Expose the QoS object wrapper (ros2#910)

* Expose the Rosbag2QoS class for use Signed-off-by: Geoffrey Biggs <[email protected]> Co-authored-by: Emerson Knapp <[email protected]>
DensoADAS · Nov 23, 2021 · e9686a3 · e9686a3
1 parent 4792327
commit e9686a3
Show file tree

Hide file tree

Showing 8 changed files with 14 additions and 15 deletions.
diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
@@ -93,9 +93,7 @@ function(create_tests_for_rmw_implementation)
   endif()
 
   rosbag2_transport_add_gmock(test_play
-    src/rosbag2_transport/qos.cpp
     test/rosbag2_transport/test_play.cpp
-    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
     LINK_LIBS rosbag2_transport
     AMENT_DEPS test_msgs rosbag2_test_common
     ${SKIP_TEST})
@@ -140,11 +138,9 @@ function(create_tests_for_rmw_implementation)
       AMENT_DEPS test_msgs rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_qos
-    src/rosbag2_transport/qos.cpp
     test/rosbag2_transport/test_qos.cpp
-    INCLUDE_DIRS
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
+    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    LINK_LIBS rosbag2_transport
     AMENT_DEPS rosbag2_test_common yaml_cpp_vendor)
 
   rosbag2_transport_add_gmock(test_record

diff --git a/...2_transport/src/rosbag2_transport/qos.hpp → ...ansport/include/rosbag2_transport/qos.hpp b/...2_transport/src/rosbag2_transport/qos.hpp → ...ansport/include/rosbag2_transport/qos.hpp
@@ -21,6 +21,8 @@
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/qos.hpp"
 
+#include "rosbag2_transport/visibility_control.hpp"
+
 #ifdef _WIN32
 // This is necessary because of a bug in yaml-cpp's cmake
 #define YAML_CPP_DLL
@@ -37,11 +39,12 @@
 namespace rosbag2_transport
 {
 /// Simple wrapper around rclcpp::QoS to provide a default constructor for YAML deserialization.
-class Rosbag2QoS : public rclcpp::QoS
+class ROSBAG2_TRANSPORT_PUBLIC Rosbag2QoS : public rclcpp::QoS
 {
 public:
   Rosbag2QoS()
   : rclcpp::QoS(rmw_qos_profile_default.depth) {}
+
   explicit Rosbag2QoS(const rclcpp::QoS & value)
   : rclcpp::QoS(value) {}
 
@@ -80,14 +83,14 @@ class Rosbag2QoS : public rclcpp::QoS
 namespace YAML
 {
 template<>
-struct convert<rmw_time_t>
+struct ROSBAG2_TRANSPORT_PUBLIC convert<rmw_time_t>
 {
   static Node encode(const rmw_time_t & time);
   static bool decode(const Node & node, rmw_time_t & time);
 };
 
 template<>
-struct convert<rosbag2_transport::Rosbag2QoS>
+struct ROSBAG2_TRANSPORT_PUBLIC convert<rosbag2_transport::Rosbag2QoS>
 {
   static Node encode(const rosbag2_transport::Rosbag2QoS & qos);
   static bool decode(const Node & node, rosbag2_transport::Rosbag2QoS & qos);

diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -35,7 +35,7 @@
 
 #include "rosbag2_storage/storage_filter.hpp"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 
 namespace
 {

diff --git a/rosbag2_transport/src/rosbag2_transport/qos.cpp b/rosbag2_transport/src/rosbag2_transport/qos.cpp
@@ -17,7 +17,7 @@
 
 #include "rclcpp/logging.hpp"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 
 namespace
 {

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -31,7 +31,7 @@
 
 #include "rosbag2_interfaces/srv/snapshot.hpp"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 #include "topic_filter.hpp"
 
 #ifdef _WIN32

diff --git a/rosbag2_transport/test/rosbag2_transport/test_play.cpp b/rosbag2_transport/test/rosbag2_transport/test_play.cpp
@@ -32,7 +32,7 @@
 #include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/message_fixtures.hpp"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 
 #include "rosbag2_play_test_fixture.hpp"
 #include "rosbag2_transport_test_fixture.hpp"

diff --git a/rosbag2_transport/test/rosbag2_transport/test_qos.cpp b/rosbag2_transport/test/rosbag2_transport/test_qos.cpp
@@ -19,7 +19,7 @@
 
 #include "rmw/types.h"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 
 TEST(TestQoS, serialization)
 {

diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -30,7 +30,7 @@
 #include "test_msgs/msg/arrays.hpp"
 #include "test_msgs/message_fixtures.hpp"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 #include "record_integration_fixture.hpp"
 
 TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are_recorded)