141 lines
4 KiB
CMake
141 lines
4 KiB
CMake
# Copyright 2018 ADLINK Technology Limited.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.5)
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project(rmw_cyclonedds_cpp)
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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 -Wimplicit-fallthrough)
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endif()
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find_package(ament_cmake_ros REQUIRED)
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find_package(tracetools REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(rcpputils REQUIRED)
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#find_package(cyclonedds_cmake_module REQUIRED)
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find_package(CycloneDDS QUIET CONFIG)
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if(NOT CycloneDDS_FOUND)
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message(WARNING "Could not find Eclipse Cyclone DDS - skipping '${PROJECT_NAME}'")
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ament_package()
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return()
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endif()
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find_package(rmw REQUIRED)
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find_package(rmw_dds_common REQUIRED)
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find_package(rosidl_runtime_c REQUIRED)
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find_package(rosidl_typesupport_introspection_c REQUIRED)
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find_package(rosidl_typesupport_introspection_cpp REQUIRED)
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ament_export_dependencies(tracetools)
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ament_export_dependencies(rcutils)
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ament_export_dependencies(rcpputils)
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ament_export_dependencies(rmw)
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ament_export_dependencies(rosidl_runtime_c)
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ament_export_dependencies(rmw_dds_common)
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ament_export_dependencies(rosidl_typesupport_introspection_c)
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ament_export_dependencies(rosidl_typesupport_introspection_cpp)
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add_library(rmw_cyclonedds_cpp
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src/rmw_node.cpp
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src/serdata.cpp
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src/serdes.cpp
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src/u16string.cpp
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src/exception.cpp
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src/demangle.cpp
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src/deserialization_exception.cpp
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src/Serialization.cpp
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src/TypeSupport2.cpp)
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target_include_directories(rmw_cyclonedds_cpp PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(rmw_cyclonedds_cpp
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CycloneDDS::ddsc
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)
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if(CMAKE_GENERATOR_PLATFORM)
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set(TARGET_ARCH "${CMAKE_GENERATOR_PLATFORM}")
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else()
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set(TARGET_ARCH "${CMAKE_SYSTEM_PROCESSOR}")
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX AND TARGET_ARCH MATCHES "^(riscv|RISCV)64$")
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# using GCC, libatomic is not automatically linked for RISC-V
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target_link_libraries(rmw_cyclonedds_cpp -latomic)
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endif()
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ament_target_dependencies(rmw_cyclonedds_cpp
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"tracetools"
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"rcutils"
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"rcpputils"
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"rosidl_typesupport_introspection_c"
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"rosidl_typesupport_introspection_cpp"
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"rmw"
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"rmw_dds_common"
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"rosidl_runtime_c"
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)
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configure_rmw_library(rmw_cyclonedds_cpp)
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE
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RMW_VERSION_MAJOR=${rmw_VERSION_MAJOR}
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RMW_VERSION_MINOR=${rmw_VERSION_MINOR}
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RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE "RMW_CYCLONEDDS_CPP_BUILDING_LIBRARY")
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ament_export_include_directories(include)
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ament_export_libraries(rmw_cyclonedds_cpp)
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register_rmw_implementation(
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"c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
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"cpp:rosidl_typesupport_cpp:rosidl_typesupport_introspection_cpp")
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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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endif()
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ament_package()
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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(
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TARGETS rmw_cyclonedds_cpp
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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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include(cmake/get_rmw_cyclonedds_output_filter.cmake)
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get_rmw_cyclonedds_output_filter(rmw_cyclonedds_output_patterns)
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ament_index_register_resource("rmw_output_patterns" CONTENT "${rmw_cyclonedds_output_patterns}")
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