110 lines
3.1 KiB
CMake
110 lines
3.1 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(cyphal_hardware_interface LANGUAGES C CXX)
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if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
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add_compile_options(-Wall -Wextra)
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endif()
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enable_language(C CXX)
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# find dependencies
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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hardware_interface::hardware_interface
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hardware_interface::mock_components
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pluginlib::pluginlib
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rclcpp::rclcpp
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#rclcpp_lifecycle::rclcpp_lifecycle
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)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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#find_package(rclcpp_lifecycle REQUIRED)
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add_library(
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cyphal_hardware_interface
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SHARED
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hardware/cyphal_system.cpp
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hardware/socketcan.cpp
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lib/libcanard/libcanard/canard.c
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#hardware/canard.c
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)
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target_include_directories(cyphal_hardware_interface
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PRIVATE
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lib/libcanard/libcanard/
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)
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function(get_all_targets var)
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set(targets)
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get_all_targets_recursive(targets ${CMAKE_CURRENT_SOURCE_DIR})
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set(${var} ${targets} PARENT_SCOPE)
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endfunction()
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macro(get_all_targets_recursive targets dir)
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get_property(subdirectories DIRECTORY ${dir} PROPERTY SUBDIRECTORIES)
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foreach(subdir ${subdirectories})
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get_all_targets_recursive(${targets} ${subdir})
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endforeach()
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get_property(current_targets DIRECTORY ${dir} PROPERTY BUILDSYSTEM_TARGETS)
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list(APPEND ${targets} ${current_targets})
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endmacro()
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target_compile_features(cyphal_hardware_interface PUBLIC cxx_std_17)
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target_include_directories(cyphal_hardware_interface PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
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$<INSTALL_INTERFACE:include/cyphal_hardware_interface>
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${cyphal_INCLUDE_DIR}
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)
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target_link_libraries(cyphal_hardware_interface PUBLIC
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hardware_interface::hardware_interface
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hardware_interface::mock_components
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pluginlib::pluginlib
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rclcpp::rclcpp
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#rclcpp_lifecycle::rclcpp_lifecycyle
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME} PRIVATE "CYPHAL_HARDWARE_INTERFACE_BUILDING_DLL")
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# Export hardware plugins
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pluginlib_export_plugin_description_file(hardware_interface cyphal_hardware_interface.xml)
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# INSTALL
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install(
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DIRECTORY hardware/include/
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DESTINATION include/cyphal_hardware_interface
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)
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install(
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DIRECTORY description/launch description/ros2_control description/urdf
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DESTINATION share/cyphal_hardware_interface
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)
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install(
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DIRECTORY bringup/launch bringup/config
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DESTINATION share/cyphal_hardware_interface
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)
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install(TARGETS cyphal_hardware_interface
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EXPORT export_cyphal_hardware_interface
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_pytest REQUIRED)
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#ament_add_pytest_test(example_2_urdf_xacro test/test_urdf_xacro.py)
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#ament_add_pytest_test(view_example_2_launch test/test_view_robot_launch.py)
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endif()
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## EXPORTS
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ament_export_targets(export_cyphal_hardware_interface HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()
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