test

src/Libraries/robot_cpp/CMakeLists.txt

@@ -1,4 +1,18 @@
 cmake_minimum_required(VERSION 3.0.2)
+
+# ========================================================
+# 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_cpp with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_cpp with Standalone CMake")
+endif()
+
 project(robot_cpp)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -9,25 +23,10 @@ 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_cpp with Catkin")
-else()
-  set(BUILDING_WITH_CATKIN FALSE)
-  message(STATUS "Building robot_cpp with Standalone CMake")
-endif()
-
-
 if(BUILDING_WITH_CATKIN)
   ## Find catkin macros and libraries
   find_package(catkin REQUIRED COMPONENTS
-    robot_xmlrpcpp 
+    robot_xmlrpcpp
-    robot_time
-  )
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES robot_cpp
-    CATKIN_DEPENDS robot_xmlrpcpp robot_time
   )
 endif()
 
@@ -45,7 +44,105 @@ if(PkgConfig_FOUND)
   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: ${YAML_CPP_TARGET}")
+      endif()
+    else()
+      set(YAML_CPP_TARGET yaml-cpp)
+      message(WARNING "yaml-cpp library not found. Using library name 'yaml-cpp'")
+    endif()
+  endif()
+endif()
+
+find_package(console_bridge REQUIRED)
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: yaml-cpp and console_bridge are system dependencies, not declared in DEPENDS
+  ## as they don't provide the required INCLUDE_DIRS/LIBRARIES variables for catkin
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_cpp
+    CATKIN_DEPENDS robot_xmlrpcpp
+  )
+endif()
+
+###########
+## Build ##
+###########
+
+## Compiler flags
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # Warning flags - disabled to suppress warnings during build
+  # add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
+  add_compile_options(-w -fPIC)  # -w suppresses all warnings
+endif()
+
 ## Include directories
 include_directories(
   include
@@ -73,20 +170,32 @@ target_include_directories(${PROJECT_NAME}
 
 ## Link libraries
 # Use the determined yaml-cpp target/library
-if(BUILDING_WITH_CATKIN)  
+target_link_libraries(${PROJECT_NAME}
-  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  PUBLIC
-  target_link_libraries(${PROJECT_NAME} ${catkin_TARGETS})
+    ${YAML_CPP_TARGET}
-else()
+    robot_xmlrpcpp
-  target_link_libraries(${PROJECT_NAME}
+    robot_time
-    PUBLIC
+  PRIVATE
-      ${YAML_CPP_TARGET}
+    dl  # Required for dladdr() function used in plugin_loader_helper.cpp
-      robot_xmlrpcpp
+)
-      robot_time
+
-    PRIVATE
+# Check if we're using static library and warn user
-      dl  # Required for dladdr() function used in plugin_loader_helper.cpp
+if(YAML_CPP_TARGET MATCHES "\\.a$" 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
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
+
 set_target_properties(${PROJECT_NAME} PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
 )