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Fix overriding of install #105

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merged 2 commits into from
Jan 28, 2023
Merged

Fix overriding of install #105

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ccddc45
Fix overriding of install
tylerjw Jan 26, 2023
2c3a338
Use THIS_PACKAGE_INCLUDE_DEPENDS list
tylerjw Jan 26, 2023
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99 changes: 59 additions & 40 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,68 +1,87 @@
cmake_minimum_required(VERSION 3.5)
project(realtime_tools)
cmake_minimum_required(VERSION 3.16)
project(realtime_tools LANGUAGES CXX)

if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra)
endif()

# Load catkin and all dependencies required for this package
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(Threads REQUIRED)
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp
rclcpp_action
Threads
)

add_library(${PROJECT_NAME} src/realtime_clock.cpp)
ament_target_dependencies(${PROJECT_NAME} "rclcpp" "rclcpp_action")
target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
target_include_directories(${PROJECT_NAME} PUBLIC include)
find_package(ament_cmake REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

add_library(realtime_tools SHARED
src/realtime_clock.cpp
)
target_compile_features(realtime_tools PUBLIC cxx_std_17)
target_include_directories(realtime_tools PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/realtime_tools>
)
ament_target_dependencies(realtime_tools PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})

# A library to detect a realtime kernel and set thread priority, if one is found
add_library(thread_priority SHARED src/thread_priority.cpp)
target_include_directories(thread_priority PUBLIC include)
ament_target_dependencies(thread_priority "rclcpp" "rclcpp_action")
add_library(thread_priority SHARED
src/thread_priority.cpp
)
target_compile_features(thread_priority PUBLIC cxx_std_17)
target_include_directories(thread_priority PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/realtime_tools>
)
ament_target_dependencies(thread_priority PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})

# Unit Tests
if(BUILD_TESTING)
find_package(ament_cmake_gmock REQUIRED)
find_package(test_msgs REQUIRED)

ament_add_gmock(realtime_box_tests test/realtime_box_tests.cpp)
target_link_libraries(realtime_box_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
target_link_libraries(realtime_box_tests realtime_tools)

ament_add_gmock(realtime_buffer_tests test/realtime_buffer_tests.cpp)
target_link_libraries(realtime_buffer_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
target_link_libraries(realtime_buffer_tests realtime_tools)

ament_add_gmock(realtime_clock_tests test/realtime_clock_tests.cpp)
target_link_libraries(realtime_clock_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
target_link_libraries(realtime_clock_tests realtime_tools)

ament_add_gmock(realtime_publisher_tests_non_polling
test/realtime_publisher_non_polling.test test/realtime_publisher_tests_non_polling.cpp)
target_link_libraries(realtime_publisher_tests_non_polling ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
target_include_directories(realtime_publisher_tests_non_polling PRIVATE ${test_msgs_INCLUDE_DIRS})

ament_add_gmock(realtime_publisher_tests test/realtime_publisher.test test/realtime_publisher_tests.cpp)
target_link_libraries(realtime_publisher_tests ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
target_include_directories(realtime_publisher_tests PRIVATE ${test_msgs_INCLUDE_DIRS})

ament_add_gmock(realtime_server_goal_handle_tests test/realtime_server_goal_handle.test test/realtime_server_goal_handle_tests.cpp)
target_link_libraries(realtime_server_goal_handle_tests ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
target_include_directories(realtime_server_goal_handle_tests PRIVATE ${test_msgs_INCLUDE_DIRS})
test/realtime_publisher_non_polling.test
test/realtime_publisher_tests_non_polling.cpp)
target_link_libraries(realtime_publisher_tests_non_polling realtime_tools)
ament_target_dependencies(realtime_publisher_tests_non_polling test_msgs)

ament_add_gmock(realtime_publisher_tests
test/realtime_publisher.test
test/realtime_publisher_tests.cpp)
target_link_libraries(realtime_publisher_tests realtime_tools)
ament_target_dependencies(realtime_publisher_tests test_msgs)

ament_add_gmock(realtime_server_goal_handle_tests
test/realtime_server_goal_handle.test
test/realtime_server_goal_handle_tests.cpp)
target_link_libraries(realtime_server_goal_handle_tests realtime_tools)
ament_target_dependencies(realtime_server_goal_handle_tests test_msgs)
endif()

# Install
install(
DIRECTORY include/
DESTINATION include)

install(TARGETS ${PROJECT_NAME} thread_priority
DESTINATION include/realtime_tools
)
install(TARGETS realtime_tools thread_priority
EXPORT export_realtime_tools
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME} thread_priority)

ament_export_dependencies(rclcpp)
ament_export_dependencies(rclcpp_action)
RUNTIME DESTINATION bin
)

ament_export_targets(export_realtime_tools HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()
1 change: 0 additions & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,6 @@
<depend>rclcpp_action</depend>

<test_depend>ament_cmake_gmock</test_depend>
<test_depend>rclcpp_action</test_depend>
<test_depend>test_msgs</test_depend>

<export>
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