769a9d0439
* Add -Wnon-virtual-dtor -Woverloaded-virtual compiler options Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * Add missing virtual dtors Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * please linter Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
147 lines
4.6 KiB
CMake
147 lines
4.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rclcpp_components)
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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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find_package(ament_cmake_ros REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(class_loader REQUIRED)
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find_package(composition_interfaces REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcpputils REQUIRED)
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add_library(
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component_manager
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SHARED
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src/component_manager.cpp
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)
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target_include_directories(component_manager PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include>")
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ament_target_dependencies(component_manager
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"ament_index_cpp"
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"class_loader"
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"composition_interfaces"
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"rclcpp"
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"rcpputils"
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)
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target_compile_definitions(component_manager
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PRIVATE "RCLCPP_COMPONENTS_BUILDING_LIBRARY")
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add_executable(
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component_container
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src/component_container.cpp
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)
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target_link_libraries(component_container component_manager)
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ament_target_dependencies(component_container
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"rclcpp"
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)
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set(node_main_template_install_dir "share/${PROJECT_NAME}")
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install(FILES
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src/node_main.cpp.in
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DESTINATION ${node_main_template_install_dir})
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add_executable(
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component_container_mt
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src/component_container_mt.cpp
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)
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target_link_libraries(component_container_mt component_manager)
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ament_target_dependencies(component_container_mt
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"rclcpp"
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)
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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target_link_libraries(component_container "stdc++fs")
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target_link_libraries(component_container_mt "stdc++fs")
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endif()
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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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set(components "")
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add_library(test_component SHARED test/components/test_component.cpp)
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target_include_directories(test_component PUBLIC include)
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ament_target_dependencies(test_component
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"class_loader"
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"rclcpp")
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#rclcpp_components_register_nodes(test_component "test_rclcpp_components::TestComponent")
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set(components "${components}test_rclcpp_components::TestComponentFoo;$<TARGET_FILE:test_component>\n")
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set(components "${components}test_rclcpp_components::TestComponentBar;$<TARGET_FILE:test_component>\n")
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set(components "${components}test_rclcpp_components::TestComponentNoNode;$<TARGET_FILE:test_component>\n")
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# A properly formed resource only has one ';', this is used to catch an invalid resource entry
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set(invalid_components "test_rclcpp_components::TestComponentFoo;;$<TARGET_FILE:test_component>\n")
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file(GENERATE
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OUTPUT
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"${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>/share/ament_index/resource_index/rclcpp_components/${PROJECT_NAME}"
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CONTENT "${components}")
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file(GENERATE
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OUTPUT
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"${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>/share/ament_index/resource_index/rclcpp_components/invalid_${PROJECT_NAME}"
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CONTENT "${invalid_components}")
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set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
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if(WIN32)
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set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
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endif()
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ament_add_gtest(test_component_manager test/test_component_manager.cpp
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APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
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APPEND_LIBRARY_DIRS "${append_library_dirs}")
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if(TARGET test_component_manager)
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target_link_libraries(test_component_manager component_manager)
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endif()
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ament_add_gtest(test_component_manager_api test/test_component_manager_api.cpp
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APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
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APPEND_LIBRARY_DIRS "${append_library_dirs}")
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if(TARGET test_component_manager_api)
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target_link_libraries(test_component_manager_api component_manager)
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endif()
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endif()
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install(
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TARGETS component_manager EXPORT component_manager
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Install executables
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install(
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TARGETS component_container component_container_mt
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# Install include directories
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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 cmake
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install(
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DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME}
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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(component_manager)
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ament_export_targets(component_manager)
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ament_export_dependencies(ament_index_cpp)
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ament_export_dependencies(class_loader)
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ament_export_dependencies(composition_interfaces)
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ament_export_dependencies(rclcpp)
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ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake.in)
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