delete console_brigde

CMakeLists.txt

@@ -1,68 +1,51 @@
 cmake_minimum_required(VERSION 3.0.2)
+project(robot_xmlrpcpp 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)
   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()
 
-project(robot_xmlrpcpp)
+# C++ Standard - must be set before find_package
-
-## 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)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
-# ========================================================
-# Find Packages
-# ========================================================
 
-if(BUILDING_WITH_CATKIN)
+if (NOT BUILDING_WITH_CATKIN)
-  ## Find catkin macros and libraries
-  find_package(catkin REQUIRED)
-endif()
 
-## System dependencies are found with CMake's conventions
+  # Enable Position Independent Code
-find_package(console_bridge REQUIRED)
+  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_xmlrpcpp
+    LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS
+  )
-    DEPENDS console_bridge
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
   )
 endif()
 
-###########
+# Libraries
-## Build ##
+add_library(${PROJECT_NAME} SHARED
-###########
-
-## Specify additional locations of header files
-include_directories(
-  include
-  ${console_bridge_INCLUDE_DIRS}
-)
-
-if(BUILDING_WITH_CATKIN)
-  include_directories(${catkin_INCLUDE_DIRS})
-endif()
-
-## Declare a C++ library
-add_library(robot_xmlrpcpp
   src/XmlRpcClient.cpp
   src/XmlRpcDispatch.cpp
   src/XmlRpcServer.cpp
@@ -74,62 +57,87 @@ add_library(robot_xmlrpcpp
   src/XmlRpcValue.cpp
 )
 
-## Target include directories
+if(BUILDING_WITH_CATKIN)
-target_include_directories(robot_xmlrpcpp
+  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>
-)
-
-## Add cmake target dependencies of the library
-if(BUILDING_WITH_CATKIN)
-  add_dependencies(robot_xmlrpcpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-endif()
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(robot_xmlrpcpp
-  ${console_bridge_LIBRARIES}
-)
-
-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 ${catkin_LIBRARIES}
-    FILE robot_xmlrpcpp-targets.cmake
-    NAMESPACE robot_xmlrpcpp::
-    DESTINATION lib/cmake/robot_xmlrpcpp
   )
+
 else()
-  # Khi build với Catkin, vẫn cần export để các target khác có thể export
+
-  install(EXPORT robot_xmlrpcpp-targets 
+  target_include_directories(${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}
+    
+  # )
+
+  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 "=================================")
 endif()

include/robot_xmlrpcpp/XmlRpc.h

@@ -1,5 +1,5 @@
-#ifndef _XMLRPC_H_
+#ifndef _ROBOT_XMLRPC_H_
-#define _XMLRPC_H_
+#define _ROBOT_XMLRPC_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 // This library is free software; you can redistribute it and/or
@@ -91,4 +91,4 @@ namespace robot_xmlrpcpp {
 
 } // namespace robot_xmlrpcpp 
 
-#endif // _XMLRPC_H_
+#endif // _ROBOT_XMLRPC_H_

include/robot_xmlrpcpp/XmlRpcClient.h

@@ -1,6 +1,5 @@
-
+#ifndef _ROBOT_XMLRPCCLIENT_H_
-#ifndef _XMLRPCCLIENT_H_
+#define _ROBOT_XMLRPCCLIENT_H_
-#define _XMLRPCCLIENT_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
@@ -125,4 +124,4 @@ namespace robot_xmlrpcpp {
 
 }	// namespace robot_xmlrpcpp
 
-#endif	// _XMLRPCCLIENT_H_
+#endif	// _ROBOT_XMLRPCCLIENT_H_

include/robot_xmlrpcpp/XmlRpcDispatch.h

@@ -1,7 +1,6 @@
+#ifndef _ROBOT_XMLRPCDISPATCH_H_
+#define _ROBOT_XMLRPCDISPATCH_H_
 
-#ifndef _XMLRPCDISPATCH_H_
-#define _XMLRPCDISPATCH_H_
-//
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
 #if defined(_MSC_VER)
@@ -85,4 +84,4 @@ namespace robot_xmlrpcpp {
   };
 } // namespace robot_xmlrpcpp 
 
-#endif  // _XMLRPCDISPATCH_H_
+#endif  // _ROBOT_XMLRPCDISPATCH_H_

include/robot_xmlrpcpp/XmlRpcException.h

@@ -1,7 +1,6 @@
+#ifndef _ROBOT_XMLRPCEXCEPTION_H_
+#define _ROBOT_XMLRPCEXCEPTION_H_
 
-#ifndef _XMLRPCEXCEPTION_H_
-#define _XMLRPCEXCEPTION_H_
-//
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
 #if defined(_MSC_VER)
@@ -39,4 +38,4 @@ namespace robot_xmlrpcpp {
 
 } // namespace robot_xmlrpcpp 
 
-#endif	// _XMLRPCEXCEPTION_H_
+#endif	// _ROBOT_XMLRPCEXCEPTION_H_

include/robot_xmlrpcpp/XmlRpcServer.h

@@ -1,7 +1,6 @@
+#ifndef _ROBOT_XMLRPCSERVER_H_
+#define _ROBOT_XMLRPCSERVER_H_
 
-#ifndef _XMLRPCSERVER_H_
-#define _XMLRPCSERVER_H_
-//
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
 #if defined(_MSC_VER)
@@ -101,4 +100,4 @@ namespace robot_xmlrpcpp {
   };
 } // namespace robot_xmlrpcpp 
 
-#endif //_XMLRPCSERVER_H_
+#endif //_ROBOT_XMLRPCSERVER_H_

include/robot_xmlrpcpp/XmlRpcServerConnection.h

@@ -1,5 +1,5 @@
-#ifndef _XMLRPCSERVERCONNECTION_H_
+#ifndef _ROBOT_XMLRPCSERVERCONNECTION_H_
-#define _XMLRPCSERVERCONNECTION_H_
+#define _ROBOT_XMLRPCSERVERCONNECTION_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
@@ -99,4 +99,4 @@ namespace robot_xmlrpcpp {
   };
 } // namespace robot_xmlrpcpp 
 
-#endif // _XMLRPCSERVERCONNECTION_H_
+#endif // _ROBOT_XMLRPCSERVERCONNECTION_H_

include/robot_xmlrpcpp/XmlRpcServerMethod.h

@@ -1,7 +1,6 @@
-
+#ifndef _ROBOT_XMLRPCSERVERMETHOD_H_
-#ifndef _XMLRPCSERVERMETHOD_H_
 #define _XMLRPCSERVERMETHOD_H_
-//
+#define _ROBOT_XMLRPCSERVERMETHOD_H_
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
 #if defined(_MSC_VER)
@@ -44,4 +43,4 @@ namespace robot_xmlrpcpp {
   };
 } // namespace robot_xmlrpcpp 
 
-#endif // _XMLRPCSERVERMETHOD_H_
+#endif // _ROBOT_XMLRPCSERVERMETHOD_H_

include/robot_xmlrpcpp/XmlRpcSocket.h

@@ -1,5 +1,5 @@
-#ifndef _XMLRPCSOCKET_H_
+#ifndef _ROBOT_XMLRPCSOCKET_H_
-#define _XMLRPCSOCKET_H_
+#define _ROBOT_XMLRPCSOCKET_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
@@ -66,4 +66,4 @@ namespace robot_xmlrpcpp {
 
 } // namespace robot_xmlrpcpp 
 
-#endif
+#endif // _ROBOT_XMLRPCSOCKET_H_

include/robot_xmlrpcpp/XmlRpcSource.h

@@ -1,6 +1,5 @@
-
+#ifndef _ROBOT_XMLRPCSOURCE_H_
-#ifndef _XMLRPCSOURCE_H_
+#define _ROBOT_XMLRPCSOURCE_H_
-#define _XMLRPCSOURCE_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
@@ -52,4 +51,4 @@ namespace robot_xmlrpcpp {
   };
 } // namespace robot_xmlrpcpp 
 
-#endif //_XMLRPCSOURCE_H_
+#endif //_ROBOT_XMLRPCSOURCE_H_

include/robot_xmlrpcpp/XmlRpcUtil.h

@@ -1,5 +1,5 @@
-#ifndef _XMLRPCUTIL_H_
+#ifndef _ROBOT_XMLRPCUTIL_H_
-#define _XMLRPCUTIL_H_
+#define _ROBOT_XMLRPCUTIL_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //

include/robot_xmlrpcpp/XmlRpcValue.h

@@ -1,6 +1,5 @@
-
+#ifndef _ROBOT_XMLRPCVALUE_H_
-#ifndef _XMLRPCVALUE_H_
+#define _ROBOT_XMLRPCVALUE_H_
-#define _XMLRPCVALUE_H_
 //
 // XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
 //
@@ -185,5 +184,4 @@ namespace robot_xmlrpcpp {
 
 std::ostream& operator<<(std::ostream& os, robot_xmlrpcpp::XmlRpcValue& v);
 
-
+#endif // _ROBOT_XMLRPCVALUE_H_
-#endif // _XMLRPCVALUE_H_

include/robot_xmlrpcpp/base64.h

@@ -6,8 +6,8 @@
 //
 //
 
-#if !defined(__BASE64_H_INCLUDED__)
+#if !defined(__ROBOT_BASE64_H_INCLUDED__)
-#define __BASE64_H_INCLUDED__ 1
+#define __ROBOT_BASE64_H_INCLUDED__ 1
 
 #ifndef MAKEDEPEND
 # include <iterator>

package.xml

@@ -19,8 +19,4 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
-
 </package>