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HiepLM 2026-01-05 18:35:31 +07:00
parent 5eb11f233f
commit 2831959056
1 changed files with 17 additions and 91 deletions
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108
src/Libraries/robot_cpp/CMakeLists.txt
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@ -31,88 +31,24 @@ if(BUILDING_WITH_CATKIN)
endif()
## System dependencies
# Find yaml-cpp shared library first, prioritizing system installation over /usr/local
# This avoids using static library from /usr/local/lib
# Find yaml-cpp library
find_package(yaml-cpp REQUIRED)
# First, try pkg-config to get the correct library path
find_package(PkgConfig QUIET)
if(PkgConfig_FOUND)
pkg_check_modules(YAMLCPP_PKG yaml-cpp QUIET)
if(YAMLCPP_PKG_FOUND AND YAMLCPP_PKG_LIBRARIES)
set(YAML_CPP_TARGET ${YAMLCPP_PKG_LIBRARIES})
message(STATUS "Using yaml-cpp from pkg-config: ${YAML_CPP_TARGET}")
endif()
endif()
# If pkg-config didn't work, find shared library directly, prioritizing /usr/lib
if(NOT YAML_CPP_TARGET)
# First try system paths (avoid /usr/local which may have static library)
find_library(YAML_CPP_SHARED_LIB
NAMES yaml-cpp
PATHS /usr/lib
PATH_SUFFIXES x86_64-linux-gnu
NO_DEFAULT_PATH
)
if(YAML_CPP_SHARED_LIB AND EXISTS "${YAML_CPP_SHARED_LIB}")
# Verify it's actually a shared library (not a symlink to static)
get_filename_component(YAML_CPP_REAL_LIB "${YAML_CPP_SHARED_LIB}" REALPATH)
if(YAML_CPP_REAL_LIB MATCHES "\\.so")
set(YAML_CPP_TARGET ${YAML_CPP_SHARED_LIB})
message(STATUS "Found yaml-cpp shared library in /usr/lib: ${YAML_CPP_SHARED_LIB}")
# Also find include directory
find_path(YAML_CPP_INCLUDE_DIR
NAMES yaml-cpp/yaml.h
PATHS /usr/include
NO_DEFAULT_PATH
)
if(YAML_CPP_INCLUDE_DIR)
message(STATUS "Found yaml-cpp include directory: ${YAML_CPP_INCLUDE_DIR}")
endif()
endif()
endif()
endif()
# Now use find_package, but temporarily exclude /usr/local to avoid static library
set(CMAKE_PREFIX_PATH_SAVED ${CMAKE_PREFIX_PATH})
list(REMOVE_ITEM CMAKE_PREFIX_PATH "/usr/local")
find_package(yaml-cpp QUIET)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH_SAVED})
# Use target if available and we haven't found a library yet
if(NOT YAML_CPP_TARGET)
if(TARGET yaml-cpp::yaml-cpp)
set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
elseif(TARGET yaml-cpp)
set(YAML_CPP_TARGET yaml-cpp)
message(STATUS "Using yaml-cpp target: yaml-cpp")
else()
# Last resort: try to find any library, but check if it's static
find_library(YAML_CPP_ANY_LIB
NAMES yaml-cpp
PATHS /usr/lib /usr/local/lib /lib
PATH_SUFFIXES x86_64-linux-gnu
)
if(YAML_CPP_ANY_LIB)
if(YAML_CPP_ANY_LIB MATCHES "\\.a$")
message(FATAL_ERROR
"yaml-cpp static library found at: ${YAML_CPP_ANY_LIB}\n"
"This cannot be linked into a shared library.\n"
"Solution: Remove static library or use system shared library:\n"
" sudo rm /usr/local/lib/libyaml-cpp.a\n"
"Or ensure /usr/lib/x86_64-linux-gnu/libyaml-cpp.so is found first."
)
else()
set(YAML_CPP_TARGET ${YAML_CPP_ANY_LIB})
message(STATUS "Found yaml-cpp library: ${YAML_CPP_TARGET}")
endif()
else()
set(YAML_CPP_TARGET yaml-cpp)
message(WARNING "yaml-cpp library not found. Using library name 'yaml-cpp'")
endif()
endif()
# Use target if available (modern CMake)
if(TARGET yaml-cpp::yaml-cpp)
set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
elseif(TARGET yaml-cpp)
set(YAML_CPP_TARGET yaml-cpp)
message(STATUS "Using yaml-cpp target: yaml-cpp")
elseif(yaml-cpp_LIBRARIES)
# Fallback to library variable if target not available
set(YAML_CPP_TARGET ${yaml-cpp_LIBRARIES})
message(STATUS "Using yaml-cpp library: ${YAML_CPP_TARGET}")
else()
# Last resort: use library name
set(YAML_CPP_TARGET yaml-cpp)
message(STATUS "Using yaml-cpp library name: yaml-cpp")
endif()
find_package(console_bridge REQUIRED)
@ -179,16 +115,6 @@ target_link_libraries(${PROJECT_NAME}
dl # Required for dladdr() function used in plugin_loader_helper.cpp
)
# Check if we're using static library and warn user
if(YAML_CPP_TARGET MATCHES "\\.a$" OR YAML_CPP_TARGET MATCHES "libyaml-cpp\\.a")
message(FATAL_ERROR
"yaml-cpp static library detected at: ${YAML_CPP_TARGET}\n"
"Static libraries cannot be linked into shared libraries without -fPIC.\n"
"Solution: Install shared library version:\n"
" sudo apt-get install libyaml-cpp-dev\n"
"Or rebuild yaml-cpp with -fPIC flag."
)
endif()
## Add cmake target dependencies