fix: cmake & noexcept (#126)

CMakeLists.txt

@@ -7,7 +7,7 @@ project(aimrt LANGUAGES C CXX)
 
 # Prevent variables from being reset by option
 # This setting allows predefined variables to take precedence for FetchContent_MakeAvailable()
-# see: https://cmake.org/cmake/help/latest/policy/CMP0077.html
+# See: https://cmake.org/cmake/help/latest/policy/CMP0077.html
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 
 # Set cmake path
@@ -17,13 +17,16 @@ include(CMakeDependentOption)
 
 # Some option
 option(AIMRT_BUILD_TESTS "AimRT build tests." OFF)
-option(AIMRT_BUILD_EXAMPLES "AimRT build examples." OFF)
 option(AIMRT_BUILD_DOCUMENT "AimRT build document." OFF)
 option(AIMRT_BUILD_RUNTIME "AimRT build runtime." ON)
 option(AIMRT_BUILD_CLI_TOOLS "AimRT build aimrt command line tools." OFF)
 option(AIMRT_BUILD_WITH_PROTOBUF "AimRT build with protobuf." ON)
 option(AIMRT_BUILD_WITH_ROS2 "AimRT build with ros2." OFF)
 
+option(AIMRT_INSTALL "Enable installation of AimRT." ON)
+
+cmake_dependent_option(AIMRT_BUILD_EXAMPLES "AimRT build examples." OFF "AIMRT_BUILD_RUNTIME" OFF)
+
 cmake_dependent_option(AIMRT_BUILD_PYTHON_RUNTIME "AimRT build python runtime." OFF "AIMRT_BUILD_RUNTIME" OFF)
 cmake_dependent_option(AIMRT_BUILD_PYTHON_PACKAGE "AimRT build python package." OFF "AIMRT_BUILD_PYTHON_RUNTIME;AIMRT_INSTALL" OFF)
 
@@ -46,8 +49,6 @@ cmake_dependent_option(AIMRT_BUILD_LOG_CONTROL_PLUGIN "AimRT build log control p
 cmake_dependent_option(AIMRT_BUILD_GRPC_PLUGIN "AimRT build grpc plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
 cmake_dependent_option(AIMRT_BUILD_PROXY_PLUGIN "AimRT build proxy plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
 
-option(AIMRT_INSTALL "Enable installation of AimRT." ON)
-
 option(AIMRT_EXECUTOR_USE_STDEXEC "AimRT use stdexec as executor impl. (Experimental)" OFF)
 option(AIMRT_BUILD_WITH_WERROR "AimRT build with -Werror option. (Experimental)" OFF)
 
@@ -95,12 +96,10 @@ if(AIMRT_MASTER_PROJECT)
   set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 endif()
 
-if(UNIX)
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
-endif()
+elseif(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
   add_compile_options(/utf-8 /wd4819)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
 endif()
@@ -180,7 +179,7 @@ if(AIMRT_BUILD_WITH_PROTOBUF)
 endif()
 
 if(AIMRT_BUILD_WITH_ROS2)
-  # fix cmake policy for using FindPythonInterp and FindPythonLibs (ros2)
+  # Fix cmake policy for using FindPythonInterp and FindPythonLibs (ros2)
   if(POLICY CMP0148)
     cmake_policy(SET CMP0148 OLD)
   endif()
@@ -227,7 +226,7 @@ if(AIMRT_BUILD_RUNTIME)
   endif()
 
   if(AIMRT_BUILD_ICEORYX_PLUGIN)
-    # try to find libacl
+    # Try to find libacl
     if(CMAKE_SYSTEM_NAME MATCHES "Linux|QNX")
       find_library(ACL_LIB acl)
       if(NOT ACL_LIB)
@@ -247,7 +246,7 @@ if(AIMRT_BUILD_RUNTIME)
   endif()
 
   if(AIMRT_BUILD_ZENOH_PLUGIN)
-    # find Rust compiler
+    # Find Rust compiler
     execute_process(
       COMMAND rustc --version
       RESULT_VARIABLE rustc_result
@@ -293,9 +292,7 @@ if(AIMRT_INSTALL)
 endif()
 
 # Put at last to ensure ros2 installation is done
-if(AIMRT_INSTALL
+if(AIMRT_BUILD_PYTHON_PACKAGE)
-   AND AIMRT_BUILD_PYTHON_RUNTIME
-   AND AIMRT_BUILD_PYTHON_PACKAGE)
   install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target create_python_pkg)")
 endif()
 

src/CMakeLists.txt

@@ -17,6 +17,6 @@ if(AIMRT_BUILD_RUNTIME)
   add_subdirectory(plugins)
 endif()
 
-if(AIMRT_BUILD_RUNTIME AND AIMRT_BUILD_EXAMPLES)
+if(AIMRT_BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()

src/common/CMakeLists.txt

@@ -9,8 +9,6 @@ if(AIMRT_BUILD_WITH_ROS2)
   add_subdirectory(ros2_util)
 endif()
 
-if(AIMRT_BUILD_RUNTIME)
+if(AIMRT_BUILD_NET_PLUGIN OR AIMRT_BUILD_GRPC_PLUGIN)
-  if(AIMRT_BUILD_NET_PLUGIN OR AIMRT_BUILD_GRPC_PLUGIN)
+  add_subdirectory(net)
-    add_subdirectory(net)
-  endif()
 endif()

src/interface/aimrt_module_cpp_interface/util/function.h

@@ -36,12 +36,6 @@ concept FunctionCStyleOps =
     std::is_same_v<void (*)(void*), decltype(T::destroyer)> &&
     DecayedType<typename InvokerTraitsHelper<decltype(T::invoker)>::ReturnType>;
 
-/*
-TODO:
-1. noexcept类型
-2. operator()方法在加上Args的类型限制
-*/
-
 /**
  * @brief Function
  * @note 由定义好的C Style类型ops构造，可以直接使用NativeHandle与C互调
@@ -131,8 +125,9 @@ class Function<Ops> {
     return *this;
   }
 
+  // TODO：加上Args的类型限制
   template <typename... Args>
-  R operator()(Args... args) const {
+  R operator()(Args... args) const noexcept {
     return static_cast<const OpsType*>(base_.ops)->invoker(&(base_.object_buf), args...);
   }
 
@@ -147,17 +142,17 @@ class Function<Ops> {
 
     if constexpr (sizeof(Decayed) <= sizeof(base_.object_buf)) {
       static constexpr OpsType kOps = {
-          .invoker = [](void* object, std::tuple_element_t<Idx, ArgsTuple>... args) -> R {
+          .invoker = [](void* object, std::tuple_element_t<Idx, ArgsTuple>... args) noexcept -> R {
             if constexpr (std::is_void_v<R>) {
               std::invoke(*static_cast<Decayed*>(object), args...);
             } else {
               return std::invoke(*static_cast<Decayed*>(object), args...);
             }
           },
-          .relocator = [](void* from, void* to) {
+          .relocator = [](void* from, void* to) noexcept {
                 new (to) Decayed(std::move(*static_cast<Decayed*>(from)));
                 static_cast<Decayed*>(from)->~Decayed(); },
-          .destroyer = [](void* object) { static_cast<Decayed*>(object)->~Decayed(); }};
+          .destroyer = [](void* object) noexcept { static_cast<Decayed*>(object)->~Decayed(); }};
 
       base_.ops = &kOps;
       new (&(base_.object_buf)) Decayed(std::forward<T>(action));
@@ -165,15 +160,15 @@ class Function<Ops> {
       using Stored = Decayed*;
 
       static constexpr OpsType kOps = {
-          .invoker = [](void* object, std::tuple_element_t<Idx, ArgsTuple>... args) -> R {
+          .invoker = [](void* object, std::tuple_element_t<Idx, ArgsTuple>... args) noexcept -> R {
             if constexpr (std::is_void_v<R>) {
               std::invoke(**static_cast<Stored*>(object), args...);
             } else {
               return std::invoke(**static_cast<Stored*>(object), args...);
             }
           },
-          .relocator = [](void* from, void* to) { new (to) Stored(*static_cast<Stored*>(from)); },
+          .relocator = [](void* from, void* to) noexcept { new (to) Stored(*static_cast<Stored*>(from)); },
-          .destroyer = [](void* object) { delete *static_cast<Stored*>(object); }};
+          .destroyer = [](void* object) noexcept { delete *static_cast<Stored*>(object); }};
 
       base_.ops = &kOps;
       new (&(base_.object_buf)) Stored(new Decayed(std::forward<T>(action)));

src/runtime/core/aimrt_core.cc

@@ -191,6 +191,8 @@ void AimRTCore::StartImpl() {
 void AimRTCore::ShutdownImpl() {
   if (std::atomic_exchange(&shutdown_impl_flag_, true)) return;
 
+  AIMRT_INFO("AimRT start shutdown.");
+
   EnterState(State::kPreShutdown);
 
   EnterState(State::kPreShutdownModules);
@@ -271,6 +273,8 @@ std::future<void> AimRTCore::AsyncStart() {
 void AimRTCore::Shutdown() {
   if (std::atomic_exchange(&shutdown_flag_, true)) return;
 
+  AIMRT_INFO("Received shutdown signal.");
+
   shutdown_promise_.set_value();
 }
 

src/tools/CMakeLists.txt

@@ -16,6 +16,6 @@ if(AIMRT_BUILD_CLI_TOOLS)
   add_subdirectory(aimrt_cli)
 endif()
 
-if(AIMRT_BUILD_PYTHON_RUNTIME AND AIMRT_BUILD_PYTHON_PACKAGE)
+if(AIMRT_BUILD_PYTHON_PACKAGE)
   add_subdirectory(package_aimrt_py)
 endif()