Merge pull request #126 from timonmentink/fix/examples

Fixes multiple runtime issues
ros2-dotnet · Jul 22, 2024 · ab1cf8b · ab1cf8b
2 parents bbf949f + 5e7d449
commit ab1cf8b
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Showing 4 changed files with 23 additions and 10 deletions.
diff --git a/rcldotnet/rcldotnet.h b/rcldotnet/rcldotnet.h
@@ -79,7 +79,7 @@ RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_wait_set_add_timer(void *wait_set_handle, void *timer_handle);
 
 RCLDOTNET_EXPORT
-int32_t RCLDOTNET_CDECL native_rcl_wait_set_add_guard_condition_handle(void *wait_set_handle, void *guard_condition_handle);
+int32_t RCLDOTNET_CDECL native_rcl_wait_set_add_guard_condition(void *wait_set_handle, void *guard_condition_handle);
 
 RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_client_wait_set_get_num_entries(

diff --git a/rcldotnet/rcldotnet_action_client.c b/rcldotnet/rcldotnet_action_client.c
@@ -26,7 +26,7 @@
 
 #include "rosidl_runtime_c/message_type_support_struct.h"
 
-#include "rcldotnet_client.h"
+#include "rcldotnet_action_client.h"
 
 int32_t native_rcl_action_send_goal_request(void *action_client_handle, void *goal_request_handle, int64_t *sequence_number) {
   rcl_action_client_t * action_client = (rcl_action_client_t *)action_client_handle;

diff --git a/rcldotnet_common/DllLoadUtils.cs b/rcldotnet_common/DllLoadUtils.cs
@@ -203,10 +203,10 @@ public class DllLoadUtilsUWP : DllLoadUtilsAbs
             [DllImport("api-ms-win-core-libraryloader-l2-1-0.dll", SetLastError = true, ExactSpelling = true)]
             private static extern IntPtr LoadPackagedLibraryUWP([MarshalAs(UnmanagedType.LPWStr)] string fileName, int reserved = 0);
 
-            [DllImport("api-ms-win-core-libraryloader-l1-2-0.dll", SetLastError = true, ExactSpelling = true)]
+            [DllImport("api-ms-win-core-libraryloader-l1-2-0.dll", EntryPoint = "FreeLibrary", SetLastError = true, ExactSpelling = true)]
             private static extern int FreeLibraryUWP(IntPtr handle);
 
-            [DllImport("api-ms-win-core-libraryloader-l1-2-0.dll", SetLastError = true, ExactSpelling = true)]
+            [DllImport("api-ms-win-core-libraryloader-l1-2-0.dll", EntryPoint = "GetProcAddress", SetLastError = true, ExactSpelling = true)]
             private static extern IntPtr GetProcAddressUWP(IntPtr handle, string procedureName);
 
             public override void FreeLibrary(IntPtr handle) => FreeLibraryUWP(handle);
@@ -231,10 +231,10 @@ public class DllLoadUtilsWindowsDesktop : DllLoadUtilsAbs
             [DllImport("kernel32.dll", EntryPoint = "LoadLibraryA", SetLastError = true, ExactSpelling = true)]
             private static extern IntPtr LoadLibraryA(string fileName, int reserved = 0);
 
-            [DllImport("kernel32.dll", SetLastError = true, ExactSpelling = true)]
+            [DllImport("kernel32.dll", EntryPoint = "FreeLibrary", SetLastError = true, ExactSpelling = true)]
             private static extern int FreeLibraryWin(IntPtr handle);
 
-            [DllImport("kernel32.dll", SetLastError = true, ExactSpelling = true)]
+            [DllImport("kernel32.dll", EntryPoint = "GetProcAddress", SetLastError = true, ExactSpelling = true)]
             private static extern IntPtr GetProcAddressWin(IntPtr handle, string procedureName);
 
             public override void FreeLibrary(IntPtr handle) => FreeLibraryWin(handle);

diff --git a/rosidl_generator_dotnet/cmake/rosidl_generator_dotnet_generate_interfaces.cmake b/rosidl_generator_dotnet/cmake/rosidl_generator_dotnet_generate_interfaces.cmake
@@ -35,6 +35,14 @@ set(_output_path
 set(_generated_cs_files "")
 set(_generated_c_ts_files "")
 set(_generated_h_files "")
+set(ros2_distro "$ENV{ROS_DISTRO}")
+set(before_humble_distro "foxy;galactic")
+
+if(ros2_distro IN_LIST before_humble_distro)
+  set(PYTHON_COMMAND ${PYTHON_EXECUTABLE})
+else()
+  set(PYTHON_COMMAND Python3::Interpreter)
+endif()
 
 foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
@@ -140,7 +148,8 @@ set_property(
 if(_generated_cs_files)
   add_custom_command(
     OUTPUT ${_generated_cs_files} ${_generated_h_files} ${_generated_c_ts_files}
-    COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_dotnet_BIN}
+    COMMAND ${PYTHON_COMMAND}
+    ARGS ${rosidl_generator_dotnet_BIN}
     --generator-arguments-file "${generator_arguments_file}"
     --typesupport-impls "${_typesupport_impls}"
     DEPENDS ${target_dependencies}
@@ -215,9 +224,13 @@ if(_generated_c_ts_files)
     ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
     ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dotnet
   )
-
-  rosidl_target_interfaces(${_target_name}
-    ${rosidl_generate_interfaces_TARGET} rosidl_typesupport_c)
+
+  if(ros2_distro IN_LIST before_humble_distro)
+    rosidl_target_interfaces(${_target_name} ${rosidl_generate_interfaces_TARGET} rosidl_typesupport_c)
+  else()
+    rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
+    target_link_libraries(${_target_name} "${c_typesupport_target}")
+  endif()
 
   ament_target_dependencies(${_target_name}
     "rosidl_runtime_c"