dd62d09042
* Add fault injection macros and unit tests to rcl_lifecycle Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com>
136 lines
3.7 KiB
CMake
136 lines
3.7 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rcl_lifecycle)
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find_package(ament_cmake_ros REQUIRED)
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find_package(lifecycle_msgs REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(rmw REQUIRED)
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find_package(rosidl_runtime_c REQUIRED)
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# Default to C11
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 11)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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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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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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)
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set_source_files_properties(
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${rcl_lifecycle_sources}
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PROPERTIES language "C")
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### C-Library depending only on RCL
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add_library(
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${PROJECT_NAME}
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${rcl_lifecycle_sources})
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target_include_directories(${PROJECT_NAME} PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include>")
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# specific order: dependents before dependencies
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ament_target_dependencies(rcl_lifecycle
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"lifecycle_msgs"
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"rcl"
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"rcutils"
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"rosidl_runtime_c"
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)
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rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
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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 PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
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if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
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target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
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endif()
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install(TARGETS rcl_lifecycle EXPORT rcl_lifecycle
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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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if(BUILD_TESTING)
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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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find_package(osrf_testing_tools_cpp 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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ament_target_dependencies(test_default_state_machine
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"rcl"
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"osrf_testing_tools_cpp"
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)
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target_link_libraries(test_default_state_machine ${PROJECT_NAME})
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target_compile_definitions(test_default_state_machine
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PUBLIC RCUTILS_ENABLE_FAULT_INJECTION
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)
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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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ament_target_dependencies(test_multiple_instances
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"rcl"
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"osrf_testing_tools_cpp"
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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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ament_add_gtest(test_rcl_lifecycle
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test/test_rcl_lifecycle.cpp
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)
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if(TARGET test_rcl_lifecycle)
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ament_target_dependencies(test_rcl_lifecycle
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"rcl"
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"osrf_testing_tools_cpp"
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)
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target_link_libraries(test_rcl_lifecycle ${PROJECT_NAME})
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target_compile_definitions(test_rcl_lifecycle
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PUBLIC RCUTILS_ENABLE_FAULT_INJECTION
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)
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endif()
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ament_add_gtest(test_transition_map
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test/test_transition_map.cpp
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)
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if(TARGET test_transition_map)
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ament_target_dependencies(test_transition_map
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"rcl"
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)
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target_link_libraries(test_transition_map ${PROJECT_NAME})
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endif()
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endif()
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# specific order: dependents before dependencies
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(${PROJECT_NAME})
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ament_export_dependencies(ament_cmake)
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ament_export_dependencies(lifecycle_msgs)
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ament_export_dependencies(rcl)
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ament_export_dependencies(rcutils)
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ament_export_dependencies(rosidl_runtime_c)
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ament_package()
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install(
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DIRECTORY include/
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DESTINATION include)
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