b2578bbbda
* Add action goal handle implementation and unit tests * Add check to goal state machine transition function for index out of bounds
129 lines
2.8 KiB
CMake
129 lines
2.8 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rcl_action)
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find_package(ament_cmake_ros REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(rcl REQUIRED)
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include_directories(
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include
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${action_msgs_INCLUDE_DIRS}
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${rcl_INCLUDE_DIRS}
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)
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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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add_executable(test_compile_headers
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src/test_compile_headers.c
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)
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set(rcl_action_sources
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src/${PROJECT_NAME}/goal_handle.c
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src/${PROJECT_NAME}/goal_state_machine.c
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src/${PROJECT_NAME}/names.c
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src/${PROJECT_NAME}/types.c
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)
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set_source_files_properties(
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${rcl_action_sources}
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PROPERTIES language "C"
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)
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add_library(${PROJECT_NAME}
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${rcl_action_sources}
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)
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ament_target_dependencies(${PROJECT_NAME}
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"rcl"
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"action_msgs"
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)
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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(${PROJECT_NAME} PRIVATE "RCL_ACTION_BUILDING_DLL")
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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(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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ament_find_gtest()
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# Gtests
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ament_add_gtest(test_goal_handle
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test/rcl_action/test_goal_handle.cpp
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)
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if(TARGET test_goal_handle)
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target_include_directories(test_goal_handle PUBLIC
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include
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${rcl_INCLUDE_DIRS}
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)
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target_link_libraries(test_goal_handle
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${PROJECT_NAME}
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)
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endif()
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ament_add_gtest(test_goal_state_machine
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test/rcl_action/test_goal_state_machine.cpp
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)
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if(TARGET test_goal_state_machine)
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target_include_directories(test_goal_state_machine PUBLIC
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${rcl_INCLUDE_DIRS}
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)
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target_link_libraries(test_goal_state_machine
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${PROJECT_NAME}
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)
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endif()
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ament_add_gtest(test_types
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test/rcl_action/test_types.cpp
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)
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if(TARGET test_types)
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target_include_directories(test_types PUBLIC
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include
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${rcl_INCLUDE_DIRS}
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)
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target_link_libraries(test_types
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${PROJECT_NAME}
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)
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endif()
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ament_add_gtest(test_names
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test/rcl_action/test_names.cpp
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)
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if(TARGET test_names)
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target_include_directories(test_names PUBLIC
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${rcl_INCLUDE_DIRS}
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)
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target_link_libraries(test_names
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${PROJECT_NAME}
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)
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endif()
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endif()
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# specific order: dependents before dependencies
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_dependencies(ament_cmake)
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ament_export_dependencies(rcl)
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ament_export_dependencies(action_msgs)
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ament_package()
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