lib" "${_dep_prefix}/lib64"
NO_DEFAULT_PATH
)
if(_dep_tslib_abs)
list(APPEND _dep_tslibs "${_dep_tslib_abs}")
endif()
endif()
if(_dep_tslibs)
target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${_dep_tslibs}
)
endif()
endforeach()

target_link_libraries(
Expand Down
9 changes: 0 additions & 9 deletions rosidl_typesupport_microxrcedds_c/resource/srv__rosidl_typesupport_microxrcedds_c.h.em
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Original file line number Diff line number Diff line change
Expand Up @@ -17,15 +17,6 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'msg__rosidl_typesupport_microxrcedds_c.h.em',
package_name=package_name,
interface_path=interface_path,
message=service.event_message,
include_directives=include_directives)
}@

@{
header_files = [
'rosidl_runtime_c/service_type_support_struct.h',
Expand Down
22 changes: 3 additions & 19 deletions rosidl_typesupport_microxrcedds_c/resource/srv__type_support_c.c.em
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ from rosidl_generator_c import idl_structure_type_to_c_typename
from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
from rosidl_generator_type_description import GET_HASH_FUNC
from rosidl_generator_type_description import GET_SOURCES_FUNC
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX

Expand All @@ -25,15 +24,6 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'msg__type_support_c.c.em',
package_name=package_name,
interface_path=interface_path,
message=service.event_message,
include_directives=include_directives)
}@

@{
from rosidl_cmake import convert_camel_case_to_lower_case_underscore

Expand Down Expand Up @@ -78,16 +68,10 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {

&_@(service.namespaced_type.name)@(SERVICE_REQUEST_MESSAGE_SUFFIX)__type_support,
&_@(service.namespaced_type.name)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)__type_support,
&_@(service.namespaced_type.name)@(SERVICE_EVENT_MESSAGE_SUFFIX)__type_support,
NULL,

ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
rosidl_typesupport_c,
@(',\n '.join(service.namespaced_type.namespaced_name()))
),
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_DESTROY_EVENT_MESSAGE_SYMBOL_NAME(
rosidl_typesupport_c,
@(',\n '.join(service.namespaced_type.namespaced_name()))
),
NULL,
NULL,

&@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_HASH_FUNC),
&@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_DESCRIPTION_FUNC),
Expand Down
40 changes: 38 additions & 2 deletions ...port_microxrcedds_cpp/cmake/rosidl_typesupport_microxrcedds_cpp_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -160,9 +160,45 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${_pkg_name}
)
target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${${_pkg_name}_LIBRARIES${_target_suffix}}
set(_dep_tslibs "")
get_filename_component(_dep_prefix "${${_pkg_name}_DIR}/../../.." ABSOLUTE)
foreach(_dep_tslib ${${_pkg_name}_LIBRARIES${_target_suffix}})
if(IS_ABSOLUTE "${_dep_tslib}" AND EXISTS "${_dep_tslib}")
list(APPEND _dep_tslibs "${_dep_tslib}")
else()
unset(_dep_tslib_abs CACHE)
unset(_dep_tslib_abs)
find_library(_dep_tslib_abs
NAMES "${_dep_tslib}" "${_pkg_name}${_target_suffix}"
HINTS "${_dep_prefix}"
PATH_SUFFIXES lib lib64 "lib/${CMAKE_LIBRARY_ARCHITECTURE}"
NO_DEFAULT_PATH
)
if(_dep_tslib_abs)
list(APPEND _dep_tslibs "${_dep_tslib_abs}")
else()
# Preserve previous behavior if resolution fails (e.g. plain link name or CMake target)
list(APPEND _dep_tslibs "${_dep_tslib}")
endif()
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EugenioCollado marked this conversation as resolved.
endif()
endforeach()
if(NOT _dep_tslibs)
unset(_dep_tslib_abs CACHE)
unset(_dep_tslib_abs)
find_library(_dep_tslib_abs
NAMES "${_pkg_name}${_target_suffix}"
HINTS "${_dep_prefix}/lib" "${_dep_prefix}/lib64"
NO_DEFAULT_PATH
)
if(_dep_tslib_abs)
list(APPEND _dep_tslibs "${_dep_tslib_abs}")
endif()
endif()
if(_dep_tslibs)
target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${_dep_tslibs}
)
endif()
endforeach()

target_link_libraries(
Expand Down