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Update r2r_cargo.cmake to latest version

This commit is contained in:
Martin Dahl 2023-01-19 09:45:22 +01:00
parent 3d95663095
commit 71bbeac8b8
1 changed files with 36 additions and 32 deletions
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68
r2r_cargo.cmake
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@ -6,15 +6,13 @@
# for an example of how to use it to build with colcon.
#
# the "recursive" dependencies already defined don't seem to include all
# packages. sigh. so here we traverse the dependencies manually
# instead. we also keep track of which packages that contain idl files.
function(get_idl_deps OUT_INC OUT_LIB OUT_PKG_DIRS PKG)
# traverse dependencies for all message packages.
function(get_idl_deps OUT_PKG_DIRS PKG)
find_package(${PKG} REQUIRED)
list(APPEND VISITED_TARGETS ${PKG})
target_link_libraries(dummy ${${PKG}_LIBRARIES})
include_directories(dummy ${${PKG}_INCLUDE_DIRS})
set(INCS "${${PKG}_INCLUDE_DIRS}")
set(LIBS "${${PKG}_LIBRARIES}")
list(APPEND VISITED_TARGETS ${PKG})
# only keep track of packages that include idl files
set(PKG_DIRS "")
@ -25,55 +23,61 @@ function(get_idl_deps OUT_INC OUT_LIB OUT_PKG_DIRS PKG)
foreach(LIB ${${PKG}_DEPENDENCIES})
list(FIND VISITED_TARGETS ${LIB} VISITED)
if (${VISITED} EQUAL -1)
get_idl_deps(NEW_INCS NEW_LIBS NEW_PKG_DIRS ${LIB})
list(APPEND INCS ${NEW_INCS})
list(APPEND LIBS ${NEW_LIBS})
get_idl_deps(NEW_PKG_DIRS ${LIB})
list(APPEND PKG_DIRS ${NEW_PKG_DIRS})
list(REMOVE_DUPLICATES INCS)
list(REMOVE_DUPLICATES LIBS)
list(REMOVE_DUPLICATES PKG_DIRS)
endif()
endforeach()
set(VISITED_TARGETS ${VISITED_TARGETS} PARENT_SCOPE)
set(${OUT_INC} ${INCS} PARENT_SCOPE)
set(${OUT_LIB} ${LIBS} PARENT_SCOPE)
set(${OUT_PKG_DIRS} ${PKG_DIRS} PARENT_SCOPE)
endfunction()
function(r2r_cargo)
# pretend that we want to compile c code to get all library paths etc...
add_executable (dummy EXCLUDE_FROM_ALL dummy.c)
# traverse list of wanted packages to add dependencies
foreach(f ${ARGN})
find_package(${f} REQUIRED)
set(REC_INC "")
set(REC_LIB "")
set(REC_PKG_DIRS "")
get_idl_deps(REC_INC REC_LIB REC_PKG_DIRS ${f})
list(APPEND CMAKE_INCLUDE_DIRS ${REC_INC})
list(APPEND CMAKE_LIBRARIES ${REC_LIB})
get_idl_deps(REC_PKG_DIRS ${f})
list(APPEND CMAKE_IDL_PACKAGES "${REC_PKG_DIRS}")
endforeach()
list(REMOVE_DUPLICATES CMAKE_INCLUDE_DIRS)
string (REPLACE ";" ":" CMAKE_INCLUDE_DIRS_STR "${CMAKE_INCLUDE_DIRS}")
set(ENV{CMAKE_INCLUDE_DIRS} ${CMAKE_INCLUDE_DIRS_STR})
list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
# On OSX colcon eats the DYLD_LIBRARY_PATH... so we need to add the rpaths
# manually...
set(RUSTFLAGS "")
foreach(p ${CMAKE_LIBRARIES})
get_filename_component(_parent "${p}" DIRECTORY)
if(IS_DIRECTORY ${_parent})
list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_parent}")
# get imported libs
get_property(importTargets DIRECTORY "${CMAKE_SOURCE_DIR}" PROPERTY IMPORTED_TARGETS)
# get include paths
get_property(includeDirs DIRECTORY "${CMAKE_SOURCE_DIR}" PROPERTY INCLUDE_DIRECTORIES)
set(CMAKE_LIBRARIES "")
foreach(p ${importTargets})
get_property(fancy_lib_location TARGET "${p}" PROPERTY LOCATION)
if(DEFINED fancy_lib_location)
list(APPEND CMAKE_LIBRARIES "${fancy_lib_location}")
get_filename_component(_parent "${fancy_lib_location}" DIRECTORY)
if(IS_DIRECTORY ${_parent})
list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_parent}")
endif()
endif()
endforeach()
list(REMOVE_DUPLICATES RUSTFLAGS)
list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
string (REPLACE ";" " " RUSTFLAGS_STR "${RUSTFLAGS}")
set(ENV{RUSTFLAGS} ${RUSTFLAGS_STR})
string (REPLACE ":" "+" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES}")
string (REPLACE ";" ":" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES_STR}")
string (REPLACE ";" ":" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES}")
set(ENV{CMAKE_LIBRARIES} "${CMAKE_LIBRARIES_STR}")
list(REMOVE_DUPLICATES includeDirs)
string (REPLACE ";" ":" CMAKE_INCLUDE_DIRS_STR "${includeDirs}")
set(ENV{CMAKE_INCLUDE_DIRS} ${CMAKE_INCLUDE_DIRS_STR})
list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
list(REMOVE_DUPLICATES CMAKE_IDL_PACKAGES)
string (REPLACE ";" ":" CMAKE_IDL_PACKAGES_STR "${CMAKE_IDL_PACKAGES}")
set(ENV{CMAKE_IDL_PACKAGES} ${CMAKE_IDL_PACKAGES_STR})
@ -82,13 +86,13 @@ function(r2r_cargo)
option(CARGO_CLEAN "Invoke cargo clean before building" OFF)
if(CARGO_CLEAN)
add_custom_target(cargo_target ALL
COMMAND ${CMAKE_COMMAND} "-E" "env" "cargo" "clean"
COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--release"
COMMAND ${CMAKE_COMMAND} "-E" "env" "cargo" "clean" "--profile" "colcon"
COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--profile" "colcon"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
else()
add_custom_target(cargo_target ALL
COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--release"
COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--profile" "colcon"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
endif(CARGO_CLEAN)