update for ROS
This commit is contained in:
parent
504de86ee9
commit
6b23f32c6e
169
CMakeLists.txt
169
CMakeLists.txt
|
|
@ -1,99 +1,152 @@
|
|||
cmake_minimum_required(VERSION 3.10.2)
|
||||
project(robot_time)
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||
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 "${CMAKE_BINARY_DIR}")
|
||||
|
||||
# ========================================================
|
||||
# Find Packages
|
||||
# ========================================================
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(robot_time VERSION 1.0.0 LANGUAGES CXX)
|
||||
|
||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||
set(BUILDING_WITH_CATKIN TRUE)
|
||||
message(STATUS "Building robot_time with Catkin")
|
||||
|
||||
else()
|
||||
set(BUILDING_WITH_CATKIN FALSE)
|
||||
message(STATUS "Building robot_time with Standalone CMake")
|
||||
endif()
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
find_package(catkin REQUIRED)
|
||||
endif()
|
||||
# C++ Standard - must be set before find_package
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||
|
||||
# Find dependencies
|
||||
find_package(GTest REQUIRED)
|
||||
|
||||
if (NOT BUILDING_WITH_CATKIN)
|
||||
|
||||
# Enable Position Independent Code
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
|
||||
# Cấu hình RPATH để tránh cycle trong runtime search path
|
||||
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
|
||||
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
|
||||
|
||||
else()
|
||||
|
||||
# ========================================================
|
||||
# Catkin specific configuration
|
||||
# ========================================================
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
catkin_package(
|
||||
INCLUDE_DIRS include
|
||||
LIBRARIES robot_time
|
||||
LIBRARIES ${PROJECT_NAME}
|
||||
)
|
||||
|
||||
include_directories(
|
||||
include
|
||||
${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
endif()
|
||||
|
||||
include_directories(${GTEST_INCLUDE_DIRS})
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
include_directories(${catkin_INCLUDE_DIRS})
|
||||
endif()
|
||||
|
||||
add_library(robot_time
|
||||
# Libraries
|
||||
add_library(${PROJECT_NAME} SHARED
|
||||
src/duration.cpp
|
||||
src/rate.cpp
|
||||
src/time.cpp)
|
||||
src/time.cpp
|
||||
)
|
||||
|
||||
target_include_directories(robot_time PUBLIC
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
target_include_directories(${PROJECT_NAME}
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>)
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
set_target_properties(robot_time PROPERTIES
|
||||
target_link_libraries(${PROJECT_NAME}
|
||||
PUBLIC ${catkin_LIBRARIES}
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
target_include_directories(${PROJECT_NAME}
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
set_target_properties(${PROJECT_NAME} PROPERTIES
|
||||
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}"
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
)
|
||||
)
|
||||
|
||||
## Add cmake target dependencies
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
add_dependencies(robot_time ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
endif()
|
||||
|
||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
||||
install(TARGETS robot_time
|
||||
EXPORT robot_timeTargets
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
install(TARGETS ${PROJECT_NAME}
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/
|
||||
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)
|
||||
RUNTIME DESTINATION bin
|
||||
)
|
||||
|
||||
if(NOT BUILDING_WITH_CATKIN)
|
||||
# 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/
|
||||
DESTINATION include
|
||||
FILES_MATCHING PATTERN "*.h")
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
# Print configuration info
|
||||
message(STATUS "=================================")
|
||||
message(STATUS "Project: ${PROJECT_NAME}")
|
||||
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||
message(STATUS "Dependencies: GTest")
|
||||
message(STATUS "=================================")
|
||||
endif()
|
||||
|
||||
# Export targets - cần trong mọi trường hợp
|
||||
install(EXPORT robot_timeTargets
|
||||
NAMESPACE robot::
|
||||
DESTINATION lib/cmake/robot_time)
|
||||
# ========================================================
|
||||
# Test executables
|
||||
# ========================================================
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/time.cpp)
|
||||
add_executable(${PROJECT_NAME}_test test/time.cpp)
|
||||
target_link_libraries(${PROJECT_NAME}_test PRIVATE
|
||||
${PROJECT_NAME}
|
||||
GTest::GTest
|
||||
GTest::Main
|
||||
)
|
||||
endif()
|
||||
|
||||
add_executable(robot_time_test test/time.cpp)
|
||||
add_executable(robot_duration_test test/duration.cpp)
|
||||
target_link_libraries(robot_time_test PRIVATE
|
||||
robot_time
|
||||
${GTEST_LIBRARIES}
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/duration.cpp)
|
||||
add_executable(${PROJECT_NAME}_duration_test test/duration.cpp)
|
||||
target_link_libraries(${PROJECT_NAME}_duration_test PRIVATE
|
||||
${PROJECT_NAME}
|
||||
GTest::GTest
|
||||
GTest::Main)
|
||||
target_link_libraries(robot_duration_test PRIVATE
|
||||
robot_time
|
||||
${GTEST_LIBRARIES}
|
||||
GTest::GTest
|
||||
GTest::Main)
|
||||
GTest::Main
|
||||
)
|
||||
endif()
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user