Remove most remaining uses of ament_target_dependencies. (#1102)

Instead, switch to using target_link_libraries everywhere we can. We can't do it for the rmw_implementation substitution, since the libraries aren't always called the same thing as the rmw_implementation. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Sep 28, 2023 · 9a05fa6 · 9a05fa6
1 parent c65b517
commit 9a05fa6
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diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
@@ -57,8 +57,8 @@ function(test_target_function)
     SRCS rcl/test_client.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_timer${target_suffix}
@@ -81,41 +81,41 @@ function(test_target_function)
     SRCS rcl/test_get_node_names.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
     TIMEOUT 120
   )
 
   rcl_add_custom_gtest(test_info_by_topic${target_suffix}
     SRCS rcl/test_info_by_topic.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_count_matched${target_suffix}
     SRCS rcl/test_count_matched.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_get_actual_qos${target_suffix}
     SRCS rcl/test_get_actual_qos.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs" "osrf_testing_tools_cpp"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_init${target_suffix}
@@ -141,7 +141,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var} ${gtest_filter_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
+    AMENT_DEPENDENCIES ${rmw_implementation}
     TIMEOUT 240  # Large timeout to wait for fault injection tests
   )
 
@@ -150,66 +150,59 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
   )
 
   rcl_add_custom_gtest(test_remap_integration${target_suffix}
     SRCS rcl/test_remap_integration.cpp
     TIMEOUT 200
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
   )
 
   rcl_add_custom_gtest(test_guard_condition${target_suffix}
     SRCS rcl/test_guard_condition.cpp
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_publisher${target_suffix}
     SRCS rcl/test_publisher.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_publisher_wait_all_ack${target_suffix}
     SRCS rcl/test_publisher_wait_all_ack.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
+    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools rcutils::rcutils
+      rosidl_runtime_c::rosidl_runtime_c ${test_msgs_TARGETS}
     AMENT_DEPENDENCIES ${rmw_implementation}
-      "osrf_testing_tools_cpp"
-      "rcutils"
-      "rosidl_runtime_c"
-      "test_msgs"
   )
 
   rcl_add_custom_gtest(test_service${target_suffix}
     SRCS rcl/test_service.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_subscription${target_suffix}
     SRCS rcl/test_subscription.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
+    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools rosidl_runtime_cpp::rosidl_runtime_cpp
+      ${test_msgs_TARGETS}
     AMENT_DEPENDENCIES ${rmw_implementation}
-      "osrf_testing_tools_cpp"
-      "rosidl_runtime_cpp"
-      "test_msgs"
     TIMEOUT 120
   )
   # TODO(asorbini) Enable message timestamp tests for rmw_connextdds on Windows
@@ -239,32 +232,32 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_wait${target_suffix}
     SRCS rcl/test_wait.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
+    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_logging_rosout${target_suffix}
     SRCS rcl/test_logging_rosout.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "rcl_interfaces"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${rcl_interfaces_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_namespace${target_suffix}
     SRCS rcl/test_namespace.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_rmw_impl_id_check_func${target_suffix}
@@ -280,57 +273,54 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_service_event_publisher${target_suffix}
     SRCS rcl/test_service_event_publisher.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_type_description_conversions${target_suffix}
     SRCS rcl/test_type_description_conversions.cpp
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES "test_msgs"
+    LIBRARIES ${PROJECT_NAME} ${test_msgs_TARGETS}
   )
 
   rcl_add_custom_gtest(test_node_type_cache${target_suffix}
     SRCS rcl/test_node_type_cache.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_get_type_description_service${target_suffix}
     SRCS rcl/test_get_type_description_service.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "type_description_interfaces"
+    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${type_description_interfaces_TARGETS}
+    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   # Launch tests
 
   rcl_add_custom_executable(service_fixture${target_suffix}
     SRCS rcl/service_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS} rcutils::rcutils
   )
 
   rcl_add_custom_executable(client_fixture${target_suffix}
     SRCS rcl/client_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
   )
 
   rcl_add_custom_launch_test(test_services
@@ -392,7 +382,6 @@ rcl_add_custom_gtest(test_arguments
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
   INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
   LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
 )
 
 rcl_add_custom_gtest(test_time
@@ -411,8 +400,7 @@ rcl_add_custom_gtest(test_lexer
 rcl_add_custom_gtest(test_lexer_lookahead
   SRCS rcl/test_lexer_lookahead.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME}
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+  LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
 )
 
 rcl_add_custom_gtest(test_validate_enclave_name
@@ -424,8 +412,7 @@ rcl_add_custom_gtest(test_validate_enclave_name
 rcl_add_custom_gtest(test_discovery_options
   SRCS rcl/test_discovery_options.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME}
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+  LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
 )
 
 rcl_add_custom_gtest(test_domain_id
@@ -444,8 +431,7 @@ rcl_add_custom_gtest(test_logging
   SRCS rcl/test_logging.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
   LIBRARIES ${PROJECT_NAME} mimick ${rcl_interfaces_TARGETS}
-    rcl_logging_interface::rcl_logging_interface ${RCL_LOGGING_IMPL}::${RCL_LOGGING_IMPL}
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+    rcl_logging_interface::rcl_logging_interface ${RCL_LOGGING_IMPL}::${RCL_LOGGING_IMPL} osrf_testing_tools_cpp::memory_tools
 )
 
 rcl_add_custom_gtest(test_validate_topic_name
@@ -463,8 +449,7 @@ rcl_add_custom_gtest(test_expand_topic_name
 rcl_add_custom_gtest(test_security
   SRCS rcl/test_security.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} mimick
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+  LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
 )
 
 rcl_add_custom_gtest(test_common
@@ -477,15 +462,13 @@ rcl_add_custom_gtest(test_common
 rcl_add_custom_gtest(test_log_level
   SRCS rcl/test_log_level.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} mimick
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+  LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
 )
 
 rcl_add_custom_gtest(test_subscription_content_filter_options
   SRCS rcl/test_subscription_content_filter_options.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME}
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "test_msgs"
+  LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
 )
 
 rcl_add_custom_gtest(test_type_hash

diff --git a/rcl/test/cmake/rcl_add_custom_executable.cmake b/rcl/test/cmake/rcl_add_custom_executable.cmake
@@ -21,7 +21,7 @@ macro(rcl_add_custom_executable target)
   cmake_parse_arguments(_ARG
     "TRACE"
     ""
-    "SRCS;INCLUDE_DIRS;LIBRARIES;AMENT_DEPENDENCIES"
+    "SRCS;INCLUDE_DIRS;LIBRARIES"
     ${ARGN})
   if(_ARG_UNPARSED_ARGUMENTS)
     message(FATAL_ERROR
@@ -48,13 +48,6 @@ macro(rcl_add_custom_executable target)
     endif()
     target_link_libraries(${target} ${_ARG_LIBRARIES})
   endif()
-  # Add extra ament dependencies, if any.
-  if(_ARG_AMENT_DEPENDENCIES)
-    if(_ARG_TRACE)
-      message(STATUS "  rcl_add_custom_executable() AMENT_DEPENDENCIES: ${_ARG_AMENT_DEPENDENCIES}")
-    endif()
-    ament_target_dependencies(${target} ${_ARG_AMENT_DEPENDENCIES})
-  endif()
   target_compile_definitions(${target}
     PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
 endmacro()