100 lines
3.3 KiB
Text
100 lines
3.3 KiB
Text
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cmake_minimum_required(VERSION 3.5)
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project(rclcpp_lifecycle)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++14")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcl_lifecycle REQUIRED)
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find_package(rmw_implementation_cmake REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(lifecycle_msgs REQUIRED)
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include_directories(include)
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macro(targets)
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get_rclcpp_information("${rmw_implementation}" "rclcpp${target_suffix}")
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get_rcl_lifecycle_information("${rmw_implementation}" "rcl_lifecycle${target_suffix}")
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### CPP High level library
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add_library(rclcpp_lifecycle${target_suffix}
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SHARED
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src/lifecycle_node.cpp
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src/node_interfaces/lifecycle_node_interface.cpp
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src/state.cpp
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src/transition.cpp
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)
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ament_target_dependencies(rclcpp_lifecycle${target_suffix}
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"rclcpp${target_suffix}"
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"rcl_lifecycle${target_suffix}"
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"lifecycle_msgs")
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(rclcpp_lifecycle${target_suffix} PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")
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install(TARGETS
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rclcpp_lifecycle${target_suffix}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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endmacro()
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call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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ament_add_gtest(test_lifecycle_node test/test_lifecycle_node.cpp)
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if(TARGET test_lifecycle_node)
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target_include_directories(test_lifecycle_node PUBLIC
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${rcl_lifecycle_INCLUDE_DIRS}
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${rclcpp_INCLUDE_DIRS}
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${rclcpp_lifecycle_INCLUDE_DIRS}
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)
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target_link_libraries(test_lifecycle_node ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_state_machine_info test/test_state_machine_info.cpp)
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if(TARGET test_state_machine_info)
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target_include_directories(test_state_machine_info PUBLIC
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${rcl_lifecycle_INCLUDE_DIRS}
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${rclcpp_INCLUDE_DIRS}
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${rclcpp_lifecycle_INCLUDE_DIRS}
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)
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target_link_libraries(test_state_machine_info ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_register_custom_callbacks test/test_register_custom_callbacks.cpp)
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if(TARGET test_register_custom_callbacks)
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target_include_directories(test_register_custom_callbacks PUBLIC
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${rcl_lifecycle_INCLUDE_DIRS}
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${rclcpp_INCLUDE_DIRS}
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${rclcpp_lifecycle_INCLUDE_DIRS}
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)
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target_link_libraries(test_register_custom_callbacks ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_callback_exceptions test/test_callback_exceptions.cpp)
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if(TARGET test_callback_exceptions)
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target_include_directories(test_callback_exceptions PUBLIC
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${rcl_lifecycle_INCLUDE_DIRS}
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${rclcpp_INCLUDE_DIRS}
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${rclcpp_lifecycle_INCLUDE_DIRS}
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)
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target_link_libraries(test_callback_exceptions ${PROJECT_NAME})
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endif()
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endif()
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(rcl_lifecycle)
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ament_export_dependencies(lifecycle_msgs)
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_package()
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install(DIRECTORY include/
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DESTINATION include)
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