96 lines
2.1 KiB
CMake
Executable file
96 lines
2.1 KiB
CMake
Executable file
cmake_minimum_required(VERSION 3.8)
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project(priority_executor VERSION 0.1.0)
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# Set C++ standards
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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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# Compiler options
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(tracetools REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rmw REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(simple_timer REQUIRED)
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find_package(nlohmann_json REQUIRED)
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# Library targets
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add_library(priority_executor
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src/priority_executor.cpp
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src/priority_memory_strategy.cpp
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src/performance_monitor.cpp
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src/default_executor.cpp
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src/usage_example.cpp
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src/multithread_priority_executor.cpp
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)
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target_include_directories(priority_executor PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(priority_executor
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tracetools
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rmw
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rclcpp
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rcl
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simple_timer
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nlohmann_json
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)
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# Example executable
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add_executable(usage_example
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src/usage_example.cpp
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)
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target_include_directories(usage_example PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(usage_example
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priority_executor
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)
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ament_target_dependencies(usage_example
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tracetools
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rclcpp
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std_msgs
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std_srvs
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simple_timer
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)
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# Testing
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Installation
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install(
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DIRECTORY include/
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DESTINATION include
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)
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install(
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TARGETS priority_executor
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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install(
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TARGETS usage_example
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# Export and package configuration
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ament_export_include_directories(include)
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(rclcpp rcl rmw simple_timer nlohmann_json)
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ament_package()
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