656 lines
14 KiB
CMake
656 lines
14 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(recovery_core VERSION 0.1.0 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 recovery_core with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building recovery_core 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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find_package(Boost REQUIRED COMPONENTS
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system
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thread
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filesystem
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)
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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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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Runtime search path configuration
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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 "${CMAKE_BINARY_DIR}")
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# ------------------------------------------------------
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# Navigation source tree
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# ------------------------------------------------------
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set(PNKX_NAV_CORE_SRC_DIR
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"${CMAKE_CURRENT_SOURCE_DIR}/../../.."
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)
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# Test/recovery_core -> Test -> AMR_T800 -> src -> <workspace>. Bốn cấp, không phải bảy: bảy là
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# di sản từ vị trí cũ của gói và trỏ vào một thư mục không tồn tại.
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set(WORKSPACE_DEVEL_LIB_DIR
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"${CMAKE_CURRENT_SOURCE_DIR}/../../../../devel/lib"
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)
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# ------------------------------------------------------
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# Collect standalone package include directories
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# ------------------------------------------------------
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file(GLOB STANDALONE_PACKAGE_INCLUDE_DIRS
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LIST_DIRECTORIES true
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${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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${PNKX_NAV_CORE_SRC_DIR}/*/*/*/*/include
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)
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# robot_costmap_2d headers may expose PCL dependencies
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find_package(PCL QUIET COMPONENTS
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common
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io
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)
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set(STANDALONE_INCLUDE_DIRS
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${STANDALONE_PACKAGE_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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/opt/ros/noetic/include
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/usr/local/include
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)
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if(PCL_FOUND)
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add_definitions(${PCL_DEFINITIONS})
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endif()
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# ------------------------------------------------------
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# Standalone libraries
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# ------------------------------------------------------
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set(PACKAGES_DIR
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robot_costmap_2d
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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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# ------------------------------------------------------
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# TF3
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# ------------------------------------------------------
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find_library(TF3_LIBRARY
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NAMES tf3
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PATHS
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/usr/lib
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/usr/local/lib
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/usr/lib/x86_64-linux-gnu
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)
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# ------------------------------------------------------
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# Library search paths
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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(
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/usr/local/lib
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)
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# ========================================================
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# Catkin configuration
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# ========================================================
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else()
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# nav_test_harness chỉ dùng cho test (fake clock/costmap/pose/collision), nên nó KHÔNG nằm trong
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# catkin_package(CATKIN_DEPENDS) — consumer của recovery_core không phải kéo theo nó.
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find_package(catkin REQUIRED COMPONENTS
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robot_costmap_2d
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robot_cpp
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robot_time
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robot_geometry_msgs
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robot_nav_msgs
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robot_xmlrpcpp
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nav_test_harness
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)
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find_library(TF3_LIBRARY
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NAMES tf3
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PATHS
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/usr/lib
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/usr/local/lib
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/usr/lib/x86_64-linux-gnu
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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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recovery_core
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recovery_core_wait_recovery
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recovery_core_clear_costmap_recovery
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recovery_core_rotate_recovery
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recovery_core_back_up_recovery
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CATKIN_DEPENDS
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robot_costmap_2d
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robot_cpp
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robot_time
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robot_geometry_msgs
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robot_nav_msgs
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robot_xmlrpcpp
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DEPENDS
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Boost
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)
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include_directories(
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include
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)
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# Header của dependency vào dạng SYSTEM: gói này build với -Wall -Wextra, mà robot_cpp/costmap_2d
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# sinh hàng trăm warning riêng của chúng — để lẫn vào thì warning của chính gói này vô hình.
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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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${TF3_INCLUDE_DIR}
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)
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endif()
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# ========================================================
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# Core library
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# ========================================================
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add_library(recovery_core SHARED
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src/recovery_types.cpp
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src/recovery_behavior.cpp
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src/recovery_registry.cpp
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# Adapter nối cổng của contract vào costmap thật. Nằm trong lib chính (không phải plugin) vì
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# host dựng chúng trực tiếp, không nạp qua Boost.DLL.
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adapters/costmap_pose_provider.cpp
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adapters/costmap_collision_checker.cpp
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)
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target_compile_options(recovery_core PRIVATE -Wall -Wextra)
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# ========================================================
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# Core library - Catkin
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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add_dependencies(
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recovery_core
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_include_directories(recovery_core
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${Boost_INCLUDE_DIRS}
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${TF3_INCLUDE_DIR}
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)
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target_link_libraries(recovery_core
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PUBLIC
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${catkin_LIBRARIES}
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PRIVATE
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Boost::boost
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Boost::system
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Boost::thread
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Boost::filesystem
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yaml-cpp
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Threads::Threads
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${CMAKE_DL_LIBS}
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${TF3_LIBRARY}
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)
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# ========================================================
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# Core library - Standalone
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# ========================================================
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else()
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target_include_directories(recovery_core
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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PRIVATE
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${STANDALONE_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${TF3_INCLUDE_DIR}
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)
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target_link_libraries(recovery_core
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PUBLIC
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${PACKAGES_DIR}
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PRIVATE
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Boost::boost
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Boost::system
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Boost::thread
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Boost::filesystem
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yaml-cpp
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Threads::Threads
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${CMAKE_DL_LIBS}
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${TF3_LIBRARY}
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)
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set_target_properties(recovery_core PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY
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${CMAKE_BINARY_DIR}
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BUILD_RPATH
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"${CMAKE_BINARY_DIR}"
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INSTALL_RPATH
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"${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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# ========================================================
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# Recovery plugin helper
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# ========================================================
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set(RECOVERY_CORE_PLUGIN_TARGETS)
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function(add_recovery_core_plugin target source)
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add_library(${target} SHARED
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${source}
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)
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target_compile_options(${target} PRIVATE -Wall -Wextra)
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add_dependencies(
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${target}
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recovery_core
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)
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# ======================================================
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# Catkin plugin
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# ======================================================
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if(BUILDING_WITH_CATKIN)
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add_dependencies(
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${target}
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_include_directories(${target}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${target}
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PUBLIC
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recovery_core
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PRIVATE
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${catkin_LIBRARIES}
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Boost::boost
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Boost::system
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Boost::thread
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Boost::filesystem
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yaml-cpp
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Threads::Threads
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${CMAKE_DL_LIBS}
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${TF3_LIBRARY}
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)
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# ======================================================
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# Standalone plugin
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# ======================================================
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else()
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target_include_directories(${target}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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PRIVATE
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${STANDALONE_INCLUDE_DIRS}
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${TF3_INCLUDE_DIR}
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)
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target_link_libraries(${target}
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PUBLIC
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recovery_core
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PRIVATE
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Boost::boost
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Boost::system
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Boost::thread
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Boost::filesystem
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yaml-cpp
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Threads::Threads
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${CMAKE_DL_LIBS}
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${TF3_LIBRARY}
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)
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set_target_properties(${target} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY
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${CMAKE_BINARY_DIR}
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BUILD_RPATH
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"${CMAKE_BINARY_DIR}"
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INSTALL_RPATH
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"${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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set_target_properties(${target} PROPERTIES
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POSITION_INDEPENDENT_CODE ON
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)
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list(APPEND
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RECOVERY_CORE_PLUGIN_TARGETS
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${target}
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)
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set(
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RECOVERY_CORE_PLUGIN_TARGETS
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${RECOVERY_CORE_PLUGIN_TARGETS}
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PARENT_SCOPE
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)
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endfunction()
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# ========================================================
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# Recovery plugins
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# ========================================================
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# Bộ recovery DEFAULT của gói. Thứ tự chạy do YAML quyết định (mục 3.4 của NAV_REFACTOR_PLAN.md),
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# không phải thứ tự khai báo ở đây.
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add_recovery_core_plugin(
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recovery_core_wait_recovery
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plugins/wait_recovery.cpp
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)
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add_recovery_core_plugin(
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recovery_core_clear_costmap_recovery
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plugins/clear_costmap_recovery.cpp
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)
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add_recovery_core_plugin(
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recovery_core_rotate_recovery
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plugins/rotate_recovery.cpp
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)
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add_recovery_core_plugin(
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recovery_core_back_up_recovery
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plugins/back_up_recovery.cpp
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)
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# ========================================================
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# Install - Catkin
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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install(
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TARGETS
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recovery_core
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${RECOVERY_CORE_PLUGIN_TARGETS}
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ARCHIVE DESTINATION
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${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION
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${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION
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${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(
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DIRECTORY
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include/${PROJECT_NAME}/
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DESTINATION
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${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING
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PATTERN "*.h"
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PATTERN "*.hpp"
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PATTERN ".svn" EXCLUDE
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)
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# ========================================================
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# Install - Standalone
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# ========================================================
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else()
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install(
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TARGETS
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recovery_core
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${RECOVERY_CORE_PLUGIN_TARGETS}
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EXPORT
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${PROJECT_NAME}-targets
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ARCHIVE DESTINATION
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lib
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LIBRARY DESTINATION
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lib
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RUNTIME DESTINATION
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bin
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)
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install(
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EXPORT
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${PROJECT_NAME}-targets
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FILE
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${PROJECT_NAME}-targets.cmake
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NAMESPACE
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${PROJECT_NAME}::
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DESTINATION
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lib/cmake/${PROJECT_NAME}
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)
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install(
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DIRECTORY
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include/${PROJECT_NAME}/
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DESTINATION
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include
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FILES_MATCHING
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PATTERN "*.h"
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PATTERN "*.hpp"
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PATTERN ".svn" EXCLUDE
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)
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# ------------------------------------------------------
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# Print configuration information
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# ------------------------------------------------------
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message(STATUS "=================================")
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message(STATUS "Project: ${PROJECT_NAME}")
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message(STATUS "Version: ${PROJECT_VERSION}")
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message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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message(STATUS "Libraries:")
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message(STATUS " recovery_core")
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message(STATUS " recovery_core_wait_recovery")
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message(STATUS " recovery_core_clear_costmap_recovery")
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message(STATUS " recovery_core_rotate_recovery")
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message(STATUS " recovery_core_back_up_recovery")
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message(STATUS "Dependencies:")
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message(STATUS " robot_costmap_2d")
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message(STATUS " robot_cpp")
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message(STATUS " robot_time")
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message(STATUS " robot_geometry_msgs")
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message(STATUS " robot_nav_msgs")
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message(STATUS " robot_xmlrpcpp")
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message(STATUS " tf3")
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message(STATUS " Boost")
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message(STATUS " yaml-cpp")
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message(STATUS "=================================")
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endif()
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# ========================================================
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# Tests
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# ========================================================
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# Đăng ký qua catkin_add_gtest để `catkin_make run_tests` / `ctest` bắt được, đồng thời vẫn chạy
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# trực tiếp được binary trong devel/lib/recovery_core.
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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(RECOVERY_CORE_TESTS
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recovery_lifecycle_test
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output_kind_test
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goal_semantics_test
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timeout_test
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wait_recovery_test
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backup_safety_test
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pose_progress_test
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rotate_safety_test
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registry_test
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)
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foreach(test_name ${RECOVERY_CORE_TESTS})
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catkin_add_gtest(${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}/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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)
|
|
|
|
# catkin_add_gtest dùng target_link_libraries dạng plain, nên phần bổ sung cũng phải plain.
|
|
# Plugin KHÔNG được link thẳng: chúng chỉ export alias Boost.DLL và được nạp qua
|
|
# RecoveryRegistry, đúng đường mà runtime đi.
|
|
target_link_libraries(${test_name}
|
|
recovery_core
|
|
${catkin_LIBRARIES}
|
|
${Boost_LIBRARIES}
|
|
yaml-cpp
|
|
pthread
|
|
${CMAKE_DL_LIBS}
|
|
)
|
|
|
|
add_dependencies(${test_name} ${RECOVERY_CORE_PLUGIN_TARGETS})
|
|
|
|
# Đường tới cây config test và thư mục .so, để binary tự trỏ đúng chỗ khi chạy qua ctest
|
|
# (ctest không mang theo PNKX_NAV_CORE_CONFIG_DIR hay LD_LIBRARY_PATH của shell).
|
|
target_compile_definitions(${test_name} PRIVATE
|
|
RECOVERY_CORE_TEST_CONFIG_DIR="${CMAKE_CURRENT_SOURCE_DIR}/test/config"
|
|
RECOVERY_CORE_TEST_LIBRARY_DIR="${CATKIN_DEVEL_PREFIX}/lib"
|
|
)
|
|
endif()
|
|
endforeach()
|
|
|
|
endif() |