mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Refactor CMakeLists.txt. (#28)
This commit is contained in:
Julián Bermúdez Ortega
+160
-217
@@ -1,4 +1,4 @@
|
||||
# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
# Copyright 2018-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
@@ -12,246 +12,189 @@
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
|
||||
# Set CMake version
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
# Set proyect name
|
||||
project(micro_ros_agent)
|
||||
|
||||
|
||||
option(UROSAGENT_GENERATE_PROFILE
|
||||
"Generates agent.refs according to the .msgs provided in the .repos" OFF
|
||||
)
|
||||
set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
|
||||
|
||||
# Default to C++14
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
endif()
|
||||
project(micro_ros_agent LANGUAGES CXX)
|
||||
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
|
||||
# Find packages depencences
|
||||
find_package(rosidl_cmake REQUIRED)
|
||||
find_package(ament_cmake REQUIRED)
|
||||
find_package(fastcdr REQUIRED CONFIG)
|
||||
find_package(fastrtps REQUIRED CONFIG)
|
||||
find_package(microxrcedds_agent REQUIRED CONFIG)
|
||||
find_package(ament_cmake_python REQUIRED)
|
||||
find_package(microxrcedds_agent REQUIRED)
|
||||
|
||||
add_executable(${PROJECT_NAME} src/main.cpp)
|
||||
|
||||
target_link_libraries(${PROJECT_NAME}
|
||||
PRIVATE
|
||||
microxrcedds_agent
|
||||
$<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
|
||||
$<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
|
||||
)
|
||||
|
||||
set_target_properties(${PROJECT_NAME} PROPERTIES
|
||||
CXX_STANDARD
|
||||
11
|
||||
CXX_STANDARD_REQUIRED
|
||||
YES
|
||||
)
|
||||
|
||||
target_compile_options(${PROJECT_NAME}
|
||||
PRIVATE
|
||||
$<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
|
||||
$<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wextra>
|
||||
$<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
|
||||
)
|
||||
|
||||
# Export dependencies to downstream packages
|
||||
ament_export_dependencies(fastcdr)
|
||||
ament_export_dependencies(fastrtps)
|
||||
ament_export_dependencies(microxrcedds_agent)
|
||||
|
||||
ament_package()
|
||||
|
||||
# Set variables
|
||||
set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
|
||||
|
||||
set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
|
||||
normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
|
||||
|
||||
set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
|
||||
normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
|
||||
|
||||
set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
|
||||
|
||||
set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
|
||||
normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
|
||||
|
||||
|
||||
set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
|
||||
normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
|
||||
|
||||
|
||||
# Get colcon call dir
|
||||
get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
|
||||
get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
|
||||
|
||||
|
||||
# Generate python header
|
||||
set(
|
||||
_PYTHON_SCRIPT_HEAD
|
||||
"
|
||||
import os\n
|
||||
import sys\n
|
||||
sys.path.append('${_OUTPUT_PATH}')\n
|
||||
from ${_PYTHON_PKG_TOOL} import *\n
|
||||
"
|
||||
)
|
||||
|
||||
|
||||
# Copy pyton files
|
||||
file(COPY "bin" "${_PYTHON_PKG_TOOL}" "resource" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/python")
|
||||
|
||||
|
||||
# Extract all packages and manifiest paths
|
||||
execute_process(
|
||||
COMMAND
|
||||
"${PYTHON_EXECUTABLE}"
|
||||
"-c"
|
||||
"${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
|
||||
OUTPUT_VARIABLE _packages
|
||||
RESULT_VARIABLE _result
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error finding xml packages")
|
||||
endif()
|
||||
|
||||
|
||||
# Convert output to list
|
||||
string(REPLACE "\n" ";" _packages ${_packages})
|
||||
|
||||
|
||||
# Extract all msg from each package (stored in ${package}_MSG_FILES)
|
||||
set(ALL_MSG_FILES "")
|
||||
foreach(package ${_packages})
|
||||
|
||||
# Extract info
|
||||
string(REPLACE "," ";" package ${package})
|
||||
list(GET package 0 package_file)
|
||||
list(GET package 1 package)
|
||||
|
||||
|
||||
# Get all msg files
|
||||
execute_process(
|
||||
COMMAND
|
||||
"${PYTHON_EXECUTABLE}"
|
||||
"-c"
|
||||
"${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
|
||||
OUTPUT_VARIABLE ${package}_MSG_FILES
|
||||
RESULT_VARIABLE _result
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error finding .msg files")
|
||||
endif()
|
||||
|
||||
# Skip if there are no msgs to create
|
||||
if(${package}_MSG_FILES STREQUAL "")
|
||||
continue()
|
||||
endif()
|
||||
|
||||
# Generate list
|
||||
string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
# Append defaul xml profiles
|
||||
execute_process(
|
||||
COMMAND "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
|
||||
OUTPUT_VARIABLE _XmlDoc
|
||||
RESULT_VARIABLE _result
|
||||
)
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error in typesuppor generation")
|
||||
endif()
|
||||
|
||||
|
||||
# Create one xml for each message
|
||||
foreach(package ${_packages})
|
||||
string(REPLACE "," ";" package ${package})
|
||||
list(GET package 0 package_file)
|
||||
list(GET package 1 package)
|
||||
|
||||
|
||||
# Skip this generation if there are no msgs to process
|
||||
if(${package}_MSG_FILES STREQUAL "")
|
||||
continue()
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
# generate script argument file
|
||||
set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
|
||||
rosidl_write_generator_arguments(
|
||||
"${generator_arguments_file}"
|
||||
PACKAGE_NAME "${package}"
|
||||
ROS_INTERFACE_FILES "${${package}_MSG_FILES}"
|
||||
ROS_INTERFACE_DEPENDENCIES "NULL"
|
||||
OUTPUT_DIR "NULL"
|
||||
TEMPLATE_DIR "NULL"
|
||||
TARGET_DEPENDENCIES "NULL"
|
||||
ADDITIONAL_FILES ""
|
||||
install(
|
||||
TARGETS
|
||||
${PROJECT_NAME}
|
||||
DESTINATION
|
||||
lib/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
if(UROSAGENT_GENERATE_PROFILE)
|
||||
set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
|
||||
|
||||
# execute python script
|
||||
execute_process(
|
||||
COMMAND "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
|
||||
OUTPUT_VARIABLE _XmlGen
|
||||
RESULT_VARIABLE _result
|
||||
set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
|
||||
normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
|
||||
|
||||
set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
|
||||
normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
|
||||
|
||||
set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
|
||||
|
||||
set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
|
||||
normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
|
||||
|
||||
set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
|
||||
normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
|
||||
|
||||
get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
|
||||
get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
|
||||
|
||||
set(_PYTHON_SCRIPT_HEAD
|
||||
"
|
||||
import os\n
|
||||
import sys\n
|
||||
sys.path.append('${_OUTPUT_PATH}')\n
|
||||
from ${_PYTHON_PKG_TOOL} import *\n
|
||||
"
|
||||
)
|
||||
|
||||
file(
|
||||
COPY
|
||||
"bin" "${_PYTHON_PKG_TOOL}" "resource"
|
||||
DESTINATION
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/python"
|
||||
)
|
||||
|
||||
execute_process(
|
||||
COMMAND
|
||||
"${PYTHON_EXECUTABLE}"
|
||||
"-c"
|
||||
"${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
|
||||
OUTPUT_VARIABLE
|
||||
_packages
|
||||
RESULT_VARIABLE
|
||||
_result
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error finding XML packages")
|
||||
endif()
|
||||
|
||||
string(REPLACE "\n" ";" _packages ${_packages})
|
||||
|
||||
set(ALL_MSG_FILES "")
|
||||
foreach(package ${_packages})
|
||||
|
||||
string(REPLACE "," ";" package ${package})
|
||||
list(GET package 0 package_file)
|
||||
list(GET package 1 package)
|
||||
|
||||
execute_process(
|
||||
COMMAND
|
||||
"${PYTHON_EXECUTABLE}"
|
||||
"-c"
|
||||
"${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
|
||||
OUTPUT_VARIABLE
|
||||
${package}_MSG_FILES
|
||||
RESULT_VARIABLE
|
||||
_result
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error finding .msg files")
|
||||
endif()
|
||||
|
||||
if(${package}_MSG_FILES STREQUAL "")
|
||||
continue()
|
||||
endif()
|
||||
|
||||
string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
|
||||
|
||||
endforeach()
|
||||
|
||||
execute_process(
|
||||
COMMAND
|
||||
"${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
|
||||
OUTPUT_VARIABLE
|
||||
_XmlDoc
|
||||
RESULT_VARIABLE
|
||||
_result
|
||||
)
|
||||
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error in typesuppor generation")
|
||||
endif()
|
||||
|
||||
foreach(package ${_packages})
|
||||
string(REPLACE "," ";" package ${package})
|
||||
list(GET package 0 package_file)
|
||||
list(GET package 1 package)
|
||||
|
||||
# Strore xml
|
||||
set(_XmlDoc "${_XmlDoc}${_XmlGen}")
|
||||
|
||||
endforeach()
|
||||
if(${package}_MSG_FILES STREQUAL "")
|
||||
continue()
|
||||
endif()
|
||||
|
||||
set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
|
||||
rosidl_write_generator_arguments(
|
||||
"${generator_arguments_file}"
|
||||
PACKAGE_NAME "${package}"
|
||||
ROS_INTERFACE_FILES "${${package}_MSG_FILES}"
|
||||
ROS_INTERFACE_DEPENDENCIES "NULL"
|
||||
OUTPUT_DIR "NULL"
|
||||
TEMPLATE_DIR "NULL"
|
||||
TARGET_DEPENDENCIES "NULL"
|
||||
ADDITIONAL_FILES ""
|
||||
)
|
||||
|
||||
# Close profile
|
||||
set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
|
||||
execute_process(
|
||||
COMMAND
|
||||
"${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
|
||||
OUTPUT_VARIABLE
|
||||
_XmlGen
|
||||
RESULT_VARIABLE
|
||||
_result
|
||||
)
|
||||
|
||||
if(NOT _result EQUAL 0)
|
||||
message(FATAL_ERROR "Error in typesuppor generation")
|
||||
endif()
|
||||
|
||||
# Save
|
||||
file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
|
||||
set(_XmlDoc "${_XmlDoc}${_XmlGen}")
|
||||
|
||||
endforeach()
|
||||
|
||||
# Only compile uROS agent if rclcpp is found
|
||||
find_package(rclcpp QUIET)
|
||||
if (rclcpp_FOUND)
|
||||
find_package(microxrcedds_agent REQUIRED)
|
||||
set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
|
||||
|
||||
add_executable(${PROJECT_NAME} src/main.cpp)
|
||||
ament_target_dependencies(
|
||||
${PROJECT_NAME}
|
||||
rclcpp
|
||||
microxrcedds_agent
|
||||
)
|
||||
|
||||
# TODO(Javier) Temporal until thread error is solver
|
||||
target_link_libraries(
|
||||
${PROJECT_NAME}
|
||||
microxrcedds_agent
|
||||
)
|
||||
|
||||
else()
|
||||
message("uROS agent node will be not build")
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
|
||||
# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
|
||||
ament_package()
|
||||
|
||||
|
||||
# Only install if uROS_Agent is comiled
|
||||
if (rclcpp_FOUND)
|
||||
install(TARGETS
|
||||
${PROJECT_NAME}
|
||||
DESTINATION lib/${PROJECT_NAME}
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
#Install
|
||||
install(
|
||||
FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
|
||||
DESTINATION lib/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
|
||||
# Install package
|
||||
#install(
|
||||
# DIRECTORY cmake resource
|
||||
# DESTINATION share/${PROJECT_NAME}
|
||||
#)
|
||||
file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
|
||||
endif()
|
||||
@@ -10,22 +10,11 @@
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<buildtool_export_depend>ament_cmake</buildtool_export_depend>
|
||||
|
||||
<exec_depend>rosidl_parser</exec_depend>
|
||||
|
||||
<depend>fastcdr</depend>
|
||||
<depend>fastrtps</depend>
|
||||
<depend>microxrcedds_agent</depend>
|
||||
<depend>rosidl_cmake</depend>
|
||||
|
||||
<build_depend>rclcpp</build_depend>
|
||||
|
||||
<exec_depend>rclcpp</exec_depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<group_depend>rosidl_interface_packages</group_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
|
||||
Reference in New Issue
Block a user