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feat: use modern cmake #70

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merged 6 commits into from
Feb 24, 2024
Merged

feat: use modern cmake #70

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2e161f5
feat: use modern cmake
wep21 Feb 13, 2024
b37a413
Update CMakeLists.txt
wep21 Feb 22, 2024
7ea64fd
use for loop to set target include dirs
wep21 Feb 22, 2024
6e1a2c5
specify PUBLIC for the linkage type
wep21 Feb 22, 2024
d2a3b0f
use for loop to set target include dirs
wep21 Feb 22, 2024
0cd9695
add HAS_LIBRARY_TARGET
wep21 Feb 22, 2024
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150 changes: 109 additions & 41 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.19)
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project(filters)

# Default to C++14
Expand All @@ -17,58 +17,127 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(Boost REQUIRED)
find_package(Boost REQUIRED COMPONENTS headers)

##############################################################################
# Build
##############################################################################

add_library(real_time_circular_buffer INTERFACE)
target_include_directories(real_time_circular_buffer INTERFACE
include
${Boost_INCLUDE_DIRS})
add_library(realtime_circular_buffer
INTERFACE
include/filters/realtime_circular_buffer.h
include/filters/realtime_circular_buffer.hpp
)
target_link_libraries(realtime_circular_buffer
INTERFACE
Boost::boost
)
target_include_directories(realtime_circular_buffer
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Instead of repeating this call, consider using a for loop and giving a list of targets to set up the includes for.
This would reduce code duplication.

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address here

INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

add_library(filter_base
INTERFACE
include/filters/filter_base.h
include/filters/filter_base.hpp
)
target_link_libraries(filter_base
INTERFACE
rclcpp::rclcpp
)
target_include_directories(filter_base
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

add_library(filter_chain
INTERFACE
include/filters/filter_chain.h
include/filters/filter_chain.hpp
)
target_link_libraries(filter_chain
INTERFACE
filter_base
pluginlib::pluginlib
)
target_include_directories(filter_chain
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

# Plugins
add_library(mean SHARED src/mean.cpp)
target_link_libraries(mean
real_time_circular_buffer)
ament_target_dependencies(mean
"pluginlib"
"rclcpp"
realtime_circular_buffer
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Can you specify PUBLIC or PRIVATE for the linkage type?

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address here

filter_base
pluginlib::pluginlib
)
target_include_directories(mean
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

add_library(params SHARED src/test_params.cpp)
target_link_libraries(params
real_time_circular_buffer)
ament_target_dependencies(params
"pluginlib"
"rclcpp"
filter_base
pluginlib::pluginlib
)
target_include_directories(params
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

add_library(increment SHARED src/increment.cpp)
target_link_libraries(increment
real_time_circular_buffer)
ament_target_dependencies(increment
"pluginlib"
"rclcpp"
realtime_circular_buffer
filter_base
pluginlib::pluginlib
)
target_include_directories(increment
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

add_library(median SHARED src/median.cpp)
target_link_libraries(median
real_time_circular_buffer)
ament_target_dependencies(median
"pluginlib"
"rclcpp"
realtime_circular_buffer
filter_base
pluginlib::pluginlib
)
target_include_directories(median
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

add_library(transfer_function SHARED src/transfer_function.cpp)
target_link_libraries(transfer_function
real_time_circular_buffer)
ament_target_dependencies(transfer_function
"pluginlib"
"rclcpp"
realtime_circular_buffer
filter_base
pluginlib::pluginlib
)
target_include_directories(transfer_function
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

install(TARGETS realtime_circular_buffer filter_base filter_chain mean increment median transfer_function
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

if(BUILD_TESTING)
# TODO(hidmic): use ament_lint_common once ament_copyright complains are resolved
find_package(ament_cmake_cppcheck REQUIRED)
Expand Down Expand Up @@ -104,7 +173,7 @@ if(BUILD_TESTING)

# Test realtime safe buffer class
ament_add_gtest(realtime_buffer_test test/test_realtime_circular_buffer.cpp)
target_link_libraries(realtime_buffer_test real_time_circular_buffer)
target_link_libraries(realtime_buffer_test realtime_circular_buffer)

# Pluginlib specific testing for filter chain
set(test_prefix "${CMAKE_CURRENT_BINARY_DIR}/pluginlib_test_prefix")
Expand Down Expand Up @@ -141,29 +210,28 @@ if(BUILD_TESTING)
foreach(test_plugin_target IN LISTS test_plugin_targets)
add_dependencies(chain_test "copy_${test_plugin_target}_for_testing")
endforeach()
ament_target_dependencies(chain_test
"rclcpp"
"pluginlib"
target_link_libraries(chain_test
filter_chain
)
endif()

##############################################################################
# Install
##############################################################################

# Install libraries
install(
TARGETS mean increment median transfer_function
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_libraries(${PROJECT_NAME})

# Export modern CMake targets
ament_export_targets(export_${PROJECT_NAME})

# Install headers
install(DIRECTORY include/
DESTINATION include)
ament_export_dependencies(
Boost
pluginlib
rclcpp
)

# Install pluginlib xml
pluginlib_export_plugin_description_file(filters "default_plugins.xml")
ament_export_include_directories(include)
ament_package()