update for ROS
This commit is contained in:
parent
d7eed928fb
commit
004dd7f0ff
164
CMakeLists.txt
164
CMakeLists.txt
|
|
@ -1,94 +1,142 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
|
project(data_convert VERSION 1.0.0 LANGUAGES CXX)
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
# Detect if building with Catkin
|
|
||||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building data_convert with Catkin")
|
message(STATUS "Building data_convert with Catkin")
|
||||||
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building data_convert with Standalone CMake")
|
message(STATUS "Building data_convert with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
project(data_convert)
|
# C++ Standard - must be set before find_package
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||||
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||||
|
|
||||||
# ========================================================
|
if (NOT BUILDING_WITH_CATKIN)
|
||||||
# Find dependencies
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
# Enable Position Independent Code
|
||||||
find_package(catkin REQUIRED COMPONENTS
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||||
|
|
||||||
|
# Cấu hình RPATH để tránh cycle trong runtime search path
|
||||||
|
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
|
||||||
|
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||||
|
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
robot_geometry_msgs
|
robot_geometry_msgs
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
else()
|
||||||
|
|
||||||
# ========================================================
|
# ========================================================
|
||||||
# Catkin specific configuration
|
# Catkin specific configuration
|
||||||
# ========================================================
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
|
||||||
catkin_package(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
# Header-only library; keep LIBRARIES for visibility when exporting
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
LIBRARIES data_convert
|
|
||||||
CATKIN_DEPENDS robot_geometry_msgs
|
CATKIN_DEPENDS robot_geometry_msgs
|
||||||
)
|
)
|
||||||
|
|
||||||
|
include_directories(
|
||||||
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
add_library(data_convert INTERFACE)
|
# Tìm tất cả header files
|
||||||
|
file(GLOB_RECURSE HEADERS "include/data_convert/*.h")
|
||||||
|
|
||||||
|
# Tạo INTERFACE library (header-only)
|
||||||
|
add_library(${PROJECT_NAME} INTERFACE)
|
||||||
|
|
||||||
# Link libraries
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
if(BUILDING_WITH_CATKIN)
|
||||||
target_link_libraries(data_convert INTERFACE
|
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
${catkin_LIBRARIES}
|
${catkin_LIBRARIES}
|
||||||
)
|
)
|
||||||
|
|
||||||
else()
|
else()
|
||||||
target_link_libraries(data_convert INTERFACE
|
|
||||||
robot_geometry_msgs
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
)
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
if(BUILDING_WITH_CATKIN)
|
||||||
add_dependencies(data_convert ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
## Mark libraries for installation
|
||||||
endif()
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
target_include_directories(data_convert
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
INTERFACE
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
)
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Installation
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
|
||||||
install(TARGETS data_convert
|
|
||||||
EXPORT data_convert-targets
|
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
|
||||||
)
|
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
|
||||||
# Cài đặt headers (standalone)
|
|
||||||
install(DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
FILES_MATCHING PATTERN "*.h"
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
FILES_MATCHING PATTERN "*.h"
|
||||||
|
PATTERN ".svn" EXCLUDE
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
|
EXPORT ${PROJECT_NAME}-targets
|
||||||
|
ARCHIVE DESTINATION lib
|
||||||
|
LIBRARY DESTINATION lib
|
||||||
|
RUNTIME DESTINATION bin
|
||||||
|
)
|
||||||
|
|
||||||
|
# Export targets
|
||||||
|
install(EXPORT ${PROJECT_NAME}-targets
|
||||||
|
FILE ${PROJECT_NAME}-targets.cmake
|
||||||
|
NAMESPACE ${PROJECT_NAME}::
|
||||||
|
DESTINATION lib/cmake/${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
DESTINATION include
|
||||||
|
FILES_MATCHING PATTERN "*.h"
|
||||||
|
PATTERN ".svn" EXCLUDE
|
||||||
|
)
|
||||||
|
|
||||||
|
# Print configuration info
|
||||||
|
message(STATUS "=================================")
|
||||||
|
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
|
||||||
|
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||||
|
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||||
|
message(STATUS "Headers found:")
|
||||||
|
foreach(hdr ${HEADERS})
|
||||||
|
message(STATUS " - ${hdr}")
|
||||||
|
endforeach()
|
||||||
|
message(STATUS "Dependencies: robot_geometry_msgs")
|
||||||
|
message(STATUS "=================================")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Xuất export set data_convert-targets thành file CMake module ---
|
|
||||||
# --- Tạo file lib/cmake/data_convert/data_convert-targets.cmake ---
|
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
|
||||||
# --- Find_package(data_convert REQUIRED) ---
|
|
||||||
# --- Target_link_libraries(my_app PRIVATE data_convert::data_convert) ---
|
|
||||||
install(EXPORT data_convert-targets
|
|
||||||
FILE data_convert-targets.cmake
|
|
||||||
NAMESPACE data_convert::
|
|
||||||
DESTINATION lib/cmake/data_convert
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user