test
This commit is contained in:
parent
bd6aaac9d4
commit
5eb11f233f
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@ -1,4 +1,18 @@
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cmake_minimum_required(VERSION 3.0.2)
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# ========================================================
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# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
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# ========================================================
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# Detect if building with Catkin
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_cpp with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_cpp with Standalone CMake")
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endif()
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project(robot_cpp)
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set(CMAKE_CXX_STANDARD 17)
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@ -9,25 +23,10 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Find Packages
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# ========================================================
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_cpp with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_cpp with Standalone CMake")
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endif()
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if(BUILDING_WITH_CATKIN)
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## Find catkin macros and libraries
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find_package(catkin REQUIRED COMPONENTS
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robot_xmlrpcpp
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robot_time
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robot_cpp
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CATKIN_DEPENDS robot_xmlrpcpp robot_time
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)
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endif()
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@ -45,7 +44,105 @@ if(PkgConfig_FOUND)
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endif()
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endif()
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# If pkg-config didn't work, find shared library directly, prioritizing /usr/lib
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if(NOT YAML_CPP_TARGET)
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# First try system paths (avoid /usr/local which may have static library)
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find_library(YAML_CPP_SHARED_LIB
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NAMES yaml-cpp
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PATHS /usr/lib
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PATH_SUFFIXES x86_64-linux-gnu
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NO_DEFAULT_PATH
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)
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if(YAML_CPP_SHARED_LIB AND EXISTS "${YAML_CPP_SHARED_LIB}")
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# Verify it's actually a shared library (not a symlink to static)
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get_filename_component(YAML_CPP_REAL_LIB "${YAML_CPP_SHARED_LIB}" REALPATH)
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if(YAML_CPP_REAL_LIB MATCHES "\\.so")
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set(YAML_CPP_TARGET ${YAML_CPP_SHARED_LIB})
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message(STATUS "Found yaml-cpp shared library in /usr/lib: ${YAML_CPP_SHARED_LIB}")
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# Also find include directory
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find_path(YAML_CPP_INCLUDE_DIR
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NAMES yaml-cpp/yaml.h
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PATHS /usr/include
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NO_DEFAULT_PATH
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)
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if(YAML_CPP_INCLUDE_DIR)
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message(STATUS "Found yaml-cpp include directory: ${YAML_CPP_INCLUDE_DIR}")
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endif()
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endif()
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endif()
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endif()
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# Now use find_package, but temporarily exclude /usr/local to avoid static library
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set(CMAKE_PREFIX_PATH_SAVED ${CMAKE_PREFIX_PATH})
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list(REMOVE_ITEM CMAKE_PREFIX_PATH "/usr/local")
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find_package(yaml-cpp QUIET)
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set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH_SAVED})
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# Use target if available and we haven't found a library yet
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if(NOT YAML_CPP_TARGET)
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if(TARGET yaml-cpp::yaml-cpp)
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set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
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message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
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elseif(TARGET yaml-cpp)
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set(YAML_CPP_TARGET yaml-cpp)
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message(STATUS "Using yaml-cpp target: yaml-cpp")
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else()
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# Last resort: try to find any library, but check if it's static
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find_library(YAML_CPP_ANY_LIB
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NAMES yaml-cpp
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PATHS /usr/lib /usr/local/lib /lib
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PATH_SUFFIXES x86_64-linux-gnu
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)
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if(YAML_CPP_ANY_LIB)
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if(YAML_CPP_ANY_LIB MATCHES "\\.a$")
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message(FATAL_ERROR
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"yaml-cpp static library found at: ${YAML_CPP_ANY_LIB}\n"
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"This cannot be linked into a shared library.\n"
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"Solution: Remove static library or use system shared library:\n"
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" sudo rm /usr/local/lib/libyaml-cpp.a\n"
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"Or ensure /usr/lib/x86_64-linux-gnu/libyaml-cpp.so is found first."
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)
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else()
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set(YAML_CPP_TARGET ${YAML_CPP_ANY_LIB})
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message(STATUS "Found yaml-cpp library: ${YAML_CPP_TARGET}")
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endif()
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else()
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set(YAML_CPP_TARGET yaml-cpp)
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message(WARNING "yaml-cpp library not found. Using library name 'yaml-cpp'")
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endif()
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endif()
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endif()
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find_package(console_bridge REQUIRED)
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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## The catkin_package macro generates cmake config files for your package
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## Note: yaml-cpp and console_bridge are system dependencies, not declared in DEPENDS
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## as they don't provide the required INCLUDE_DIRS/LIBRARIES variables for catkin
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robot_cpp
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CATKIN_DEPENDS robot_xmlrpcpp
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)
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endif()
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###########
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## Build ##
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###########
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## Compiler flags
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# Warning flags - disabled to suppress warnings during build
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# add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
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add_compile_options(-w -fPIC) # -w suppresses all warnings
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endif()
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## Include directories
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include_directories(
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include
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@ -73,20 +170,32 @@ target_include_directories(${PROJECT_NAME}
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## Link libraries
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# Use the determined yaml-cpp target/library
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME} ${catkin_TARGETS})
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else()
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target_link_libraries(${PROJECT_NAME}
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${YAML_CPP_TARGET}
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robot_xmlrpcpp
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robot_time
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PRIVATE
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dl # Required for dladdr() function used in plugin_loader_helper.cpp
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)
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# Check if we're using static library and warn user
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if(YAML_CPP_TARGET MATCHES "\\.a$" OR YAML_CPP_TARGET MATCHES "libyaml-cpp\\.a")
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message(FATAL_ERROR
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"yaml-cpp static library detected at: ${YAML_CPP_TARGET}\n"
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"Static libraries cannot be linked into shared libraries without -fPIC.\n"
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"Solution: Install shared library version:\n"
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" sudo apt-get install libyaml-cpp-dev\n"
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"Or rebuild yaml-cpp with -fPIC flag."
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)
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endif()
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## Add cmake target dependencies
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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set_target_properties(${PROJECT_NAME} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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