rmw_desert/CMakeLists.txt at main · signetlabdei/rmw_desert · GitHub

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cmake_minimum_required(VERSION 3.5)

project(rmw_desert)

# Default to C++20
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 20)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -pthread)
endif()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros_core REQUIRED)

find_package(rmw REQUIRED)
find_package(rmw_dds_common REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_typesupport_introspection_c REQUIRED)
find_package(rosidl_typesupport_introspection_cpp REQUIRED)

find_package(rcutils REQUIRED)
find_package(rcpputils REQUIRED)

set(CBOR_ROOT cbor)
include_directories(${CBOR_ROOT}/include)

add_library(rmw_desert
  src/get_node_info_and_types.cpp
  src/init.cpp
  src/qos_profiles.cpp
  src/rmw.cpp
  src/get_topic_names_and_types.cpp
  src/dynamic_message_type_support.cpp
  src/init_options.cpp
  src/features.cpp
  src/get_topic_endpoint_info.cpp
  src/get_network_flow_endpoints.cpp
  src/get_service_endpoint_info.cpp
  src/event.cpp
  src/get_service_names_and_types.cpp
  src/desert_classes/DesertNode.cpp
  src/desert_classes/DesertPublisher.cpp
  src/desert_classes/DesertSubscriber.cpp
  src/desert_classes/DesertClient.cpp
  src/desert_classes/DesertService.cpp
  src/desert_classes/DesertGuardCondition.cpp
  src/desert_classes/CBorStream.cpp
  src/desert_classes/CStringHelper.cpp
  src/desert_classes/TcpDaemon.cpp
  src/desert_classes/Discovery.cpp
  src/desert_classes/TopicsConfig.cpp
  src/desert_classes/demangle.cpp

  ${CBOR_ROOT}/src/common.c
  ${CBOR_ROOT}/src/parser.c
  ${CBOR_ROOT}/src/decoder.c
  ${CBOR_ROOT}/src/encoder.c
  ${CBOR_ROOT}/src/helper.c
  ${CBOR_ROOT}/src/ieee754.c
)

INCLUDE (FindPkgConfig)

# specific order: dependents before dependencies
target_link_libraries(rmw_desert PUBLIC
  rmw::rmw
  rcutils::rcutils
  rcpputils::rcpputils
  rmw_dds_common::rmw_dds_common_library
  rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
  rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp
  rosidl_runtime_c::rosidl_runtime_c
)

configure_rmw_library(rmw_desert)

# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME}
PRIVATE "rmw_desert_BUILDING_LIBRARY")

# specific order: dependents before dependencies
ament_export_libraries(rmw_desert)

ament_export_dependencies(
  rcutils
  rcpputils
  rmw
  rosidl_runtime_c
  rmw_dds_common
  rosidl_typesupport_introspection_c
  rosidl_typesupport_introspection_cpp
)

register_rmw_implementation(
  "c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
  "cpp:rosidl_typesupport_cpp:rosidl_typesupport_introspection_cpp")

ament_package()

install(
  TARGETS rmw_desert
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)