rclcpp/rclcpp/CMakeLists.txt
ivanpauno 8743bcb0a1
Added count matching api and intra-process subscriber count (#628)
* Added count matching api to publishers. Also, internal method to count intra-process subscriptions

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Addressed PR comments

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Corrected error checking in publisher interprocess subscription count api. Minimal modifications in test

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Moved intraprocess subscription count api to public. Started removing publishers and subscribers from ipm.

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Added publisher count api in subscription class

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Addressed PR comments

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Addressed PR comments

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Solved Wreorder

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
2019-02-21 14:18:06 -03:00

450 lines
15 KiB
CMake

cmake_minimum_required(VERSION 3.5)
project(rclcpp)
find_package(ament_cmake_ros REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rcl REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(rcl_yaml_param_parser REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED)
find_package(rosgraph_msgs REQUIRED)
find_package(rosidl_generator_cpp REQUIRED)
find_package(rosidl_typesupport_c REQUIRED)
find_package(rosidl_typesupport_cpp REQUIRED)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
include_directories(include)
set(${PROJECT_NAME}_SRCS
src/rclcpp/any_executable.cpp
src/rclcpp/callback_group.cpp
src/rclcpp/client.cpp
src/rclcpp/clock.cpp
src/rclcpp/context.cpp
src/rclcpp/contexts/default_context.cpp
src/rclcpp/duration.cpp
src/rclcpp/event.cpp
src/rclcpp/exceptions.cpp
src/rclcpp/executor.cpp
src/rclcpp/executors.cpp
src/rclcpp/expand_topic_or_service_name.cpp
src/rclcpp/executors/multi_threaded_executor.cpp
src/rclcpp/executors/single_threaded_executor.cpp
src/rclcpp/graph_listener.cpp
src/rclcpp/init_options.cpp
src/rclcpp/intra_process_manager.cpp
src/rclcpp/intra_process_manager_impl.cpp
src/rclcpp/logger.cpp
src/rclcpp/memory_strategies.cpp
src/rclcpp/memory_strategy.cpp
src/rclcpp/node.cpp
src/rclcpp/node_options.cpp
src/rclcpp/node_interfaces/node_base.cpp
src/rclcpp/node_interfaces/node_clock.cpp
src/rclcpp/node_interfaces/node_graph.cpp
src/rclcpp/node_interfaces/node_logging.cpp
src/rclcpp/node_interfaces/node_parameters.cpp
src/rclcpp/node_interfaces/node_services.cpp
src/rclcpp/node_interfaces/node_time_source.cpp
src/rclcpp/node_interfaces/node_timers.cpp
src/rclcpp/node_interfaces/node_topics.cpp
src/rclcpp/node_interfaces/node_waitables.cpp
src/rclcpp/parameter.cpp
src/rclcpp/parameter_value.cpp
src/rclcpp/parameter_client.cpp
src/rclcpp/parameter_events_filter.cpp
src/rclcpp/parameter_map.cpp
src/rclcpp/parameter_service.cpp
src/rclcpp/publisher.cpp
src/rclcpp/service.cpp
src/rclcpp/signal_handler.cpp
src/rclcpp/subscription.cpp
src/rclcpp/time.cpp
src/rclcpp/time_source.cpp
src/rclcpp/timer.cpp
src/rclcpp/type_support.cpp
src/rclcpp/utilities.cpp
src/rclcpp/waitable.cpp
)
# "watch" template for changes
configure_file(
"resource/logging.hpp.em"
"logging.hpp.em.watch"
COPYONLY
)
# generate header with logging macros
set(python_code
"import em"
"em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
add_custom_command(OUTPUT include/rclcpp/logging.hpp
COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code}"
DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
COMMENT "Expanding logging.hpp.em"
VERBATIM
)
list(APPEND ${PROJECT_NAME}_SRCS
include/rclcpp/logging.hpp)
include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
add_library(${PROJECT_NAME}
${${PROJECT_NAME}_SRCS})
# specific order: dependents before dependencies
ament_target_dependencies(${PROJECT_NAME}
"rcl"
"rcl_yaml_param_parser"
"builtin_interfaces"
"rosgraph_msgs"
"rosidl_typesupport_cpp"
"rosidl_generator_cpp")
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME}
PRIVATE "RCLCPP_BUILDING_LIBRARY")
install(
TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# specific order: dependents before dependencies
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl)
ament_export_dependencies(builtin_interfaces)
ament_export_dependencies(rosgraph_msgs)
ament_export_dependencies(rosidl_typesupport_cpp)
ament_export_dependencies(rosidl_typesupport_c)
ament_export_dependencies(rosidl_generator_cpp)
ament_export_dependencies(rcl_yaml_param_parser)
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(rmw_implementation_cmake REQUIRED)
ament_add_gtest(test_client test/test_client.cpp)
if(TARGET test_client)
target_include_directories(test_client PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_client ${PROJECT_NAME})
endif()
ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
if(TARGET test_expand_topic_or_service_name)
target_include_directories(test_expand_topic_or_service_name PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
endif()
ament_add_gtest(test_function_traits test/test_function_traits.cpp)
if(TARGET test_function_traits)
target_include_directories(test_function_traits PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
if(TARGET test_mapped_ring_buffer)
target_include_directories(test_mapped_ring_buffer PUBLIC
${rcl_INCLUDE_DIRS}
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
if(TARGET test_intra_process_manager)
target_include_directories(test_intra_process_manager PUBLIC
${rcl_INCLUDE_DIRS}
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_node test/test_node.cpp)
if(TARGET test_node)
target_include_directories(test_node PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_node ${PROJECT_NAME})
endif()
ament_add_gtest(test_node_global_args test/test_node_global_args.cpp)
if(TARGET test_node_global_args)
target_include_directories(test_node_global_args PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_node_global_args ${PROJECT_NAME})
endif()
ament_add_gtest(test_node_initial_parameters test/test_node_initial_parameters.cpp)
if(TARGET test_node_initial_parameters)
target_link_libraries(test_node_initial_parameters ${PROJECT_NAME})
endif()
ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
if(TARGET test_parameter_events_filter)
target_include_directories(test_parameter_events_filter PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
endif()
ament_add_gtest(test_parameter test/test_parameter.cpp)
if(TARGET test_parameter)
target_include_directories(test_parameter PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_parameter ${PROJECT_NAME})
endif()
ament_add_gtest(test_parameter_map test/test_parameter_map.cpp)
if(TARGET test_parameter_map)
target_link_libraries(test_parameter_map ${PROJECT_NAME})
endif()
ament_add_gtest(test_publisher test/test_publisher.cpp)
if(TARGET test_publisher)
target_include_directories(test_publisher PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_publisher ${PROJECT_NAME})
endif()
ament_add_gtest(test_publisher_subscription_count_api test/test_publisher_subscription_count_api.cpp)
if(TARGET test_publisher_subscription_count_api)
target_include_directories(test_publisher_subscription_count_api PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
endif()
ament_add_gtest(test_rate test/test_rate.cpp)
if(TARGET test_rate)
target_include_directories(test_rate PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_rate
${PROJECT_NAME}
)
endif()
ament_add_gtest(test_serialized_message_allocator test/test_serialized_message_allocator.cpp)
if(TARGET test_serialized_message_allocator)
target_include_directories(test_serialized_message_allocator PUBLIC
${test_msgs_INCLUDE_DIRS}
)
target_link_libraries(test_serialized_message_allocator
${PROJECT_NAME}
${test_msgs_LIBRARIES}
)
endif()
ament_add_gtest(test_service test/test_service.cpp)
if(TARGET test_service)
target_include_directories(test_service PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_service ${PROJECT_NAME})
endif()
ament_add_gtest(test_subscription test/test_subscription.cpp)
if(TARGET test_subscription)
target_include_directories(test_subscription PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_subscription ${PROJECT_NAME})
endif()
ament_add_gtest(test_subscription_publisher_count_api test/test_subscription_publisher_count_api.cpp)
if(TARGET test_subscription_publisher_count_api)
target_include_directories(test_subscription_publisher_count_api PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
endif()
find_package(test_msgs REQUIRED)
ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
if(TARGET test_subscription_traits)
target_include_directories(test_subscription_traits PUBLIC
${rcl_INCLUDE_DIRS}
)
ament_target_dependencies(test_subscription_traits
"test_msgs"
)
endif()
ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
if(TARGET test_find_weak_nodes)
target_include_directories(test_find_weak_nodes PUBLIC
${rcl_INCLUDE_DIRS}
)
target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
endif()
get_default_rmw_implementation(default_rmw)
find_package(${default_rmw} REQUIRED)
get_rmw_typesupport(typesupport_impls_cpp "${default_rmw}" LANGUAGE "cpp")
get_rmw_typesupport(typesupport_impls_c "${default_rmw}" LANGUAGE "c")
set(mock_msg_files
"test/mock_msgs/srv/Mock.srv")
rosidl_generate_interfaces(mock_msgs
${mock_msg_files}
LIBRARY_NAME "rclcpp"
SKIP_INSTALL)
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
if(WIN32)
set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
endif()
ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_externally_defined_services)
target_include_directories(test_externally_defined_services PUBLIC
${rcl_INCLUDE_DIRS}
)
target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
foreach(typesupport_impl_cpp ${typesupport_impls_cpp})
rosidl_target_interfaces(test_externally_defined_services
mock_msgs ${typesupport_impl_cpp})
endforeach()
foreach(typesupport_impl_c ${typesupport_impls_c})
rosidl_target_interfaces(test_externally_defined_services
mock_msgs ${typesupport_impl_c})
endforeach()
endif()
ament_add_gtest(test_duration test/test_duration.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_duration)
ament_target_dependencies(test_duration
"rcl")
target_link_libraries(test_duration ${PROJECT_NAME})
endif()
ament_add_gtest(test_executor test/test_executor.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_executor)
ament_target_dependencies(test_executor
"rcl")
target_link_libraries(test_executor ${PROJECT_NAME})
endif()
ament_add_gtest(test_logger test/test_logger.cpp)
target_link_libraries(test_logger ${PROJECT_NAME})
ament_add_gmock(test_logging test/test_logging.cpp)
target_link_libraries(test_logging ${PROJECT_NAME})
ament_add_gtest(test_time test/test_time.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_time)
ament_target_dependencies(test_time
"rcl")
target_link_libraries(test_time ${PROJECT_NAME})
endif()
ament_add_gtest(test_time_source test/test_time_source.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_time_source)
ament_target_dependencies(test_time_source
"rcl")
target_link_libraries(test_time_source ${PROJECT_NAME})
endif()
ament_add_gtest(test_utilities test/test_utilities.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_utilities)
ament_target_dependencies(test_utilities
"rcl")
target_link_libraries(test_utilities ${PROJECT_NAME})
endif()
ament_add_gtest(test_init test/test_init.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_init)
ament_target_dependencies(test_init
"rcl")
target_link_libraries(test_init ${PROJECT_NAME})
endif()
ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
if(TARGET test_multi_threaded_executor)
ament_target_dependencies(test_multi_threaded_executor
"rcl")
target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
endif()
ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
if(TARGET test_local_parameters)
target_include_directories(test_local_parameters PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_local_parameters ${PROJECT_NAME})
endif()
endif()
ament_package(
CONFIG_EXTRAS rclcpp-extras.cmake
)
install(
DIRECTORY cmake
DESTINATION share/${PROJECT_NAME}
)
install(
DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
DESTINATION include
)