Reformat the visibility file adding and dependency exporting

rosidl_adapter_proto/bin/rosidl_adapter_proto

@@ -79,6 +79,24 @@ def main(argv=sys.argv[1:]):
                        proto_files     = proto_files,
                        package_name    = package_name
     )
+
+    # Modify the generated .pb.h to include visibility file
+    for proto_file in proto_files:
+        # Just in case if the path contains another <xxx>.proto, e.g., 
+        # /home/<xxx>.proto/<path-to-proto-file>
+        proto_file = proto_file.split("/")
+        msg_type = proto_file[-2]
+        msg = os.path.splitext(proto_file[-1])[0]
+
+        with open(f"{cpp_out_dir}/{package_name}/{msg_type}/{msg}.pb.h", "r") as f:
+            contents = f.readlines()
+
+        # Insert the visibility file on line 6
+        contents.insert(
+            6,
+            f"#include <{package_name}/rosidl_adapter_proto__visibility_control.h>\n")
+        with open(f"{cpp_out_dir}/{package_name}/{msg_type}/{msg}.pb.h", "w") as f:
+            f.write("".join(contents))
 
     return rc
 

rosidl_adapter_proto/cmake/rosidl_adapt_proto_interfaces.cmake

@@ -83,14 +83,21 @@ configure_file(
   @ONLY
 )
 
-install(
-  DIRECTORY ${rosidl_adapter_proto_OUTPUT_DIR}
-  DESTINATION "include/"
-  PATTERN "*.h"
-)
+# Headers inside `build` folder is meant to be used by the current msg
+# package. Anything downstream packages should use the headers in `install`
+# folder.
+include_directories("${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter_proto")
+
+if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+  install(
+    DIRECTORY ${rosidl_adapter_proto_OUTPUT_DIR}
+    DESTINATION "include/"
+    PATTERN "*.h"
+  )
 
-install(
-  DIRECTORY ${rosidl_adapter_proto_OUTPUT_DIR}
-  DESTINATION "share/"
-  PATTERN "*.proto"
-)
+  install(
+    DIRECTORY ${rosidl_adapter_proto_OUTPUT_DIR}
+    DESTINATION "share/"
+    PATTERN "*.proto"
+  )
+endif()

rosidl_adapter_proto/cmake/rosidl_adapter_proto-extras.cmake.in

@@ -11,7 +11,7 @@ else()
   ament_register_extension(
     "rosidl_generate_idl_interfaces"
     "rosidl_adapter_proto"
-    "${rosidl_adapter_proto_DIR}/rosidl_adapt_proto_interfaces.cmake")
+    "rosidl_adapt_proto_interfaces.cmake")
 
   set(rosidl_adapter_proto_BIN
     "${rosidl_adapter_proto_DIR}/../../../lib/rosidl_adapter_proto/rosidl_adapter_proto")
@@ -28,25 +28,6 @@ else()
   normalize_path(rosidl_adapter_proto_TEMPLATE_DIR
     "${rosidl_adapter_proto_TEMPLATE_DIR}")
 
-  include("${rosidl_adapter_proto_DIR}/rosidl_adapt_proto_interfaces.cmake")
-
   add_compile_definitions("ROSIDL_ADAPTER_PROTO_BUILDING_DLL__${PROJECT_NAME}")
 
-  # There is no clean way to include additional files into protobuf headers
-  if(NOT WIN32)
-    add_compile_options("-include${rosidl_adapter_proto_VISIBILITY_CONTROL_HEADER}")
-  else()
-    add_compile_options( "/FI\"${rosidl_adapter_proto_VISIBILITY_CONTROL_HEADER}\"")
-  endif()
-
-  foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
-    set(_proto_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/rosidl_adapter_proto__visibility_control.h")
-    normalize_path(_proto_dir "${_proto_dir}")
-    if(NOT WIN32)
-      add_compile_options("-include${_proto_dir}")
-    else()
-      add_compile_options( "/FI\"${_proto_dir}\"")
-    endif()
-  endforeach()
-
 endif()

rosidl_typesupport_protobuf/CMakeLists.txt

@@ -22,8 +22,15 @@ project(rosidl_typesupport_protobuf)
 
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
 
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/discover-ros-distro-extras.cmake)
+if(is_foxy_or_greater)
+  find_package(rosidl_runtime_c REQUIRED)
+  ament_export_dependencies(rosidl_runtime_c)
+else()
+  find_package(rosidl_generator_c REQUIRED)
+  ament_export_dependencies(rosidl_generator_c)
+endif()
 ament_export_include_directories(include)
 
 ament_python_install_package(${PROJECT_NAME})

rosidl_typesupport_protobuf/package.xml

@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_generator_c</buildtool_depend>
+  <buildtool_depend>rosidl_runtime_c</buildtool_depend>
   <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
 
   <export>

rosidl_typesupport_protobuf_c/CMakeLists.txt

@@ -57,26 +57,20 @@ endif()
 find_package(rmw REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rosidl_typesupport_protobuf REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
-if(${is_foxy_or_greater})
-  find_package(rosidl_runtime_c REQUIRED)
-endif()
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_cmake)
-ament_export_dependencies(rosidl_generator_c)
-if(${is_foxy_or_greater})
-  ament_export_dependencies(rosidl_runtime_c)
-endif()
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 ament_export_dependencies(rosidl_typesupport_interface)
 ament_export_dependencies(rosidl_typesupport_protobuf)
 
 ament_export_include_directories(include)
 
+ament_export_dependencies(rosidl_adapter_proto)
+
 ament_python_install_package(${PROJECT_NAME})
 
 add_library(${PROJECT_NAME} SHARED

rosidl_typesupport_protobuf_c/cmake/rosidl_typesupport_protobuf_c-extras.cmake.in

@@ -2,6 +2,7 @@
 # rosidl_typesupport_protobuf_c/rosidl_typesupport_protobuf_c-extras.cmake.in
 
 find_package(Protobuf REQUIRED)
+find_package(rosidl_adapter_proto REQUIRED)
 
 if(NOT Protobuf_FOUND)
   message(STATUS "Could not find Protobuf: skipping rosidl_typesupport_protobuf_c")

rosidl_typesupport_protobuf_c/cmake/rosidl_typesupport_protobuf_c_generate_interfaces.cmake

@@ -142,6 +142,8 @@ configure_file(
   @ONLY
 )
 
+ament_export_dependencies(rosidl_typesupport_protobuf rosidl_typesupport_protobuf_c)
+
 # Depend on dependencies
 foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
   ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
@@ -181,5 +183,5 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   rosidl_export_typesupport_libraries(${_target_suffix}
     ${rosidl_generate_interfaces_TARGET}${_target_suffix})
 
-  ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix})
+  ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${Protobuf_LIBRARY})
 endif()

rosidl_typesupport_protobuf_cpp/CMakeLists.txt

@@ -40,7 +40,6 @@ if (CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
 	add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
 endif()
 
-find_package(ament_cmake REQUIRED)
 if(PROTOBUF_STATIC_DISABLE)
   ament_package()
   message(STATUS "Protobuf static typesupport implementation explicitly disabled - skipping '${PROJECT_NAME}'")
@@ -54,13 +53,19 @@ find_package(rosidl_generator_c REQUIRED)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rosidl_cmake)
-ament_export_dependencies(rosidl_generator_c)
-ament_export_dependencies(rosidl_generator_cpp)
 ament_export_dependencies(rosidl_typesupport_interface)
 ament_export_dependencies(rosidl_typesupport_protobuf)
+ament_export_dependencies(rosidl_adapter_proto)
 
 ament_export_include_directories(include)
 
+if(${is_foxy_or_greater})
+  ament_export_dependencies(rosidl_runtime_cpp)
+else()
+  ament_export_dependencies(rosidl_generator_c)
+  ament_export_dependencies(rosidl_generator_cpp)
+endif()
+
 ament_python_install_package(${PROJECT_NAME})
 
 add_library(${PROJECT_NAME} SHARED

rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp-extras.cmake.in

@@ -3,6 +3,7 @@
 #   rosidl_typesupport_protobuf_cpp-extras.cmake.in
 
 find_package(Protobuf REQUIRED)
+find_package(rosidl_adapter_proto REQUIRED)
 
 if(NOT Protobuf_FOUND)
   message(STATUS

rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp_generate_interfaces.cmake

@@ -140,8 +140,13 @@ set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
 )
 
 # Include headers from other generators
-target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
-  PUBLIC
+# This is supposed to be
+# `target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}`
+# but there's no way to pass the include folder to the top level target
+# ${rosidl_generate_interfaces_TARGET}.
+# This include_directories will only be used if message is used in the package
+# where it's created
+include_directories(
   ${_output_path}
   ${Protobuf_INCLUDE_DIR}
   ${rosidl_adapter_proto_INCLUDE_DIR}
@@ -156,6 +161,8 @@ ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
   rosidl_typesupport_interface
 )
 
+ament_export_dependencies(rosidl_typesupport_protobuf rosidl_typesupport_protobuf_cpp)
+
 # Depend on dependencies
 foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
   ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
@@ -199,5 +206,5 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   rosidl_export_typesupport_libraries(${_target_suffix}
     ${rosidl_generate_interfaces_TARGET}${_target_suffix})
 
-  ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix})
+  ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${Protobuf_LIBRARY})
 endif()