405 lines
11 KiB
CMake
405 lines
11 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(mission_adapters VERSION 0.2.0 LANGUAGES CXX)
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# ========================================================
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# Build mode detection
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# ========================================================
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building mission_adapters with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building mission_adapters with Standalone CMake")
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endif()
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# ========================================================
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# C++ Standard
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# ========================================================
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# ========================================================
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# Common dependencies
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#
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# Chỉ những thứ code thật sự dùng: message contract (robot_protocol_msgs / robot_geometry_msgs),
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# tiện ích ROS-like (robot_cpp / robot_time) và Boost header (boost::shared_ptr trong message).
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# PCL / OpenMP / Eigen của bản trước là di sản copy từ template planner, gói này không dùng.
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# ========================================================
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# Boost.DLL cần system + filesystem để nạp plugin theo library_path.
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find_package(Boost REQUIRED COMPONENTS system filesystem)
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find_package(Threads REQUIRED)
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find_package(yaml-cpp REQUIRED)
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# ========================================================
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# Standalone configuration
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# ========================================================
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if(NOT BUILDING_WITH_CATKIN)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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# Test/<pkg> -> src/AMR_T800/pnkx_nav_core/src
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set(PNKX_NAV_CORE_SRC_DIR
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"${CMAKE_CURRENT_SOURCE_DIR}/../../pnkx_nav_core/src"
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)
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# Test/<pkg> -> T800_ws/devel/lib
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set(WORKSPACE_DEVEL_LIB_DIR
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"${CMAKE_CURRENT_SOURCE_DIR}/../../../../devel/lib"
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)
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file(GLOB STANDALONE_PACKAGE_INCLUDE_DIRS
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LIST_DIRECTORIES true
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${PNKX_NAV_CORE_SRC_DIR}/*/include
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${PNKX_NAV_CORE_SRC_DIR}/*/*/include
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${PNKX_NAV_CORE_SRC_DIR}/*/*/*/include
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${PNKX_NAV_CORE_SRC_DIR}/*/*/*/*/include
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)
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set(STANDALONE_INCLUDE_DIRS
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${STANDALONE_PACKAGE_INCLUDE_DIRS}
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/usr/local/include
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)
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set(PACKAGES_DIR
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robot_cpp
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robot_time
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robot_xmlrpcpp
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)
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if(EXISTS ${WORKSPACE_DEVEL_LIB_DIR})
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link_directories(${WORKSPACE_DEVEL_LIB_DIR})
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endif()
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link_directories(/usr/local/lib)
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# ========================================================
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# Catkin configuration
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# ========================================================
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else()
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find_package(catkin REQUIRED COMPONENTS
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robot_cpp
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robot_time
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robot_geometry_msgs
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robot_protocol_msgs
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robot_std_msgs
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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mission_adapters
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CATKIN_DEPENDS
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robot_cpp
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robot_time
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robot_geometry_msgs
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robot_protocol_msgs
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robot_std_msgs
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DEPENDS
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Boost
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)
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include_directories(include)
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# SYSTEM: header của dependency (robot_cpp/console.h khai hàng chục hằng màu không dùng) sẽ ngập
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# warning dưới -Wall -Wextra và che mất warning của chính gói này.
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include_directories(SYSTEM
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${catkin_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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endif()
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# ========================================================
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# Core library
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# ========================================================
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add_library(mission_adapters SHARED
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src/types.cpp
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src/event.cpp
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src/mission_manager.cpp
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src/mission_executor.cpp
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src/event_processor.cpp
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src/mission_config.cpp
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src/plugin_registry.cpp
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)
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# Gói này KHÔNG kế thừa cờ -w của pnkx_nav_core: warning ở đây phải nhìn thấy được.
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target_compile_options(mission_adapters PRIVATE -Wall -Wextra)
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target_include_directories(mission_adapters
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# ========================================================
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# Linking
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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add_dependencies(mission_adapters
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(mission_adapters
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PUBLIC
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${catkin_LIBRARIES}
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PRIVATE
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Boost::boost
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Boost::system
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Boost::filesystem
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Threads::Threads
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${CMAKE_DL_LIBS}
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yaml-cpp
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)
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else()
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target_include_directories(mission_adapters
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PRIVATE
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${STANDALONE_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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target_link_libraries(mission_adapters
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PUBLIC
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${PACKAGES_DIR}
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PRIVATE
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Boost::boost
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Boost::system
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Boost::filesystem
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Threads::Threads
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${CMAKE_DL_LIBS}
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yaml-cpp
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)
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set_target_properties(mission_adapters PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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# ========================================================
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# Plugins — mỗi nguồn mission là một .so riêng.
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#
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# Tên file .so phải khớp khoá `library_path` trong
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# `pnkx_nav_core/config/mission_adapters_params.yaml`; tên symbol export phải khớp khoá `type`
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# trong `mission_sources`. Lệch một trong hai thì build vẫn sạch còn runtime báo "không tìm thấy".
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# ========================================================
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set(MISSION_ADAPTERS_PLUGIN_TARGETS
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mission_adapters_goal_source
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mission_adapters_vda5050_source
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)
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add_library(mission_adapters_goal_source SHARED plugins/goal_source_adapter.cpp)
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add_library(mission_adapters_vda5050_source SHARED plugins/vda5050_source_adapter.cpp)
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foreach(plugin_target ${MISSION_ADAPTERS_PLUGIN_TARGETS})
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target_compile_options(${plugin_target} PRIVATE -Wall -Wextra)
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set_target_properties(${plugin_target} PROPERTIES POSITION_INDEPENDENT_CODE ON)
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target_include_directories(${plugin_target}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/plugins>
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)
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target_link_libraries(${plugin_target}
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PUBLIC
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mission_adapters
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PRIVATE
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Boost::boost
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Threads::Threads
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)
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if(NOT BUILDING_WITH_CATKIN)
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target_include_directories(${plugin_target} PRIVATE ${STANDALONE_INCLUDE_DIRS})
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target_link_libraries(${plugin_target} PRIVATE ${PACKAGES_DIR})
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set_target_properties(${plugin_target} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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endforeach()
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# ========================================================
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# Example
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#
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# Có build để tài liệu không trôi khỏi API: đổi contract mà quên ví dụ thì build gãy ngay.
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# ========================================================
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option(BUILD_MISSION_ADAPTERS_EXAMPLES "Build mission_adapters examples" ON)
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if(BUILD_MISSION_ADAPTERS_EXAMPLES)
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add_executable(robot_control_example examples/robot_control_example.cpp)
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target_compile_options(robot_control_example PRIVATE -Wall -Wextra)
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target_link_libraries(robot_control_example
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PRIVATE
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mission_adapters
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Threads::Threads
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)
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if(NOT BUILDING_WITH_CATKIN)
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target_include_directories(robot_control_example
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PRIVATE
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${STANDALONE_INCLUDE_DIRS}
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)
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target_link_libraries(robot_control_example PRIVATE ${PACKAGES_DIR})
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endif()
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# Demo: chạy một VDA5050 Order qua VDA5050SourceAdapter và in ra các chặng thu được.
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# Link thẳng plugin source adapter thay vì nạp qua boost::dll — demo chỉ cần xem kết quả cắt
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# chặng, không cần kiểm tra đường nạp plugin.
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add_executable(vda5050_order_demo examples/vda5050_order_demo.cpp)
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target_compile_options(vda5050_order_demo PRIVATE -Wall -Wextra)
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target_link_libraries(vda5050_order_demo
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PRIVATE
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mission_adapters
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mission_adapters_vda5050_source
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Threads::Threads
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)
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if(NOT BUILDING_WITH_CATKIN)
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target_include_directories(vda5050_order_demo PRIVATE ${STANDALONE_INCLUDE_DIRS})
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target_link_libraries(vda5050_order_demo PRIVATE ${PACKAGES_DIR})
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endif()
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endif()
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# ========================================================
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# Install
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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install(TARGETS mission_adapters ${MISSION_ADAPTERS_PLUGIN_TARGETS}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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else()
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install(TARGETS mission_adapters ${MISSION_ADAPTERS_PLUGIN_TARGETS}
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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endif()
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# ========================================================
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# Tests
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#
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# Gói này đăng ký test với catkin/ctest (chạy được qua `catkin_make run_tests`) VÀ mở
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# EXCLUDE_FROM_ALL để binary có mặt sau `catkin_make` thường — chạy thẳng
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# ./devel/lib/mission_adapters/<test> theo đúng quy trình verify của repo.
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# ========================================================
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if(CATKIN_ENABLE_TESTING AND BUILDING_WITH_CATKIN)
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if(NOT COMMAND catkin_add_gtest)
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message(FATAL_ERROR "catkin_add_gtest NOT FOUND")
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endif()
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set(MISSION_ADAPTERS_TESTS
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event_bus_test
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adapter_test
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mission_manager_test
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mission_lifecycle_test
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plugin_registry_test
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)
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foreach(test_name ${MISSION_ADAPTERS_TESTS})
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catkin_add_gtest(${test_name} test/${test_name}.cpp)
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if(TARGET ${test_name})
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set_target_properties(${test_name} PROPERTIES EXCLUDE_FROM_ALL FALSE)
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target_compile_options(${test_name} PRIVATE -Wall -Wextra)
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target_include_directories(${test_name}
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${CMAKE_CURRENT_SOURCE_DIR}/plugins
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${CMAKE_CURRENT_SOURCE_DIR}/test
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)
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target_include_directories(${test_name} SYSTEM
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PRIVATE
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${catkin_INCLUDE_DIRS}
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)
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# catkin_add_gtest dùng target_link_libraries dạng plain, nên phần bổ sung cũng phải plain.
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#
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# Test link thẳng plugin .so để kiểm logic chuyển đổi ở mức unit; đường nạp qua Boost.DLL
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# được kiểm riêng trong plugin_registry_test.
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target_link_libraries(${test_name}
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mission_adapters
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${MISSION_ADAPTERS_PLUGIN_TARGETS}
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${catkin_LIBRARIES}
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pthread
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)
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# plugin_registry_test nạp .so từ devel/lib theo library_path, nên cần cả hai plugin đã build.
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add_dependencies(${test_name} ${MISSION_ADAPTERS_PLUGIN_TARGETS})
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# Đường tới cây config và thư mục .so của test, để binary tự trỏ đúng chỗ khi chạy qua ctest
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# (ctest không mang theo PNKX_NAV_CORE_CONFIG_DIR hay LD_LIBRARY_PATH của shell).
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target_compile_definitions(${test_name} PRIVATE
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MISSION_ADAPTERS_TEST_CONFIG_DIR="${CMAKE_CURRENT_SOURCE_DIR}/test/config"
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MISSION_ADAPTERS_TEST_LIBRARY_DIR="${CATKIN_DEVEL_PREFIX}/lib"
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)
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endif()
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endforeach()
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endif()
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