update for ROS

CMakeLists.txt

@@ -1,49 +1,55 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(robot_xmlrpcpp)
+project(robot_xmlrpcpp VERSION 1.0.0 LANGUAGES CXX)
-
-## Compile as C++17
-add_compile_options(-std=c++17)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
-# ========================================================
-# Find Packages
-# ========================================================
 
 if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
   set(BUILDING_WITH_CATKIN TRUE)
   message(STATUS "Building robot_xmlrpcpp with Catkin")
+
 else()
   set(BUILDING_WITH_CATKIN FALSE)
   message(STATUS "Building robot_xmlrpcpp with Standalone CMake")
 endif()
 
-if(BUILDING_WITH_CATKIN)
+# C++ Standard - must be set before find_package
-  ## Find catkin macros and libraries
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# Find dependencies
+find_package(console_bridge 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)
+
   catkin_package(
     INCLUDE_DIRS include
-    LIBRARIES robot_xmlrpcpp
+    LIBRARIES ${PROJECT_NAME}
-    # CATKIN_DEPENDS 
+    DEPENDS console_bridge
   )
-endif()
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-if(BUILDING_WITH_CATKIN)
-  include_directories(${catkin_INCLUDE_DIRS})
-else()
   include_directories(
     include
+    ${catkin_INCLUDE_DIRS}
+    ${console_bridge_INCLUDE_DIRS}
   )
 endif()
 
-## Declare a C++ library
+# Libraries
-add_library(robot_xmlrpcpp
+add_library(${PROJECT_NAME} SHARED
   src/XmlRpcClient.cpp
   src/XmlRpcDispatch.cpp
   src/XmlRpcServer.cpp
@@ -55,62 +61,90 @@ add_library(robot_xmlrpcpp
   src/XmlRpcValue.cpp
 )
 
-## Target include directories
-target_include_directories(robot_xmlrpcpp
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-## Add cmake target dependencies of the library
 if(BUILDING_WITH_CATKIN)
-  add_dependencies(robot_xmlrpcpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-endif()
 
-## Specify libraries to link a library or executable target against
+  target_include_directories(${PROJECT_NAME}
-target_link_libraries(robot_xmlrpcpp
+    PUBLIC
-  ${console_bridge_LIBRARIES}
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-)
+      $<INSTALL_INTERFACE:include>
-
-if(BUILDING_WITH_CATKIN)
-  target_link_libraries(robot_xmlrpcpp ${catkin_LIBRARIES})
-endif()
-
-## Compiler flags
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  target_compile_options(robot_xmlrpcpp PRIVATE -Wall -Wextra -Wpedantic -fPIC -Wno-unused-parameter)
-endif()
-
-# ========================================================
-# Installation (Standalone CMake only)
-# ========================================================
-
-# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
-install(TARGETS robot_xmlrpcpp
-  EXPORT robot_xmlrpcpp-targets
-  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
-  LIBRARY DESTINATION lib      # Thư viện động .so
-  RUNTIME DESTINATION bin      # File thực thi (nếu có)
-  INCLUDES DESTINATION include # Cài đặt include
-)
-
-if(NOT BUILDING_WITH_CATKIN)
-  install(
-    DIRECTORY include/
-    DESTINATION include/
   )
 
-  # --- Xuất export set robot_xmlrpcpp-targets thành file CMake module ---
+  target_link_libraries(${PROJECT_NAME}
-  install(EXPORT robot_xmlrpcpp-targets 
+    PUBLIC ${catkin_LIBRARIES}
-    FILE robot_xmlrpcpp-targets.cmake
+    PRIVATE console_bridge::console_bridge
-    NAMESPACE robot_xmlrpcpp::
-    DESTINATION lib/cmake/robot_xmlrpcpp
   )
+
 else()
-  # Khi build với Catkin, vẫn cần export để các target khác có thể export
+
-  install(EXPORT robot_xmlrpcpp-targets 
+  target_include_directories(${PROJECT_NAME}
-    FILE robot_xmlrpcpp-targets.cmake
+    PUBLIC
-    NAMESPACE robot_xmlrpcpp::
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    DESTINATION lib/cmake/robot_xmlrpcpp
+      $<INSTALL_INTERFACE:include>
   )
+
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC
+      console_bridge::console_bridge
+  )
+
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+  )
+
+endif()
+
+# Compiler flags
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -fPIC -Wno-unused-parameter)
+endif()
+
+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 ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${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}")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Dependencies: console_bridge")
+  message(STATUS "=================================")
 endif()