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basic refactor

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Niklas Halle 2025-04-01 16:03:45 +02:00 • committed by Niklas Halle
parent a2741afc9a
commit 91c2a42d6b
19 changed files with 1473 additions and 1390 deletions
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89
src/priority_executor/CMakeLists.txt
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@ -1,36 +1,34 @@
cmake_minimum_required(VERSION 3.5)
project(priority_executor)
cmake_minimum_required(VERSION 3.8)
project(priority_executor VERSION 0.1.0)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
# Set C++ standards
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Compiler options
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcl REQUIRED)
find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(simple_timer REQUIRED)
add_library(priority_executor src/priority_executor.cpp src/priority_memory_strategy.cpp)
# Library targets
add_library(priority_executor
src/priority_executor.cpp
src/priority_memory_strategy.cpp
)
target_include_directories(priority_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# target_link_libraries(priority_executor
# simple_timer
# )
ament_target_dependencies(priority_executor
rmw
rclcpp
@ -38,7 +36,10 @@ ament_target_dependencies(priority_executor
simple_timer
)
add_library(multithread_priority_executor src/multithread_priority_executor.cpp src/priority_memory_strategy.cpp)
add_library(multithread_priority_executor
src/multithread_priority_executor.cpp
src/priority_memory_strategy.cpp
)
target_include_directories(multithread_priority_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
@ -50,7 +51,9 @@ ament_target_dependencies(multithread_priority_executor
simple_timer
)
add_library(default_executor src/default_executor.cpp)
add_library(default_executor
src/default_executor.cpp
)
target_include_directories(default_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
@ -62,48 +65,54 @@ ament_target_dependencies(default_executor
simple_timer
)
add_executable(usage_example src/usage_example.cpp)
# Example executable
add_executable(usage_example
src/usage_example.cpp
)
target_include_directories(usage_example PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
$<INSTALL_INTERFACE:include>
)
target_link_libraries(usage_example
priority_executor
multithread_priority_executor
default_executor
)
ament_target_dependencies(usage_example
rclcpp
std_msgs
std_srvs
simple_timer
)
# Testing
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
# Installation
install(
DIRECTORY include/
DESTINATION include
)
install(TARGETS usage_example
DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS priority_executor multithread_priority_executor default_executor
install(
TARGETS priority_executor multithread_priority_executor default_executor
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(
TARGETS usage_example
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
# Export and package configuration
ament_export_include_directories(include)
ament_export_libraries(priority_executor)
ament_export_libraries(multithread_priority_executor)
ament_export_libraries(default_executor)
ament_export_dependencies(rclcpp rcl simple_timer)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(rclcpp rcl rmw simple_timer)
ament_package()