export targets in a addition to include directories / libraries

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

rosidl_runtime_c/CMakeLists.txt

@@ -14,7 +14,6 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 find_package(rosidl_typesupport_interface REQUIRED)
 
-include_directories(include)
 add_library(${PROJECT_NAME}
   "src/message_bounds.c"
   "src/message_type_support.c"
@@ -23,6 +22,9 @@ add_library(${PROJECT_NAME}
   "src/string_functions.c"
   "src/u16string_functions.c"
 )
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 ament_target_dependencies(${PROJECT_NAME}
   "rosidl_typesupport_interface")
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -37,6 +39,7 @@ endif()
 ament_export_dependencies(rosidl_typesupport_interface)
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
 
 ament_index_register_resource("rosidl_runtime_packages")
 
@@ -50,7 +53,7 @@ install(
   DESTINATION include
 )
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin

rosidl_runtime_c/include/rosidl_runtime_c/primitives_sequence.h

@@ -22,7 +22,7 @@
 #define ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(STRUCT_NAME, TYPE_NAME) \
   typedef struct rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence \
   { \
-    TYPE_NAME * data; \
+    TYPE_NAME * data; /*!< The pointer to an array of STRUCT_NAME */ \
     size_t size; /*!< The number of valid items in data */ \
     size_t capacity; /*!< The number of allocated items in data */ \
   } rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence;

rosidl_runtime_c/include/rosidl_runtime_c/primitives_sequence_functions.h

@@ -26,6 +26,21 @@ extern "C"
 {
 #endif
 
+/// Allocate the memory for the sequence.
+/* Calling the function with an already allocated sequence will leak the
+  * previously allocated memory.
+  *
+  * \param sequence a pointer to a sequence struct
+  * \param size the number of items to allocate in the sequence, both sequence
+  *   fields `size` and `capacity` are set to this parameter
+  * \return true if successful, false if the passed sequence pointer is null
+  *   or the memory allocation failed
+  */
+/// Deallocate the memory of the sequence.
+/* Calling the function with an already deallocated sequence is a no-op.
+  *
+  * \param sequence a pointer to a sequence struct
+  */
 #define ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(STRUCT_NAME, TYPE_NAME) \
   ROSIDL_GENERATOR_C_PUBLIC \
   bool rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence__init( \

rosidl_runtime_c/include/rosidl_runtime_c/string.h

@@ -22,6 +22,7 @@
 /// String struct
 typedef struct rosidl_runtime_c__String
 {
+  /// The pointer to the first character, the sequence ends with a null byte.
   char * data;
   /// The length of the string (excluding the null byte).
   size_t size;

rosidl_runtime_c/include/rosidl_runtime_c/string_bounds.h

@@ -18,9 +18,12 @@
 #include <stddef.h>
 
 /// String struct
+/* The struct can describe the upper boundary of a rosidl_runtime_c__String
+ * as well as a rosidl_runtime_c__U16String.
+ */
 typedef struct rosidl_runtime_c__String__bounds
 {
-  /// The length of the string (excluding the null byte).
+  /// The number of characters in the string (excluding the null character).
   size_t bounds;
 } rosidl_runtime_c__String__bounds;
 

rosidl_runtime_c/include/rosidl_runtime_c/u16string.h

@@ -22,7 +22,7 @@
 /// U16String struct
 typedef struct rosidl_runtime_c__U16String
 {
-  /// The pointer to the first character.
+  /// The pointer to the first character, the sequence ends with a null character.
   uint_least16_t * data;  // using uint_least16_t to match a C++ std::u16string
   /// The length of the u16string (excluding the null byte).
   size_t size;