Tests_ActionServer_FJT.c causes compilation to fail if MOTOROS2_TESTING_ENABLE is defined

[jimmy-mcelwain]

When I try to compile with MOTOROS2_TESTING_ENABLE, I get the following output

...
1>Compiling Tests_ActionServer_FJT.c
1>Tests_ActionServer_FJT.c : warning : In function 'Ros_Testing_Ros_ActionServer_FJT_Parse_GoalPosTolerances_null_args'
1>Tests_ActionServer_FJT.c(25): warning : implicit declaration of function 'Ros_ActionServer_FJT_Parse_GoalPosTolerances'
1>Tests_ActionServer_FJT.c : warning : In function 'Ros_Testing_Ros_ActionServer_FJT_Reorder_TrajPt_To_Internal_Order_null_args'
1>Tests_ActionServer_FJT.c(383): warning : implicit declaration of function 'Ros_ActionServer_FJT_Reorder_TrajPt_To_Internal_Order'
1>Compiling Tests_ControllerStatusIO.c
1>Compiling Tests_CtrlGroup.c
1>Compiling Tests_RosMotoPlusConversionUtils.c
1>Compiling Tests_TestUtils.c
1>Building mr2_yrc1_h.out
1>Tests_ActionServer_FJT.obj : warning : In function `Ros_Testing_ActionServer_FJT'
1>(.text+0x2a86) : warning : Tests_ActionServer_FJT.c (.text+0x2a86)
1>ActionServer_FJT.obj : warning : ActionServer_FJT.c
1>ld returned 1 exit status : warning : collect2  ld returned 1 exit status
1>mpBuilder : error : Problem with mpBuilder - Failed during build process - Build Failed
...

The problem appears to be that Ros_ActionServer_FJT_Parse_GoalPosTolerances and Ros_ActionServer_FJT_Reorder_TrajPt_To_Internal_Order are both static functions defined within ActionServer_FJT.c, but they are being referenced in Tests_ActionServer_FJT.c.

[gavanderhoorn]

Right. This is likely a result of the fact all .cs are included automatically in the mpBuilder build in VS.

Tests_ActionServer_FJT.c is not intended to be compiled stand-alone. It gets #included at the end of ActionServer_FJT.c exactly because it needs access to those two static functions:

https://github.com/Yaskawa-Global/motoros2/blob/d8b75ddcfe763db44f6f13ebc66c28469d154acd/src/ActionServer_FJT.c#L866-L867

not too nice (#include-ing a .c), but there isn't really any other way I believe.

I'll see if I can guard against this problem by adding some preprocessor directives.

[gavanderhoorn]

Just as a note (perhaps even just to /self): c97a623bf70c64171771648b7d9d07bcfae7f882 adds Test_ActionServer_FJT.c to the VS project. It was not added to the project on purpose :)

@ted-miller: does mpBuilder honour VS project settings which exclude a file from the build?

[ted-miller]

does mpBuilder honour VS project settings which exclude a file from the build?

Nope.

What's the motivation to make those functions static?

[gavanderhoorn]

does mpBuilder honour VS project settings which exclude a file from the build?

Nope.

Unfortunate, as that would've been an easy way to solve this.

What's the motivation to make those functions static?

I've used it here to mark them as private functions: they are implementation details, and only exist to make the function that calls them easier to read.

I'll use preprocessor directives to avoid building that file by itself.

[gavanderhoorn]

I've just opened #273, which should avoid the issue.

It's not unique to VS of course. Any attempt to include Tests_ActionServer_FJT.c in a build would cause the same build error.