Address review feedback

Signed-off-by: Dan Rose <dan@digilabs.io>

rmw_implementation/CMakeLists.txt

@@ -32,25 +32,26 @@ message(STATUS "")
 get_available_rmw_implementations(available_rmw_implementations)
 list(LENGTH available_rmw_implementations count_available_rmw_implementations)
 if(count_available_rmw_implementations EQUAL 1)
-  set(rmw_implementation_baked_default ON)
+  set(rmw_implementation_disable_runtime_selection_default ON)
 else()
-  set(rmw_implementation_baked_default OFF)
+  set(rmw_implementation_disable_runtime_selection_default OFF)
 endif()
 
-option(RMW_IMPLEMENTATION_BAKED "\
+option(RMW_IMPLEMENTATION_DISABLE_RUNTIME_SELECTION "\
   Use only the RMW implementation specified at build time, \
   ignoring runtime value of the 'RMW_IMPLEMENTATION' environment variable \
   and the 'RMW_IMPLEMENTATION' CMake option"
-  ${rmw_implementation_baked_default})
+  ${rmw_implementation_disable_runtime_selection_default})
 
-if(RMW_IMPLEMENTATION_BAKED)
-  message(STATUS "Dynamic loading disabled; directly referencing '${RMW_IMPLEMENTATION}'")
+if(RMW_IMPLEMENTATION_DISABLE_RUNTIME_SELECTION)
+  message(STATUS "Runtime selection of RMW disabled; Statically loading "
+    "'${RMW_IMPLEMENTATION}'")
 else()
   # provides FindPoco.cmake and Poco on platforms without it
   find_package(poco_vendor REQUIRED)
   find_package(Poco REQUIRED COMPONENTS Foundation)
 
-  message(STATUS "Dynamic loading enabled")
+  message(STATUS "Runtime selection of RMW enabled")
 
   add_library(${PROJECT_NAME} SHARED
     src/functions.cpp)

rmw_implementation/rmw_implementation-extras.cmake.in

@@ -26,17 +26,17 @@ elseif(NOT "$ENV{RMW_IMPLEMENTATION}" STREQUAL "")
 else()
   set(requested_rmw_implementation "@RMW_IMPLEMENTATION@")
   set(requested_rmw_implementation_from
-    "the default when @PROJECT_NAME@ wasbuilt")
+    "the default when @PROJECT_NAME@ was built")
 endif()
 
-if(@RMW_IMPLEMENTATION_BAKED@)
+if(@RMW_IMPLEMENTATION_DISABLE_RUNTIME_SELECTION@)
   message(STATUS "Using RMW implementation '@RMW_IMPLEMENTATION@'")
-  if(NOT requested_rmw_implementation STREQUAL @RMW_IMPLEMENTATION@)
-    message(ERROR
+  if(NOT requested_rmw_implementation STREQUAL "@RMW_IMPLEMENTATION@")
+    message(FATAL_ERROR
       "The RMW implementation has been specified as "
       "'${requested_rmw_implementation}' via "
       "${requested_rmw_implementation_from}, but rmw_implementation was built "
-      "without dynamic linking enabled. We will use '@RMW_IMPLEMENTATION@'."
+      "only with support for '@RMW_IMPLEMENTATION@'."
     )
   endif()
   find_package("@RMW_IMPLEMENTATION@" REQUIRED)
@@ -53,7 +53,7 @@ else()
   get_available_rmw_implementations(available_rmw_implementations)
 
   if(NOT requested_rmw_implementation IN_LIST available_rmw_implementations)
-    message(WARNING
+    message(FATAL_ERROR
       "The RMW implementation has been specified as "
       "'${requested_rmw_implementation}' via "
       "${requested_rmw_implementation_from}, but it is not available at this "
@@ -68,4 +68,4 @@ else()
 
   find_package(Threads REQUIRED)
   list(APPEND rmw_implementation_LIBRARIES "${CMAKE_THREAD_LIBS_INIT}")
-endif()
+endif()