267 lines
7.5 KiB
CMake
267 lines
7.5 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(robot_cpp VERSION 1.0.0 LANGUAGES CXX)
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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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# C++ Standard - must be set before find_package
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Find dependencies
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find_package(yaml-cpp REQUIRED)
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find_package(console_bridge REQUIRED)
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if (NOT BUILDING_WITH_CATKIN)
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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set(PACKAGES_DIR
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robot_xmlrpcpp
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robot_time
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)
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else()
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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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 ${PROJECT_NAME}
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CATKIN_DEPENDS robot_xmlrpcpp robot_time
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# Note: yaml-cpp and console_bridge are system dependencies,
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# linked via target_link_libraries, not via catkin_package DEPENDS
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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endif()
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# Use yaml-cpp target if available (modern CMake)
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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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elseif(yaml-cpp_LIBRARIES)
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# Fallback to library variable if target not available
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set(YAML_CPP_TARGET ${yaml-cpp_LIBRARIES})
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message(STATUS "Using yaml-cpp library: ${YAML_CPP_TARGET}")
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else()
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# Last resort: use library name
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set(YAML_CPP_TARGET yaml-cpp)
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message(STATUS "Using yaml-cpp library name: yaml-cpp")
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endif()
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# Compiler flags
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# Warning flags - disabled to suppress warnings during build
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# add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
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add_compile_options(-w -fPIC) # -w suppresses all warnings
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endif()
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# Libraries
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add_library(${PROJECT_NAME} SHARED
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src/console.cpp
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src/node_handle.cpp
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src/plugin_loader_helper.cpp
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src/init.cpp
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)
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# Enable C++17 filesystem feature
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target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# Link filesystem library if needed (for GCC < 9 or Clang)
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set(FILESYSTEM_LIB "")
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
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set(FILESYSTEM_LIB "stdc++fs")
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elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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find_library(FILESYSTEM_LIB c++fs)
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endif()
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target_link_libraries(${PROJECT_NAME}
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PUBLIC ${catkin_LIBRARIES}
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PRIVATE ${YAML_CPP_TARGET}
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PRIVATE dl # Required for dladdr() function used in plugin_loader_helper.cpp
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)
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if(FILESYSTEM_LIB)
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target_link_libraries(${PROJECT_NAME} PRIVATE ${FILESYSTEM_LIB})
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endif()
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else()
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# Link filesystem library if needed (for GCC < 9 or Clang)
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set(FILESYSTEM_LIB "")
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
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set(FILESYSTEM_LIB "stdc++fs")
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elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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find_library(FILESYSTEM_LIB c++fs)
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endif()
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${PACKAGES_DIR}
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${YAML_CPP_TARGET}
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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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if(FILESYSTEM_LIB)
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target_link_libraries(${PROJECT_NAME} PRIVATE ${FILESYSTEM_LIB})
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endif()
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set_target_properties(${PROJECT_NAME} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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endif()
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# Define CMAKE_BINARY_DIR as compile definition so it's available at runtime
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE
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PNKX_NAV_CORE_BUILD_DIR="${CMAKE_BINARY_DIR}"
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)
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if(BUILDING_WITH_CATKIN)
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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else()
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Export targets
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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# ========================================================
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# Install CMake Config File for find_package()
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# ========================================================
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# Generate config file from template
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configure_file(
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${CMAKE_CURRENT_SOURCE_DIR}/robot_cppConfig.cmake.in
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${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
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@ONLY
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)
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# Install config file
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install(FILES
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${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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# Print configuration info
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message(STATUS "=================================")
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message(STATUS "Project: ${PROJECT_NAME}")
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message(STATUS "Version: ${PROJECT_VERSION}")
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message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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message(STATUS "Dependencies: robot_xmlrpcpp, robot_time, yaml-cpp, console_bridge")
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message(STATUS "=================================")
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endif()
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# ========================================================
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# Test executable
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# ========================================================
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option(BUILD_TESTS "Build test programs" OFF)
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if(BUILD_TESTS)
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add_executable(test_node_handle
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test/test_node_handle.cpp
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)
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target_include_directories(test_node_handle
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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target_link_libraries(test_node_handle
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PRIVATE
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${PROJECT_NAME}
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${YAML_CPP_TARGET}
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)
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set_target_properties(test_node_handle PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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# Link filesystem library if needed
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
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target_link_libraries(test_node_handle PRIVATE stdc++fs)
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elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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find_library(FILESYSTEM_LIB c++fs)
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if(FILESYSTEM_LIB)
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target_link_libraries(test_node_handle PRIVATE ${FILESYSTEM_LIB})
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endif()
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endif()
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# Add test to CTest
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add_test(NAME NodeHandleTest COMMAND test_node_handle)
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message(STATUS "Test executable 'test_node_handle' will be built")
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endif()
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