From efb7d4e6b7e53bea9b7d0d9b6134ccf6d1e00f42 Mon Sep 17 00:00:00 2001
From: Peter Soetens <peter@thesourceworks.com>
Date: Wed, 26 Jan 2011 15:49:40 +0100
Subject: [PATCH 1/3] typekits: generate 'extern template' definitions.

Each .msg file will cause a msg_Types.hpp file to be generated, and in
each package, a typekit/Types.hpp file is generated that includes all
these files. As such, components using these message types will compile
much faster.

Signed-off-by: Peter Soetens <peter@thesourceworks.com>
---
 rtt_ros_integration/cmake/GenerateRTTtypekit.cmake |   12 ++++++-
 rtt_ros_integration/src/Types.hpp.in               |   10 ++++++
 rtt_ros_integration/src/msg_Types.hpp.in           |   35 ++++++++++++++++++++
 3 files changed, 56 insertions(+), 1 deletions(-)
 create mode 100644 rtt_ros_integration/src/Types.hpp.in
 create mode 100644 rtt_ros_integration/src/msg_Types.hpp.in

diff --git a/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake b/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
index df207a3..3491f07 100644
--- a/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
+++ b/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
@@ -48,6 +48,7 @@ macro(ros_generate_rtt_typekit package)
   #Get all .msg files
   rosbuild_get_msgs_external(${package} MSGS)
   
+  set(ROSPACKAGE ${package})
   foreach( FILE ${MSGS} )
     string(REGEX REPLACE "\(.+\).msg" "\\1" ROSMSGNAME ${FILE})
     
@@ -60,27 +61,36 @@ macro(ros_generate_rtt_typekit package)
     set(ROSMSGTRANSPORTS "${ROSMSGTRANSPORTS}         if(name == \"${ROSMSGNAME}\")
               return ti->addProtocol(ORO_ROS_PROTOCOL_ID,new RosMsgTransporter<${ROSMSGTYPE}>());
 ")
+    set(ROSMSGTYPESHEADERS "${ROSMSGTYPESHEADERS}#include \"${ROSMSGNAME}_Types.hpp\"\n")
     
     
+    # TypeInfo object:
     configure_file( ${rtt_ros_integration_PACKAGE_PATH}/src/ros_msg_typekit_plugin.cpp.in 
       ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${ROSMSGNAME}_typekit_plugin.cpp @ONLY )
     
+    # Transport for ROS:
     configure_file( ${rtt_ros_integration_PACKAGE_PATH}/src/ros_msg_transport_plugin.cpp.in 
       ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${ROSMSGNAME}_transport_plugin.cpp @ONLY )
     
+    # Types.hpp helper for extern templates:
+    configure_file( ${rtt_ros_integration_PACKAGE_PATH}/src/msg_Types.hpp.in 
+      ${CMAKE_CURRENT_SOURCE_DIR}/include/${package}/typekit/${ROSMSGNAME}_Types.hpp @ONLY )
+    
     list(APPEND ROSMSG_TYPEKIT_PLUGINS ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${ROSMSGNAME}_typekit_plugin.cpp )
     list(APPEND ROSMSG_TRANSPORT_PLUGIN ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${ROSMSGNAME}_transport_plugin.cpp )
     
     
   endforeach( FILE ${MSGS} )
   
-  set(ROSPACKAGE ${package})
   configure_file( ${rtt_ros_integration_PACKAGE_PATH}/src/ros_msg_typekit_package.cpp.in 
     ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${package}_typekit.cpp @ONLY )
   
   configure_file( ${rtt_ros_integration_PACKAGE_PATH}/src/ros_msg_transport_package.cpp.in 
     ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${package}_transport.cpp @ONLY )
   
+  configure_file( ${rtt_ros_integration_PACKAGE_PATH}/src/Types.hpp.in 
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/${package}/typekit/Types.hpp @ONLY )
+  
   orocos_typekit( rtt-ros-${package}-typekit ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${package}_typekit.cpp ${ROSMSG_TYPEKIT_PLUGINS})
   orocos_typekit( rtt-ros-${package}-transport ${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${package}_transport.cpp )
   target_link_libraries(rtt-ros-${package}-transport rtt_ros_integration-${OROCOS_TARGET})
diff --git a/rtt_ros_integration/src/Types.hpp.in b/rtt_ros_integration/src/Types.hpp.in
new file mode 100644
index 0000000..d5eeecf
--- /dev/null
+++ b/rtt_ros_integration/src/Types.hpp.in
@@ -0,0 +1,10 @@
+/* Generated from rtt_ros_integration/src/Types.hpp.in */
+
+#ifndef __OROCOS_ROS_GENERATED_@ROSPACKAGE@_TYPES_HPP
+#define __OROCOS_ROS_GENERATED_@ROSPACKAGE@_TYPES_HPP
+
+// includes Types.hpp headers for all messages:
+@ROSMSGTYPESHEADERS@
+
+#endif
+
diff --git a/rtt_ros_integration/src/msg_Types.hpp.in b/rtt_ros_integration/src/msg_Types.hpp.in
new file mode 100644
index 0000000..3b22016
--- /dev/null
+++ b/rtt_ros_integration/src/msg_Types.hpp.in
@@ -0,0 +1,35 @@
+/* Generated from rtt_ros_integration/src/msg_Types.hpp.in */
+
+#ifndef __OROCOS_ROS_GENERATED_@ROSPACKAGE@_@ROSMSGNAME@_TYPES_HPP
+#define __OROCOS_ROS_GENERATED_@ROSPACKAGE@_@ROSMSGNAME@_TYPES_HPP
+
+// note: we preferably would include the message header instead of the boost stuff.
+#include <@ROSMSGBOOSTHEADER@>
+
+// All these classes were generated in the typekit library:
+#ifdef CORELIB_DATASOURCE_HPP
+    extern template class RTT::internal::DataSource< @ROSMSGTYPE@ >;
+    extern template class RTT::internal::AssignableDataSource< @ROSMSGTYPE@ >;
+#endif
+#ifdef ORO_CORELIB_DATASOURCES_HPP
+    extern template class RTT::internal::ValueDataSource< @ROSMSGTYPE@ >;
+    extern template class RTT::internal::ConstantDataSource< @ROSMSGTYPE@ >;
+    extern template class RTT::internal::ReferenceDataSource< @ROSMSGTYPE@ >;
+#endif
+#ifdef ORO_INPUT_PORT_HPP
+    extern template class RTT::OutputPort< @ROSMSGTYPE@ >;
+#endif
+#ifdef ORO_OUTPUT_PORT_HPP
+    extern template class RTT::InputPort< @ROSMSGTYPE@ >;
+#endif
+#ifdef ORO_PROPERTY_HPP
+    extern template class RTT::Property< @ROSMSGTYPE@ >;
+#endif
+#ifdef ORO_CORELIB_ATTRIBUTE_HPP
+    extern template class RTT::Attribute< @ROSMSGTYPE@ >;
+    extern template class RTT::Constant< @ROSMSGTYPE@ >;
+#endif
+
+
+#endif
+
-- 
1.7.0.4