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Fix atomic error on loongarch64 #2536

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Fix atomic error on loongarch64 #2536

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12 changes: 12 additions & 0 deletions controller_interface/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,15 @@ target_link_libraries(controller_interface PUBLIC
fmt::fmt)

if(BUILD_TESTING)
function(add_atomic_link_options target)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "loongarch64")
target_link_options(${target} PRIVATE
"LINKER:--no-as-needed"
"LINKER:-latomic"
"LINKER:--as-needed"
)
endif()
endfunction()
find_package(ament_cmake_gmock REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
Expand All @@ -44,11 +53,13 @@ if(BUILD_TESTING)
target_link_libraries(test_controller_interface
controller_interface
)
add_atomic_link_options(test_controller_interface)

ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
target_link_libraries(test_controller_with_options
controller_interface
)
add_atomic_link_options(test_controller_with_options)
target_compile_definitions(
test_controller_with_options
PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")
Expand All @@ -58,6 +69,7 @@ if(BUILD_TESTING)
controller_interface
hardware_interface::hardware_interface
)
add_atomic_link_options(test_chainable_controller_interface)

ament_add_gmock(test_semantic_component_interface test/test_semantic_component_interface.cpp)
target_link_libraries(test_semantic_component_interface
Expand Down
21 changes: 21 additions & 0 deletions controller_manager/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,10 +54,20 @@ target_link_libraries(controller_manager PUBLIC
${std_msgs_TARGETS}
${controller_manager_msgs_TARGETS})

function(add_atomic_link_options target)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "loongarch64")
target_link_options(${target} PRIVATE
"LINKER:--no-as-needed"
"LINKER:-latomic"
"LINKER:--as-needed"
)
endif()
endfunction()
add_executable(ros2_control_node src/ros2_control_node.cpp)
target_link_libraries(ros2_control_node PRIVATE
controller_manager
)
add_atomic_link_options(ros2_control_node)

if(BUILD_TESTING)
find_package(ament_cmake_gmock REQUIRED)
Expand Down Expand Up @@ -109,6 +119,7 @@ if(BUILD_TESTING)
test_chainable_controller
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_controller_manager)

ament_add_gmock(test_controller_manager_with_namespace
test/test_controller_manager_with_namespace.cpp
Expand All @@ -118,6 +129,7 @@ if(BUILD_TESTING)
test_controller
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_controller_manager_with_namespace)

ament_add_gmock(test_controller_manager_hardware_error_handling
test/test_controller_manager_hardware_error_handling.cpp
Expand All @@ -127,6 +139,7 @@ if(BUILD_TESTING)
test_controller
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_controller_manager_hardware_error_handling)

ament_add_gmock(test_load_controller
test/test_load_controller.cpp
Expand All @@ -138,6 +151,7 @@ if(BUILD_TESTING)
test_controller_failed_init
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_load_controller)

ament_add_gmock(test_controllers_chaining_with_controller_manager
test/test_controllers_chaining_with_controller_manager.cpp
Expand All @@ -148,6 +162,7 @@ if(BUILD_TESTING)
test_controller
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_controllers_chaining_with_controller_manager)

ament_add_gmock(test_controller_manager_srvs
test/test_controller_manager_srvs.cpp
Expand All @@ -160,6 +175,7 @@ if(BUILD_TESTING)
ros2_control_test_assets::ros2_control_test_assets
${controller_manager_msgs_TARGETS}
)
add_atomic_link_options(test_controller_manager_srvs)
set_tests_properties(test_controller_manager_srvs PROPERTIES TIMEOUT 120)
ament_add_gmock(test_controller_manager_urdf_passing
test/test_controller_manager_urdf_passing.cpp
Expand All @@ -170,6 +186,7 @@ if(BUILD_TESTING)
ros2_control_test_assets::ros2_control_test_assets
${controller_manager_msgs_TARGETS}
)
add_atomic_link_options(test_controller_manager_urdf_passing)

add_library(test_controller_with_interfaces SHARED
test/test_controller_with_interfaces/test_controller_with_interfaces.cpp
Expand All @@ -194,6 +211,7 @@ if(BUILD_TESTING)
test_controller_with_interfaces
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_release_interfaces)

ament_add_gmock(test_spawner_unspawner
test/test_spawner_unspawner.cpp
Expand All @@ -204,6 +222,7 @@ if(BUILD_TESTING)
test_controller
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_spawner_unspawner)
target_compile_definitions(
test_spawner_unspawner
PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")
Expand All @@ -217,6 +236,7 @@ if(BUILD_TESTING)
test_controller
ros2_control_test_assets::ros2_control_test_assets
)
add_atomic_link_options(test_hardware_spawner)

ament_add_gmock(test_hardware_management_srvs
test/test_hardware_management_srvs.cpp
Expand All @@ -227,6 +247,7 @@ if(BUILD_TESTING)
ros2_control_test_assets::ros2_control_test_assets
${controller_manager_msgs_TARGETS}
)
add_atomic_link_options(test_hardware_management_srvs)

find_package(ament_cmake_pytest REQUIRED)
install(FILES test/test_ros2_control_node.yaml
Expand Down
15 changes: 15 additions & 0 deletions hardware_interface/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,15 @@ pluginlib_export_plugin_description_file(
hardware_interface mock_components_plugin_description.xml)

if(BUILD_TESTING)
function(add_atomic_link_options target)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "loongarch64")
target_link_options(${target} PRIVATE
"LINKER:--no-as-needed"
"LINKER:-latomic"
"LINKER:--as-needed"
)
endif()
endfunction()

find_package(ament_cmake_gmock REQUIRED)
find_package(ros2_control_test_assets REQUIRED)
Expand All @@ -83,6 +92,7 @@ if(BUILD_TESTING)

ament_add_gmock(test_joint_handle test/test_handle.cpp)
target_link_libraries(test_joint_handle hardware_interface rcpputils::rcpputils)
add_atomic_link_options(test_joint_handle)

# Test helper methods
ament_add_gmock(test_helpers test/test_helpers.cpp)
Expand All @@ -91,15 +101,19 @@ if(BUILD_TESTING)
# Test lexical casts methods
ament_add_gtest(test_lexical_casts test/test_lexical_casts.cpp)
target_link_libraries(test_lexical_casts hardware_interface)
add_atomic_link_options(test_lexical_casts)

ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp)
target_link_libraries(test_component_interfaces hardware_interface ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_component_interfaces)

ament_add_gmock(test_component_interfaces_custom_export test/test_component_interfaces_custom_export.cpp)
target_link_libraries(test_component_interfaces_custom_export hardware_interface ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_component_interfaces_custom_export)

ament_add_gmock(test_component_parser test/test_component_parser.cpp)
target_link_libraries(test_component_parser hardware_interface ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_component_parser)

add_library(test_hardware_components SHARED
test/test_hardware_components/test_single_joint_actuator.cpp
Expand All @@ -119,6 +133,7 @@ if(BUILD_TESTING)
ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp)
target_include_directories(test_generic_system PRIVATE include)
target_link_libraries(test_generic_system hardware_interface ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_generic_system)
endif()

install(
Expand Down
11 changes: 11 additions & 0 deletions hardware_interface_testing/CMakeLists.txt
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,15 @@ pluginlib_export_plugin_description_file(
hardware_interface test/test_components/test_components.xml)

if(BUILD_TESTING)
function(add_atomic_link_options target)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "loongarch64")
target_link_options(${target} PRIVATE
"LINKER:--no-as-needed"
"LINKER:-latomic"
"LINKER:--as-needed"
)
endif()
endfunction()

find_package(ament_cmake_gmock REQUIRED)

Expand All @@ -47,13 +56,15 @@ if(BUILD_TESTING)
rclcpp_lifecycle::rclcpp_lifecycle
ros2_control_test_assets::ros2_control_test_assets
${lifecycle_msgs_TARGETS})
add_atomic_link_options(test_resource_manager)

ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
target_link_libraries(test_resource_manager_prepare_perform_switch
hardware_interface::hardware_interface
rclcpp_lifecycle::rclcpp_lifecycle
ros2_control_test_assets::ros2_control_test_assets
${lifecycle_msgs_TARGETS})
add_atomic_link_options(test_resource_manager_prepare_perform_switch)

endif()

Expand Down
13 changes: 13 additions & 0 deletions transmission_interface/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,16 @@ target_link_libraries(transmission_interface PUBLIC
pluginlib_export_plugin_description_file(transmission_interface ros2_control_plugins.xml)

if(BUILD_TESTING)
function(add_atomic_link_options target)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "loongarch64")
target_link_options(${target} PRIVATE
"LINKER:--no-as-needed"
"LINKER:-latomic"
"LINKER:--as-needed"
)
endif()
endfunction()

find_package(ament_cmake_gmock REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

Expand All @@ -59,20 +69,23 @@ if(BUILD_TESTING)
target_link_libraries(test_simple_transmission_loader
transmission_interface
ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_simple_transmission_loader)

ament_add_gmock(test_four_bar_linkage_transmission_loader
test/four_bar_linkage_transmission_loader_test.cpp
)
target_link_libraries(test_four_bar_linkage_transmission_loader
transmission_interface
ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_four_bar_linkage_transmission_loader)

ament_add_gmock(test_differential_transmission_loader
test/differential_transmission_loader_test.cpp
)
target_link_libraries(test_differential_transmission_loader
transmission_interface
ros2_control_test_assets::ros2_control_test_assets)
add_atomic_link_options(test_differential_transmission_loader)

ament_add_gmock(
test_utils
Expand Down