mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
major update to repo structure
This commit is contained in:
Ruixiang Du
214
CMakeLists.txt
Executable file → Normal file
214
CMakeLists.txt
Executable file → Normal file
@@ -1,212 +1,6 @@
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cmake_minimum_required(VERSION 3.13.0)
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project(wrp_sdk VERSION 0.1.5)
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cmake_minimum_required(VERSION 3.5.1)
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project(ugv_sdk VERSION 0.2.0)
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find_program(CCACHE_PROGRAM ccache)
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if(CCACHE_PROGRAM)
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message(STATUS "Found ccache")
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
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endif()
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add_subdirectory(wrp_io)
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add_subdirectory(ugv_sdk)
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## Project Options
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option(BUILD_TESTS ON)
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option(STATIC_CHECK OFF)
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# set(CMAKE_BUILD_TYPE Release)
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# set(CMAKE_BUILD_TYPE Debug)
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## Check if pkg is built with ROS catkin
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if(CATKIN_DEVEL_PREFIX)
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message(STATUS "Build package with catkin")
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set(BUILD_WITHOUT_ROS OFF)
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find_package(catkin REQUIRED)
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else()
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message(STATUS "Build package with cmake")
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set(BUILD_WITHOUT_ROS ON)
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endif()
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## Generate symbols for IDE indexer
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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if(STATIC_CHECK)
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find_program(CPPCHECK cppcheck)
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if(CPPCHECK)
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message(STATUS "Found cppcheck")
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set(CMAKE_CXX_CPPCHECK cppcheck;--std=c++11;--enable=all)
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endif()
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endif()
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## Additional cmake module path
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set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
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list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
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list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
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## Set compiler to use c++ 11 features
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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## Chosse build type
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set(default_build_type "Release")
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if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
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set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
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STRING "Choose the type of build." FORCE)
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# Set the possible values of build type for cmake-gui
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
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"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
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endif()
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if(BUILD_WITHOUT_ROS)
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## Use GNUInstallDirs to install libraries into correct locations on all platforms.
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include(GNUInstallDirs)
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message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
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## Put all binary files into /bin and libraries into /lib
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
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endif()
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# Build libraries
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find_package(Threads REQUIRED)
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# import asio library
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add_subdirectory(asio)
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add_library(${PROJECT_NAME}
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src/asyncio/async_serial.cpp
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src/asyncio/async_can.cpp
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# agilex mobile platforms
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src/platforms/mobile_base.cpp
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src/platforms/hunter_base.cpp
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src/platforms/hunter_can_parser.c
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src/platforms/scout_base.cpp
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src/platforms/scout_can_parser.c
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src/platforms/scout_uart_parser.c
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)
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target_link_libraries(${PROJECT_NAME} asio Threads::Threads)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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PRIVATE src)
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# Build apps
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if(BUILD_WITHOUT_ROS)
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# Check wether to build monitor tool
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set(BUILD_MONITOR ON)
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# Disable monitor if ncurses library is not found
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set(CURSES_NEED_NCURSES TRUE)
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find_package(Curses QUIET)
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if(BUILD_MONITOR AND NOT CURSES_FOUND)
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set(BUILD_MONITOR OFF)
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message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
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endif()
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# add app source directory
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add_subdirectory(apps)
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endif()
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# Build tests
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if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
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message(STATUS "Tests will be built")
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enable_testing()
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include(GoogleTest)
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add_subdirectory(tests)
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else()
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message(STATUS "Tests will not be built")
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endif()
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## Installation configuration
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if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
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# Offer the user the choice of overriding the installation directories
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set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
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set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")
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set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
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if(WIN32 AND NOT CYGWIN)
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set(DEF_INSTALL_CMAKEDIR CMake)
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else()
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set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
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endif()
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set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
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# Report to user
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foreach(p LIB BIN INCLUDE CMAKE)
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file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
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message(STATUS " - To install ${p} components to ${_path}")
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unset(_path)
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endforeach()
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# targets to install
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install(TARGETS ${PROJECT_NAME} asio
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EXPORT wrp_sdkTargets
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include)
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install(DIRECTORY include/wrp_sdk asio/include/asio
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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install(FILES asio/include/asio.hpp
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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# export target configuration
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include(CMakePackageConfigHelpers)
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write_basic_package_version_file(
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wrp_sdkConfigVersion.cmake
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VERSION "${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}"
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COMPATIBILITY SameMajorVersion)
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install(EXPORT wrp_sdkTargets
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FILE wrp_sdkTargets.cmake
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NAMESPACE westonrobot::
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DESTINATION lib/cmake/wrp_sdk)
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configure_file(cmake/wrp_sdkConfig.cmake.in wrp_sdkConfig.cmake @ONLY)
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install(FILES "${CMAKE_CURRENT_BINARY_DIR}/wrp_sdkConfig.cmake"
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"${CMAKE_CURRENT_BINARY_DIR}/wrp_sdkConfigVersion.cmake"
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DESTINATION lib/cmake/wrp_sdk)
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# Packaging support
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set(CPACK_PACKAGE_VENDOR "Weston Robot")
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set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
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set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
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set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
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set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
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set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
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set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
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set(CPACK_GENERATOR "DEB")
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set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
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set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Ruixiang Du (ruixiang.du@westonrobot.com)")
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# set(CPACK_DEBIAN_PACKAGE_DEPENDS "libasio-dev")
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set(CPACK_SOURCE_IGNORE_FILES .git dist .*build.* /\\\\.DS_Store)
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include(CPack)
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else() # BUILD_WITHOUT_ROS
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catkin_package(
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LIBRARIES ${PROJECT_NAME}
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INCLUDE_DIRS include asio/include
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# CATKIN_DEPENDS rospy scout_msgs std_msgs
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# DEPENDS system_lib
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)
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## Add catkin install targets
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install(TARGETS ${PROJECT_NAME}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME} asio/include/asio
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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install(FILES asio/include/asio.hpp
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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install(DIRECTORY scripts
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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endif() # BUILD_WITHOUT_ROS
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