98 lines
3.7 KiB
CMake
98 lines
3.7 KiB
CMake
#
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# For r2r 0.6.3.
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#
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# cmake code for simple colcon integration.
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# See https://github.com/m-dahl/r2r_minimal_node/
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# for an example of how to use it to build with colcon.
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#
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# the "recursive" dependencies already defined don't seem to include all
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# packages. sigh. so here we traverse the dependencies manually
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# instead. we also keep track of which packages that contain idl files.
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function(get_idl_deps OUT_INC OUT_LIB OUT_PKG_DIRS PKG)
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find_package(${PKG} REQUIRED)
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list(APPEND VISITED_TARGETS ${PKG})
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set(INCS "${${PKG}_INCLUDE_DIRS}")
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set(LIBS "${${PKG}_LIBRARIES}")
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# only keep track of packages that include idl files
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set(PKG_DIRS "")
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if(DEFINED ${PKG}_IDL_FILES)
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list(APPEND PKG_DIRS ${${PKG}_DIR})
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endif()
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foreach(LIB ${${PKG}_DEPENDENCIES})
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list(FIND VISITED_TARGETS ${LIB} VISITED)
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if (${VISITED} EQUAL -1)
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get_idl_deps(NEW_INCS NEW_LIBS NEW_PKG_DIRS ${LIB})
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list(APPEND INCS ${NEW_INCS})
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list(APPEND LIBS ${NEW_LIBS})
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list(APPEND PKG_DIRS ${NEW_PKG_DIRS})
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list(REMOVE_DUPLICATES INCS)
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list(REMOVE_DUPLICATES LIBS)
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list(REMOVE_DUPLICATES PKG_DIRS)
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endif()
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endforeach()
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set(VISITED_TARGETS ${VISITED_TARGETS} PARENT_SCOPE)
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set(${OUT_INC} ${INCS} PARENT_SCOPE)
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set(${OUT_LIB} ${LIBS} PARENT_SCOPE)
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set(${OUT_PKG_DIRS} ${PKG_DIRS} PARENT_SCOPE)
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endfunction()
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function(r2r_cargo)
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foreach(f ${ARGN})
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find_package(${f} REQUIRED)
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set(REC_INC "")
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set(REC_LIB "")
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set(REC_PKG_DIRS "")
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get_idl_deps(REC_INC REC_LIB REC_PKG_DIRS ${f})
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list(APPEND CMAKE_INCLUDE_DIRS ${REC_INC})
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list(APPEND CMAKE_LIBRARIES ${REC_LIB})
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list(APPEND CMAKE_IDL_PACKAGES "${REC_PKG_DIRS}")
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endforeach()
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list(REMOVE_DUPLICATES CMAKE_INCLUDE_DIRS)
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string (REPLACE ";" ":" CMAKE_INCLUDE_DIRS_STR "${CMAKE_INCLUDE_DIRS}")
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set(ENV{CMAKE_INCLUDE_DIRS} ${CMAKE_INCLUDE_DIRS_STR})
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list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
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# On OSX colcon eats the DYLD_LIBRARY_PATH... so we need to add the rpaths
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# manually...
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set(RUSTFLAGS "")
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foreach(p ${CMAKE_LIBRARIES})
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get_filename_component(_parent "${p}" DIRECTORY)
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if(IS_DIRECTORY ${_parent})
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list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_parent}")
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endif()
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endforeach()
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list(REMOVE_DUPLICATES RUSTFLAGS)
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string (REPLACE ";" " " RUSTFLAGS_STR "${RUSTFLAGS}")
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set(ENV{RUSTFLAGS} ${RUSTFLAGS_STR})
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string (REPLACE ":" "+" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES}")
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string (REPLACE ";" ":" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES_STR}")
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set(ENV{CMAKE_LIBRARIES} "${CMAKE_LIBRARIES_STR}")
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list(REMOVE_DUPLICATES CMAKE_IDL_PACKAGES)
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string (REPLACE ";" ":" CMAKE_IDL_PACKAGES_STR "${CMAKE_IDL_PACKAGES}")
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set(ENV{CMAKE_IDL_PACKAGES} ${CMAKE_IDL_PACKAGES_STR})
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# custom target for building using cargo
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option(CARGO_CLEAN "Invoke cargo clean before building" OFF)
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if(CARGO_CLEAN)
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add_custom_target(cargo_target ALL
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COMMAND ${CMAKE_COMMAND} "-E" "env" "cargo" "clean"
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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"
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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else()
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add_custom_target(cargo_target ALL
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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"
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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endif(CARGO_CLEAN)
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unset(CARGO_CLEAN CACHE)
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endfunction()
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