graph_manager is now exported as library

Author: Geibinger

micro_ros_agent/CMakeLists.txt

@@ -50,84 +50,115 @@ find_package(ament_cmake_gtest REQUIRED)
 
 find_package(micro_ros_msgs REQUIRED)
 
-add_executable(${PROJECT_NAME}
-  src/main.cpp
-  src/agent/Agent.cpp
+set(GRAPH_MANAGER_LIB ${PROJECT_NAME}_graph_manager)
+
+add_library(${GRAPH_MANAGER_LIB} STATIC
   src/agent/graph_manager/graph_manager.cpp
+  src/agent/graph_manager/graph_manager_plugin.cpp
   src/agent/graph_manager/graph_typesupport.cpp
   src/agent/utils/demangle.cpp
-  )
+)
+
+target_include_directories(${GRAPH_MANAGER_LIB}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+
+target_link_libraries(${GRAPH_MANAGER_LIB}
+  PUBLIC
+    ${micro_ros_msgs_TARGETS}
+    ${rmw_dds_common_TARGETS}
+    rmw::rmw
+    rmw_dds_common::rmw_dds_common_library
+    rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
+    rosidl_runtime_cpp::rosidl_runtime_cpp
+    rosidl_typesupport_cpp::rosidl_typesupport_cpp
+    rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
+    microxrcedds_agent
+    fastcdr
+    fastrtps
+)
+
+set_target_properties(${GRAPH_MANAGER_LIB} PROPERTIES
+  CXX_STANDARD 14
+  CXX_STANDARD_REQUIRED YES
+  POSITION_INDEPENDENT_CODE ON
+)
+
+add_executable(${PROJECT_NAME}
+  src/main.cpp
+  src/agent/Agent.cpp
+)
 
 target_include_directories(${PROJECT_NAME}
   PRIVATE
     include
-  )
-
-ament_target_dependencies(${PROJECT_NAME}
-  rosidl_typesupport_fastrtps_cpp
-  rosidl_runtime_cpp
-  rosidl_typesupport_cpp
-  fastcdr
-  fastrtps
-  rmw_dds_common
-  rmw
-  rmw_fastrtps_shared_cpp
-  micro_ros_msgs
-  )
+)
 
 target_link_libraries(${PROJECT_NAME}
+  ${GRAPH_MANAGER_LIB}
   microxrcedds_agent
   fastcdr
   fastrtps
   $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
   $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
-  )
-
-target_compile_options(${PROJECT_NAME}
-  PRIVATE
-    $<$<C_COMPILER_ID:GNU>:-Wall>
-    $<$<C_COMPILER_ID:GNU>:-Wextra>
-    $<$<C_COMPILER_ID:GNU>:-pedantic>
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
+)
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
+  CXX_STANDARD 14
+  CXX_STANDARD_REQUIRED YES
+)
 
 target_compile_options(${PROJECT_NAME}
   PRIVATE
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wextra>
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
-  )
+)
 
-ament_export_dependencies(microxrcedds_agent)
+ament_export_targets(export_${GRAPH_MANAGER_LIB} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  microxrcedds_agent
+  rosidl_typesupport_fastrtps_cpp
+  rosidl_runtime_cpp
+  rosidl_typesupport_cpp
+  fastcdr
+  fastrtps
+  rmw_dds_common
+  rmw
+  rmw_fastrtps_shared_cpp
+  micro_ros_msgs
+)
 
 ament_package()
 
+install(
+  TARGETS ${GRAPH_MANAGER_LIB}
+  EXPORT export_${GRAPH_MANAGER_LIB}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
 install(
   TARGETS
     ${PROJECT_NAME}
   DESTINATION
     lib/${PROJECT_NAME}
-  )
+)
 
 install(
   DIRECTORY
     launch
   DESTINATION
     share/${PROJECT_NAME}
-  )
+)
 
 if(UROSAGENT_GENERATE_PROFILE)
   set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -61,6 +61,7 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>
 
+#include <atomic>
 #include <condition_variable>
 #include <string>
 #include <memory>
@@ -84,9 +85,15 @@ class GraphManager
     GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
 
     /**
-     * @brief   Default destructor.
+     * @brief   Destructor - signals thread to stop and joins it.
      */
-    ~GraphManager() = default;
+    ~GraphManager();
+
+    /**
+     * @brief   Signal the graph manager to stop (called before destruction).
+     *          Safe to call multiple times.
+     */
+    void shutdown();
 
     /**
      * @brief   Implementation of the notification logic that updates the micro-ROS graph.
@@ -283,6 +290,7 @@ class GraphManager
     eprosima::fastdds::dds::DomainId_t domain_id_;
     bool graph_changed_;
     bool display_on_change_;
+    std::atomic<bool> shutdown_requested_{false};
     std::thread microros_graph_publisher_;
     std::mutex mtx_;
     std::condition_variable cv_;