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micro-ROS-Agent/micro_ros_agent/CMakeLists.txt
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# 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.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
cmake_minimum_required(VERSION 3.5)
option(BUILD_SHARED_LIBS "Control shared/static building." ON)
option(UBUILD_AGENT_EXECUTABLE "Control shared/static building." ON)
option(UROSAGENT_GENERATE_PROFILE
"Generates agent.refs according to the .msgs provided in the .repos" OFF
)
set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
project(micro_ros_agent LANGUAGES CXX)
find_package(ament_cmake REQUIRED)
find_package(microxrcedds_agent REQUIRED)
find_package(rosidl_cmake REQUIRED)
find_package(fastcdr REQUIRED)
find_package(fastrtps REQUIRED)
find_package(fastrtps_cmake_module REQUIRED)
find_package(rmw_dds_common REQUIRED)
find_package(rmw REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw_fastrtps_shared_cpp REQUIRED)
find_package(ament_lint_auto REQUIRED)
find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
find_package(rosidl_runtime_cpp REQUIRED)
find_package(rosidl_typesupport_cpp REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(micro_ros_msgs REQUIRED)
include(GNUInstallDirs)
set(BIN_INSTALL_DIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for binaries")
set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
set(LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
set(DATA_INSTALL_DIR ${CMAKE_INSTALL_DATADIR} CACHE PATH "Installation directory for data")
# Set source files
set(SRCS
src/agent/Agent.cpp
src/agent/graph_manager/graph_manager.cpp
src/agent/graph_manager/graph_typesupport.cpp
src/agent/utils/demangle.cpp
)
# Library
add_library(${PROJECT_NAME} ${SRCS})
target_include_directories(${PROJECT_NAME} BEFORE
PUBLIC
$<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
PRIVATE
include
)
ament_target_dependencies(${PROJECT_NAME}
rosidl_typesupport_fastrtps_cpp
rosidl_runtime_cpp
rosidl_typesupport_cpp
fastcdr
fastrtps
rmw_dds_common
rmw
rmw_fastrtps_shared_cpp
micro_ros_msgs
)
target_link_libraries(${PROJECT_NAME}
microxrcedds_agent
fastcdr
fastrtps
$<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
$<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
)
target_compile_options(${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>
)
set_target_properties(${PROJECT_NAME} PROPERTIES
CXX_STANDARD
14
CXX_STANDARD_REQUIRED
YES
)
# Install agent lib
install(
TARGETS
${PROJECT_NAME}
EXPORT
${PROJECT_NAME}Targets
RUNTIME DESTINATION
${BIN_INSTALL_DIR}
LIBRARY DESTINATION
${LIB_INSTALL_DIR}
ARCHIVE DESTINATION
${LIB_INSTALL_DIR}
COMPONENT
libraries
)
# Install includes
install(
DIRECTORY
${PROJECT_SOURCE_DIR}/include/agent
DESTINATION
${INCLUDE_INSTALL_DIR}
FILES_MATCHING
PATTERN "*.hpp"
PATTERN "*.h"
)
# Export library
install(
EXPORT
${PROJECT_NAME}Targets
DESTINATION
${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
)
# Package configuration
include(CMakePackageConfigHelpers)
configure_package_config_file(
${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in
${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
INSTALL_DESTINATION
${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
PATH_VARS
BIN_INSTALL_DIR
INCLUDE_INSTALL_DIR
LIB_INSTALL_DIR
DATA_INSTALL_DIR
)
install(
FILES
${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
DESTINATION
${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
)
if(UBUILD_AGENT_EXECUTABLE)
add_executable(micro_ros_agent_bin
${SRCS}
src/main.cpp
)
target_include_directories(micro_ros_agent_bin
PRIVATE
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
)
target_link_libraries(micro_ros_agent_bin ${PROJECT_NAME})
set_target_properties(micro_ros_agent_bin
PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
install(
TARGETS
micro_ros_agent_bin
DESTINATION
lib/${PROJECT_NAME}
)
install(
DIRECTORY
launch
DESTINATION
share/${PROJECT_NAME}
)
endif()
ament_export_dependencies(microxrcedds_agent)
ament_package()
if(UROSAGENT_GENERATE_PROFILE)
set(_OUTPUT_PATH "${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 utils)
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
import sys
sys.path.append('${_OUTPUT_PATH}')
from ${_PYTHON_PKG_TOOL} import *
"
)
file(
COPY
"bin" "${_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 typesupport generation")
endif()
foreach(package ${_packages})
string(REPLACE "," ";" package ${package})
list(GET package 0 package_file)
list(GET package 1 package)
if(${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 ""
)
execute_process(
COMMAND
"${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
OUTPUT_VARIABLE
_XmlGen
RESULT_VARIABLE
_result
)
if(NOT _result EQUAL 0)
message(FATAL_ERROR "Error in typesupport generation")
endif()
set(_XmlDoc "${_XmlDoc}${_XmlGen}")
endforeach()
set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
endif()
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