feat: add ROS2 support to Python runtime

Enable linking and compilation of ROS2 interfaces based on the build configuration. This improves flexibility by allowing the Python runtime to interface with ROS2 when needed, enhancing interoperability and feature set.
AimRT · Nov 12, 2024 · bdf100d · bdf100d
1 parent ccc44ba
commit bdf100d
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Showing 3 changed files with 63 additions and 45 deletions.
diff --git a/src/runtime/python_runtime/CMakeLists.txt b/src/runtime/python_runtime/CMakeLists.txt
@@ -26,8 +26,13 @@ target_sources(${CUR_TARGET_NAME} PRIVATE ${src})
 # Set link libraries of target
 target_link_libraries(
   ${CUR_TARGET_NAME}
-  PRIVATE $<LINK_LIBRARY:WHOLE_ARCHIVE,aimrt::runtime::core>
-          aimrt::interface::aimrt_module_ros2_interface)
+  PRIVATE $<LINK_LIBRARY:WHOLE_ARCHIVE,aimrt::runtime::core>)
+
+# Link ros2 interface if building with ros2
+if (AIMRT_BUILD_WITH_ROS2)
+  target_link_libraries(${CUR_TARGET_NAME} PRIVATE aimrt::interface::aimrt_module_ros2_interface)
+  target_compile_definitions(${CUR_TARGET_NAME} PRIVATE AIMRT_BUILD_WITH_ROS2)
+endif()
 
 # Set misc of target
 set_target_properties(${CUR_TARGET_NAME} PROPERTIES OUTPUT_NAME "aimrt_python_runtime")

diff --git a/src/runtime/python_runtime/export_channel.h b/src/runtime/python_runtime/export_channel.h
@@ -3,16 +3,19 @@
 
 #pragma once
 
+#include "pybind11/pybind11.h"
+
 #include <utility>
 
 #include "aimrt_module_cpp_interface/channel/channel_context.h"
 #include "aimrt_module_cpp_interface/channel/channel_handle.h"
 
 #include "python_runtime/export_pb_type_support.h"
-#include "python_runtime/export_ros2_type_support.h"
-#include "python_runtime/ros2_type_support_utils.h"
 
-#include "pybind11/pybind11.h"
+#ifdef AIMRT_BUILD_WITH_ROS2
+  #include "python_runtime/export_ros2_type_support.h"
+  #include "python_runtime/ros2_type_support_utils.h"
+#endif
 
 namespace aimrt::runtime::python_runtime {
 
@@ -63,15 +66,6 @@ inline bool PyRegisterPbPublishType(
   return publisher_ref.RegisterPublishType(msg_type_support->NativeHandle());
 }
 
-inline bool PyRegisterRos2PublishType(
-    aimrt::channel::PublisherRef& publisher_ref,
-    const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support) {
-  static std::vector<std::shared_ptr<const PyRos2TypeSupport>> py_ros2_ts_vec;
-  py_ros2_ts_vec.emplace_back(py_ros2_type_support);
-
-  return publisher_ref.RegisterPublishType(py_ros2_type_support->NativeHandle());
-}
-
 inline void PyPublishPbMessageWithCtx(
     aimrt::channel::PublisherRef& publisher_ref,
     std::string_view msg_type,
@@ -80,36 +74,6 @@ inline void PyPublishPbMessageWithCtx(
   publisher_ref.Publish(msg_type, ctx_ref, static_cast<const void*>(&msg_buf));
 }
 
-inline void PyPublishRos2MessageWithCtx(
-    aimrt::channel::PublisherRef& publisher_ref,
-    std::string_view msg_type,
-    const aimrt::channel::ContextRef& ctx_ref,
-    pybind11::object msg_obj) {
-  auto msg_ptr = convert_from_py(msg_obj);
-  if (!msg_ptr) {
-    throw py::error_already_set();
-  }
-
-  publisher_ref.Publish(msg_type, ctx_ref, static_cast<const void*>(msg_ptr.get()));
-}
-
-inline void ExportPublisherRef(pybind11::object m) {
-  using aimrt::channel::PublisherRef;
-
-  using PyPbTsPtr = std::shared_ptr<const PyPbTypeSupport>;
-  using PyRos2TsPtr = std::shared_ptr<const PyRos2TypeSupport>;
-
-  pybind11::class_<PublisherRef>(std::move(m), "PublisherRef")
-      .def(pybind11::init<>())
-      .def("__bool__", &PublisherRef::operator bool)
-      .def("RegisterPbPublishType", &PyRegisterPbPublishType)
-      .def("RegisterRos2PublishType", &PyRegisterRos2PublishType)
-      .def("PublishPbMessageWithCtx", &PyPublishPbMessageWithCtx)
-      .def("PublishRos2MessageWithCtx", &PyPublishRos2MessageWithCtx)
-      .def("GetTopic", &PublisherRef::GetTopic)
-      .def("MergeSubscribeContextToPublishContext", &PublisherRef::MergeSubscribeContextToPublishContext);
-}
-
 inline bool PySubscribePbMessageWithCtx(
     aimrt::channel::SubscriberRef& subscriber_ref,
     const std::shared_ptr<const PyPbTypeSupport>& msg_type_support,
@@ -140,6 +104,30 @@ inline bool PySubscribePbMessageWithCtx(
       });
 }
 
+#ifdef AIMRT_BUILD_WITH_ROS2
+
+inline bool PyRegisterRos2PublishType(
+    aimrt::channel::PublisherRef& publisher_ref,
+    const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support) {
+  static std::vector<std::shared_ptr<const PyRos2TypeSupport>> py_ros2_ts_vec;
+  py_ros2_ts_vec.emplace_back(py_ros2_type_support);
+
+  return publisher_ref.RegisterPublishType(py_ros2_type_support->NativeHandle());
+}
+
+inline void PyPublishRos2MessageWithCtx(
+    aimrt::channel::PublisherRef& publisher_ref,
+    std::string_view msg_type,
+    const aimrt::channel::ContextRef& ctx_ref,
+    pybind11::object msg_obj) {
+  auto msg_ptr = convert_from_py(msg_obj);
+  if (!msg_ptr) {
+    throw py::error_already_set();
+  }
+
+  publisher_ref.Publish(msg_type, ctx_ref, static_cast<const void*>(msg_ptr.get()));
+}
+
 inline bool PySubscribeRos2MessageWithCtx(
     aimrt::channel::SubscriberRef& subscriber_ref,
     const std::shared_ptr<const PyRos2TypeSupport>& py_ros2_type_support,
@@ -184,14 +172,34 @@ inline bool PySubscribeRos2MessageWithCtx(
       });
 }
 
+#endif
+
+inline void ExportPublisherRef(pybind11::object m) {
+  using aimrt::channel::PublisherRef;
+
+  pybind11::class_<PublisherRef>(std::move(m), "PublisherRef")
+      .def(pybind11::init<>())
+      .def("__bool__", &PublisherRef::operator bool)
+      .def("RegisterPbPublishType", &PyRegisterPbPublishType)
+      .def("PublishPbMessageWithCtx", &PyPublishPbMessageWithCtx)
+#ifdef AIMRT_BUILD_WITH_ROS2
+      .def("PublishRos2MessageWithCtx", &PyPublishRos2MessageWithCtx)
+      .def("RegisterRos2PublishType", &PyRegisterRos2PublishType)
+#endif
+      .def("GetTopic", &PublisherRef::GetTopic)
+      .def("MergeSubscribeContextToPublishContext", &PublisherRef::MergeSubscribeContextToPublishContext);
+}
+
 inline void ExportSubscriberRef(pybind11::object m) {
   using aimrt::channel::SubscriberRef;
 
   pybind11::class_<SubscriberRef>(std::move(m), "SubscriberRef")
       .def(pybind11::init<>())
       .def("__bool__", &SubscriberRef::operator bool)
       .def("SubscribePbMessageWithCtx", &PySubscribePbMessageWithCtx)
+#ifdef AIMRT_BUILD_WITH_ROS2
       .def("SubscribeRos2MessageWithCtx", &PySubscribeRos2MessageWithCtx)
+#endif
       .def("GetTopic", &SubscriberRef::GetTopic);
 }
 

diff --git a/src/runtime/python_runtime/python_runtime_main.cc b/src/runtime/python_runtime/python_runtime_main.cc
@@ -12,9 +12,12 @@
 #include "python_runtime/export_module_base.h"
 #include "python_runtime/export_parameter.h"
 #include "python_runtime/export_pb_type_support.h"
-#include "python_runtime/export_ros2_type_support.h"
 #include "python_runtime/export_rpc.h"
 
+#ifdef AIMRT_BUILD_WITH_ROS2
+  #include "python_runtime/export_ros2_type_support.h"
+#endif
+
 using namespace aimrt::runtime::python_runtime;
 
 PYBIND11_MODULE(aimrt_python_runtime, m) {
@@ -26,7 +29,9 @@ PYBIND11_MODULE(aimrt_python_runtime, m) {
 
   // type support
   ExportPbTypeSupport(m);
+#ifdef AIMRT_BUILD_WITH_ROS2
   ExportRos2TypeSupport(m);
+#endif
 
   // core handle
   ExportModuleInfo(m);