139 lines
3.3 KiB
CMake
139 lines
3.3 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rclcpp_action)
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find_package(ament_cmake_ros REQUIRED)
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find_package(tracetools REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcl_action REQUIRED)
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find_package(rosidl_runtime_c REQUIRED)
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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 -Wnon-virtual-dtor -Woverloaded-virtual)
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endif()
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set(${PROJECT_NAME}_SRCS
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src/client.cpp
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src/qos.cpp
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src/server.cpp
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src/server_goal_handle.cpp
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src/types.cpp
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)
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add_library(${PROJECT_NAME}
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${${PROJECT_NAME}_SRCS})
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include>")
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ament_target_dependencies(${PROJECT_NAME}
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"tracetools"
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"action_msgs"
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"rcl_action"
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"rclcpp"
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"rosidl_runtime_c"
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE "RCLCPP_ACTION_BUILDING_LIBRARY")
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install(
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DIRECTORY include/
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DESTINATION include)
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# specific order: dependents before dependencies
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ament_export_include_directories(include)
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ament_export_libraries(${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(tracetools)
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ament_export_dependencies(action_msgs)
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(rcl_action)
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ament_export_dependencies(rosidl_runtime_c)
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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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# Give cppcheck hints about macro definitions coming from outside this package
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set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS})
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ament_lint_auto_find_test_dependencies()
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add_subdirectory(test/benchmark)
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ament_add_gtest(test_client test/test_client.cpp TIMEOUT 180)
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if(TARGET test_client)
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ament_target_dependencies(test_client
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"rcutils"
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"test_msgs"
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)
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target_link_libraries(test_client
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${PROJECT_NAME}
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mimick
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)
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endif()
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ament_add_gtest(test_server test/test_server.cpp)
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if(TARGET test_server)
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ament_target_dependencies(test_server
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"rcutils"
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"test_msgs"
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)
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target_link_libraries(test_server
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${PROJECT_NAME}
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mimick
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)
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endif()
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ament_add_gtest(test_server_goal_handle test/test_server_goal_handle.cpp)
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if(TARGET test_server_goal_handle)
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ament_target_dependencies(test_server_goal_handle
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"rcutils"
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"test_msgs"
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)
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target_link_libraries(test_server_goal_handle
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${PROJECT_NAME}
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mimick
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)
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endif()
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ament_add_gtest(test_traits test/test_traits.cpp)
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if(TARGET test_traits)
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ament_target_dependencies(test_traits
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"test_msgs"
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)
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target_link_libraries(test_traits
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${PROJECT_NAME}
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)
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endif()
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ament_add_gtest(test_types test/test_types.cpp)
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if(TARGET test_types)
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ament_target_dependencies(test_types
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"test_msgs"
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)
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target_link_libraries(test_types
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${PROJECT_NAME}
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)
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endif()
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endif()
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ament_package()
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