yarprobotinterface pluginized

robotology · Jun 27, 2018 · 5053822 · 5053822
1 parent e947568
commit 5053822
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Showing 4 changed files with 56 additions and 0 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -40,11 +40,15 @@ add_subdirectory(devices)
 add_subdirectory(carriers)
 add_subdirectory(libYARP_init)
 
+option(CREATE_RFMODULE_LIBRARY_MODULES "compile rfmodule also as plugins" OFF)
+
 if(YARP_COMPILE_EXECUTABLES)
     # idl compilers (thrift and ros)
     add_subdirectory(idls)
 
     # executables
+
+    yarp_begin_plugin_library(yarprfmod)
     add_subdirectory(yarpserver)
     add_subdirectory(yarp)
     add_subdirectory(yarp-config)
@@ -55,6 +59,21 @@ if(YARP_COMPILE_EXECUTABLES)
     add_subdirectory(yarpmanager-console)
     add_subdirectory(yarplogger-console)
     add_subdirectory(yarpdatadumper)
+    yarp_end_plugin_library(yarprfmod)
+
+    add_library(YARP::yarprfmod ALIAS yarprfmod)
+    install(TARGETS yarprfmod
+        EXPORT YARP
+        COMPONENT runtime
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
+    if (YARP_LINK_PLUGINS)
+      set_property(GLOBAL APPEND PROPERTY YARP_LIBS yarprfmod ${yarprfmod_LIBRARIES})
+    endif()
+
+    set_property(TARGET yarprfmod PROPERTY FOLDER "Plugins/RFModules")
 
     # Qt5 GUIs
     add_subdirectory(yarpview)

diff --git a/src/yarprobotinterface/CMakeLists.txt b/src/yarprobotinterface/CMakeLists.txt
@@ -32,13 +32,42 @@ if(CREATE_YARPROBOTINTERFACE)
   set(yarprobotinterface_IDLS
       yarprobotinterface.thrift)
 
+
   include(YarpIDL)
   yarp_idl_to_dir(${yarprobotinterface_IDLS}
                   "${CMAKE_CURRENT_SOURCE_DIR}/idl_generated_code"
                   yarprobotinterface_IDLS_SRCS
                   yarprobotinterface_IDLS_HDRS
                   yarprobotinterface_IDLS_INCLUDE_DIRS)
   include_directories("${yarprobotinterface_IDLS_INCLUDE_DIRS}")
+
+  yarp_prepare_plugin(yarprobotinterface
+                      CATEGORY rfmodule
+                      TYPE RobotInterface::Module
+                      INCLUDE Module.h
+                      EXTRA_CONFIG CODE=""
+                      DEPENDS "CREATE_RFMODULE_LIBRARY_MODULES")
+  set(CMAKE_INCLUDE_CURRENT_DIR ON)
+  yarp_add_plugin(robotinterface     ${yarprobotinterface_SRCS}
+                                     ${yarprobotinterface_HDRS}
+                                     ${yarprobotinterface_IDLS_SRCS}
+                                     ${yarprobotinterface_IDLS_HDRS})
+
+  target_link_libraries(robotinterface
+                        YARP::YARP_OS
+                        YARP::YARP_dev
+                        YARP::YARP_init
+                        ${TinyXML_LIBRARIES})
+
+  yarp_install(TARGETS robotinterface
+               EXPORT YARP
+               COMPONENT runtime
+               LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+               ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR})
+  yarp_install(FILES yarprobotinterface.ini
+               COMPONENT runtime
+               DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR})
+  set_property(TARGET robotinterface PROPERTY FOLDER "Plugins/RFModules")
 
   add_executable(yarprobotinterface ${yarprobotinterface_SRCS}
                                     ${yarprobotinterface_HDRS}

diff --git a/src/yarprobotinterface/RobotInterface.ini b/src/yarprobotinterface/RobotInterface.ini
@@ -0,0 +1,4 @@
+[plugin yarprobotinterface]
+type RFModule
+name yarprobotinterface
+library robotinterface
diff --git a/src/yarprobotinterface/yarprobotinterface.ini b/src/yarprobotinterface/yarprobotinterface.ini
@@ -0,0 +1,4 @@
+[plugin yarprobotinterface]
+type RFModule
+name yarprobotinterface
+library robotinterface