95 lines
2.6 KiB
CMake
95 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rcl_lifecycle)
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find_package(ament_cmake REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rmw REQUIRED)
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find_package(rmw_implementation_cmake REQUIRED)
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find_package(lifecycle_msgs REQUIRED)
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include_directories(include)
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set(rcl_lifecycle_sources
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src/com_interface.c
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src/default_state_machine.c
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src/rcl_lifecycle.c
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src/transition_map.c)
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set_source_files_properties(
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${rcl_lifecycle_sources}
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PROPERTIES language "C")
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macro(targets)
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get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
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### C-Library depending only on RCL
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add_library(
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rcl_lifecycle${target_suffix}
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SHARED
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${rcl_lifecycle_sources})
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ament_target_dependencies(rcl_lifecycle${target_suffix}
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"rcl${target_suffix}"
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"lifecycle_msgs")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
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install(TARGETS rcl_lifecycle${target_suffix}
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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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endmacro()
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call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
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if(BUILD_TESTING)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS} "-std=c11")
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set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++14")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_lint_auto REQUIRED)
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find_package(rcl REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# Gtests
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ament_add_gtest(test_default_state_machine
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test/test_default_state_machine.cpp
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)
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if(TARGET test_default_state_machine)
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target_include_directories(test_default_state_machine PUBLIC
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${rcl_INCLUDE_DIRS}
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${rcl_lifecycle_INCLUDE_DIRS}
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)
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target_link_libraries(test_default_state_machine ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_multiple_instances
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test/test_multiple_instances.cpp
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)
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if(TARGET test_multiple_instances)
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target_include_directories(test_multiple_instances PUBLIC
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${rcl_INCLUDE_DIRS}
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${rcl_lifecycle_INCLUDE_DIRS}
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)
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target_link_libraries(test_multiple_instances ${PROJECT_NAME})
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endif()
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endif()
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ament_export_dependencies(ament_cmake)
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ament_export_dependencies(lifecycle_msgs)
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_package(
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CONFIG_EXTRAS rcl_lifecycle-extras.cmake)
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install(
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DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME})
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install(
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DIRECTORY include/
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DESTINATION include)
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