FLesh out LibRcl.jl

nstiurca · Feb 25, 2019 · a86f82b · a86f82b
1 parent c153979
commit a86f82b
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Showing 3 changed files with 57 additions and 14 deletions.
diff --git a/gen/LibRcl.jl b/gen/LibRcl.jl
@@ -1,6 +1,6 @@
 module LibRcl
 
-import Libdl
+# import Libdl
 
 include("../src/find_ros2.jl")
 
@@ -22,6 +22,7 @@ include("ctypes.jl")
 const SIZE_MAX = ~Csize_t(0)
 
 for lib in WRAPPED_ROS2_LIBS
+    @info "Loading types and API for library $lib"
     include(joinpath(@__DIR__, "lib$(lib)_common.jl"))
     include(joinpath(@__DIR__, "lib$(lib)_api.jl"))
 end
@@ -33,4 +34,35 @@ end
 #    end
 #end
 
+# dynamically load the ROS2 libraries
+# const librmw = find_library(["librmw.$dlext"])
+# const librcl = find_library(["librcl.$dlext"])
+# const librcutils = find_library(["librcutils.$dlext"])
+
+# const librmw = dlopen(librmw_path)
+# const librcutils = dlopen(librcutils_path)
+# const librcl = dlopen(librcl_path)
+
+# include the auto-gen-ed wrappers for the C functions/structs/constants
+# include("gen_librcl_h.jl")
+# include("gen_librcl.jl")
+
+struct RclError <: Exception
+    code :: Cint
+    msg :: AbstractString
+end
+
+function checkcall(code :: rcl_ret_t; suppress_throw=false)
+    code == RCL_RET_OK && return nothing
+
+    msg = rcutils_get_error_string()
+    @assert msg != Cstring(C_NULL)
+    err = RclError(code, unsafe_string(msg))
+
+    rcutils_reset_error()
+
+    suppress_throw || throw(err)
+    err
+end
+
 end # module
diff --git a/src/Rcl.jl b/src/Rcl.jl
@@ -1,20 +1,22 @@
 module Rcl
 
-module internal
-include("internal.jl")
-end
+include(joinpath(@__DIR__, "..", "gen", "LibRcl.jl"))
 
-using .internal: RclError
+# module internal
+# include("internal.jl")
+# end
+#
+using .LibRcl: RclError
 export RclError
-
-module rcl
-include("base.jl")
-include("node_base.jl")
-end
-
-export rcl
-using .rcl: name, namespace
-export name, namespace
+#
+# module rcl
+# include("base.jl")
+# include("node_base.jl")
+# end
+#
+# export rcl
+# using .rcl: name, namespace
+# export name, namespace
 
 # abstract type Node end
 # abstract type Logger end

diff --git a/src/find_ros2.jl b/src/find_ros2.jl
@@ -1,3 +1,4 @@
+import Libdl: dlext, find_library
 # TODO: handle missing values gracefully
 
 const ROS_VERSION = VersionNumber(ENV["ROS_VERSION"])
@@ -12,3 +13,11 @@ const ROS_INCLUDE_PATH = joinpath(AMENT_PREFIX_PATH, "include")
 const ROS_LIB_PATH = joinpath(AMENT_PREFIX_PATH, "lib")
 
 const WRAPPED_ROS2_LIBS = ["rcutils", "rosidl_generator_c", "rmw", "rcl"]
+
+# dynamically load the ROS2 libraries
+for lib_name in WRAPPED_ROS2_LIBS
+    lib_var = Symbol("lib", lib_name)
+    lib_fname = "lib$lib_name.$dlext"
+    @info "Loading library $lib_name"
+    @eval const $lib_var = Symbol(find_library([$lib_fname]))
+end