Hood TB3 Micro XRCE DDS Agent CMakeLists.txt

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</pre> $ cat CMakeLists.txt

  1. Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
  3. Licensed under the Apache License, Version 2.0 (the "License");
  4. you may not use this file except in compliance with the License.
  5. You may obtain a copy of the License at
  7. http://www.apache.org/licenses/LICENSE-2.0
  9. Unless required by applicable law or agreed to in writing, software
  10. distributed under the License is distributed on an "AS IS" BASIS,
  11. WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  12. See the License for the specific language governing permissions and
  13. limitations under the License.
  2. CMake build rules for Micro XRCE-DDS Agent

cmake_minimum_required(VERSION 2.8.12 FATAL_ERROR)

set(IS_TOP_LEVEL TRUE) if(PROJECT_SOURCE_DIR) 

   set(IS_TOP_LEVEL FALSE)

endif()

  1. Set CMAKE_BUILD_TYPE to Release by default.

if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) 

   message(STATUS "Setting build type to 'Release' as none was specified.")
   set(CMAKE_BUILD_TYPE Release CACHE STRING
       "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
       FORCE)
   set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")

endif()

  2. Product information

if(CMAKE_VERSION VERSION_LESS 3.0) 

   project(microxrcedds_agent C CXX)
   set(PROJECT_VERSION_MAJOR 1)
   set(PROJECT_VERSION_MINOR 0)
   set(PROJECT_VERSION_PATCH 1)
   set(PROJECT_VERSION ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH})

else() 

   cmake_policy(SET CMP0048 NEW)
   project(microxrcedds_agent VERSION "1.0.1" LANGUAGES C CXX)

endif()

  2. eProsima build options

option(EPROSIMA_BUILD "Activate internal building" OFF) option(EPROSIMA_BUILD_TESTS "Activate the building tests" OFF) option(THIRDPARTY "Activate the build of thirdparties" OFF) option(VERBOSE "Use verbose output" OFF) option(EPROSIMA_INSTALLER "Activate the creation of a build to create Windows installer" OFF)

if(EPROSIMA_INSTALLER) 

   set(THIRDPARTY ON)

endif()

if(EPROSIMA_BUILD) 

   set(THIRDPARTY ON)
   set(EPROSIMA_BUILD_TESTS ON)

endif()

  2. Check MSVC architecture

include(${PROJECT_SOURCE_DIR}/cmake/common/check_configuration.cmake) if(MSVC OR MSVC_IDE) 

   check_msvc_arch()

endif()

  2. Config
  1. Install path

set(BIN_INSTALL_DIR bin/ CACHE PATH "Installation directory for binaries") set(INCLUDE_INSTALL_DIR include/ CACHE PATH "Installation directory for C++ headers") set(LIB_INSTALL_DIR lib/ CACHE PATH "Installation directory for libraries") set(DATA_INSTALL_DIR share/ CACHE PATH "Installation directory for data") if(WIN32 AND EPROSIMA_INSTALLER AND IS_TOP_LEVEL) 

   set(LICENSE_INSTALL_DIR . CACHE PATH "Installation directory for licenses")

else() 

   set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")

endif()

  1. Configuration options.

set(CONFIG_RELIABLE_STREAM_DEPTH 16 CACHE STRING "Reliable streams depth.") set(CONFIG_BEST_EFFORT_STREAM_DEPTH 16 CACHE STRING "Best-effort streams depth.") set(CONFIG_HEARTBEAT_PERIOD 200 CACHE STRING "Heartbeat period in milliseconds.") set(CONFIG_TCP_TRANSPORT_MTU 512 CACHE STRING "TCP transport MTU.") set(CONFIG_TCP_MAX_CONNECTIONS 100 CACHE STRING "Maximum TCP connection allowed.") set(CONFIG_TCP_MAX_BACKLOG_CONNECTIONS 100 CACHE STRING "Maximum TCP backlog connection allowed.") set(CONFIG_UDP_TRANSPORT_MTU 512 CACHE STRING "UDP transport MTU.") set(CONFIG_SERIAL_TRANSPORT_MTU 512 CACHE STRING "Serial transport MTU.")

  1. Create source files with the define

configure_file(${PROJECT_SOURCE_DIR}/include/uxr/agent/config.hpp.in 

   ${PROJECT_BINARY_DIR}/include/uxr/agent/config.hpp
   )
  2. Load external eProsima projects.

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake/modules) include(${PROJECT_SOURCE_DIR}/cmake/common/eprosima_libraries.cmake) eprosima_find_package(fastcdr REQUIRED) eprosima_find_package(fastrtps REQUIRED) eprosima_find_thirdparty(Asio asio)

  2. Targets

if(CMAKE_SYSTEM_NAME STREQUAL "Linux") 

   set(TRANSPORT_SRCS
       src/cpp/transport/udp/UDPServerLinux.cpp
       src/cpp/transport/tcp/TCPServerLinux.cpp
       src/cpp/transport/serial/SerialServerLinux.cpp
       src/cpp/transport/discovery/DiscoveryServerLinux.cpp
       )

elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows") 

   set(TRANSPORT_SRCS
       src/cpp/transport/udp/UDPServerWindows.cpp
       src/cpp/transport/tcp/TCPServerWindows.cpp
       )

endif()

  1. Set source files

set(SRCS 

   src/cpp/Root.cpp
   src/cpp/processor/Processor.cpp
   src/cpp/client/ProxyClient.cpp
   src/cpp/participant/Participant.cpp
   src/cpp/topic/Topic.cpp
   src/cpp/publisher/Publisher.cpp
   src/cpp/subscriber/Subscriber.cpp
   src/cpp/datawriter/DataWriter.cpp
   src/cpp/datareader/DataReader.cpp
   src/cpp/datareader/TokenBucket.cpp
   src/cpp/object/XRCEObject.cpp
   src/cpp/types/XRCETypes.cpp
   src/cpp/types/MessageHeader.cpp
   src/cpp/types/SubMessageHeader.cpp
   src/cpp/types/TopicPubSubType.cpp
   src/cpp/xmlobjects/xmlobjects.cpp
   $<$<BOOL:${VERBOSE}>:src/cpp/libdev/MessageOutput.cpp>
   src/cpp/transport/Server.cpp
   src/cpp/transport/udp/UDPServerBase.cpp
   src/cpp/transport/tcp/TCPServerBase.cpp
   src/cpp/transport/serial/SerialServerBase.cpp
   src/cpp/transport/serial/serial_protocol.c
   ${TRANSPORT_SRCS}
   )
  1. Executable

add_library(${PROJECT_NAME} SHARED ${SRCS}) target_link_libraries(${PROJECT_NAME} PUBLIC fastrtps fastcdr) target_include_directories(${PROJECT_NAME} 

   PUBLIC
       $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
       $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
       $<INSTALL_INTERFACE:include>
   PRIVATE
       $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/cpp>
       ${ASIO_INCLUDE_DIR}
   )

add_executable(MicroXRCEAgent microxrce_agent.cpp) target_link_libraries(MicroXRCEAgent PRIVATE ${PROJECT_NAME})

  1. XML default profile used to launch exec in the building folder

file(COPY ${PROJECT_SOURCE_DIR}/DEFAULT_FASTRTPS_PROFILES.xml 

   DESTINATION ${PROJECT_BINARY_DIR}
   )
  2. Compile options
  1. Set targets properties.

set_target_properties(${PROJECT_NAME} PROPERTIES 

   VERSION ${PROJECT_VERSION}
   SOVERSION ${PROJECT_VERSION_MAJOR}
   CXX_STANDARD 11
   CXX_STANDARD_REQUIRED YES
   )

if(CMAKE_SYSTEM_NAME STREQUAL "Windows") 

   set_target_properties(${PROJECT_NAME} PROPERTIES
       RELEASE_POSTFIX -${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
       RELWITHDEBINFO_POSTFIX -${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
       DEBUG_POSTFIX d-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
       )

endif() set_target_properties(MicroXRCEAgent PROPERTIES 

   CXX_STANDARD 11
   CXX_STANDARD_REQUIRED YES
   )
  1. Definition

target_compile_definitions(${PROJECT_NAME} 

   PRIVATE
       -DBOOST_ASIO_STANDALONE
       -DASIO_STANDALONE
       -D$<$<BOOL:${VERBOSE}>:VERBOSE_OUTPUT>
   )

get_target_property(TARGET_TYPE ${PROJECT_NAME} TYPE) if((MSVC OR MSVC_IDE) AND (TARGET_TYPE STREQUAL "SHARED_LIBRARY")) 

   target_compile_definitions(${PROJECT_NAME}
       PUBLIC
           -D${PROJECT_NAME}_SHARED
       )

endif()

  1. Warnings

if(MSVC OR MSVC_IDE) 

   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /W4 /wd4700 /wd4996 /wd4820 /wd4255 /wd4668")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4 /wd4700 /wd4996 /wd4820 /wd4255 /wd4668")

else() 

   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pedantic -fstrict-aliasing -Wall -Wextra -Wcast-align -Wshadow")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -fstrict-aliasing -Wall -Wextra -Wcast-align")

endif()

  2. Testing

if(EPROSIMA_BUILD_TESTS AND IS_TOP_LEVEL) 

   include(${PROJECT_SOURCE_DIR}/cmake/common/gtest.cmake)
   check_gtest()
   check_gmock()
   enable_testing()
   include(CTest)
   if(GTEST_FOUND)
       add_subdirectory(test/unittest/root)
       add_subdirectory(test/unittest/util)
       add_subdirectory(test/unittest/xrce)
       add_subdirectory(test/unittest/transport/serial)
       add_subdirectory(test/blackbox/tree)
   endif()
   add_subdirectory(test/integration/cross_serialization)

endif()

  2. Packaging
  1. Install agent lib

install(TARGETS ${PROJECT_NAME} 

   EXPORT ${PROJECT_NAME}Targets
   RUNTIME DESTINATION ${BIN_INSTALL_DIR}
   LIBRARY DESTINATION ${LIB_INSTALL_DIR}
   ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
   COMPONENT libraries
   )
  1. Install includes

install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/uxr/agent/ 

   DESTINATION ${INCLUDE_INSTALL_DIR}/uxr/agent
   FILES_MATCHING PATTERN "*.hpp"
                  PATTERN "*.h"
   )
  1. Export library

install(EXPORT ${PROJECT_NAME}Targets 

   DESTINATION ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
   )
  1. Install agent exec

install(TARGETS MicroXRCEAgent 

   EXPORT MicroXRCEAgentTargets
   RUNTIME DESTINATION ${BIN_INSTALL_DIR}
   LIBRARY DESTINATION ${LIB_INSTALL_DIR}
   ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
   COMPONENT executables
   )
  1. Install config.h

install(FILES ${PROJECT_BINARY_DIR}/include/uxr/agent/config.hpp 

   DESTINATION ${INCLUDE_INSTALL_DIR}/uxr/agent
   )
  1. Install licenses

install(FILES ${PROJECT_SOURCE_DIR}/LICENSE 

   DESTINATION ${LICENSE_INSTALL_DIR}
   COMPONENT licenses
   )
  1. Package configuration

include(CMakePackageConfigHelpers) configure_package_config_file(${PROJECT_SOURCE_DIR}/cmake/packaging/Config.cmake.in 

   ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
   INSTALL_DESTINATION ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
   PATH_VARS BIN_INSTALL_DIR INCLUDE_INSTALL_DIR LIB_INSTALL_DIR DATA_INSTALL_DIR
   )

install(FILES ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake 

   DESTINATION ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
   )
  1. Install default profile XML.

if(CMAKE_SYSTEM_NAME STREQUAL "Windows") 

   install(FILES ${PROJECT_SOURCE_DIR}/DEFAULT_FASTRTPS_PROFILES.xml
       DESTINATION ${BIN_INSTALL_DIR}
       )

endif()

  1. Generate Windows Installer.

if(WIN32 AND EPROSIMA_INSTALLER) 

   # Set product name.
   set(PRODUCT_NAME_SHORT "MicroXRCEAgent")
   set(PRODUCT_NAME_LONG "Micro XRCE-DDS Agent")

   set(CPACK_GENERATOR NSIS)

   # Setup generic options.
   set(CPACK_PACKAGE_NAME ${PRODUCT_NAME_SHORT})
   set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "C++ implementarion of XRCE Root")
   set(CPACK_PACKAGE_DESCRIPTION "eProsima ${PRODUCT_NAME_SHORT} is a executable which implement the XRCE Root functionality.")
   set(CPACK_PACKAGE_VENDOR "eProsima")
   set(CPACK_PACKAGE_CONTACT "eProsima Support <support@eprosima.com>")
   set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_MAJOR_VERSION})
   set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_MINOR_VERSION})
   set(CPACK_PACKAGE_VERSION_PATH ${PROJECT_MICRO_VERSION})
   set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
   set(CPACK_RESOURCE_FILE_LICENSE "${PROJECT_SOURCE_DIR}/LICENSE")
   set(CPACK_COMPONENTS_LICENSES_HIDDEN 1)

   # Components display.
   set(CPACK_COMPONENT_CMAKE_DISPLAY_NAME "CMake files")
   set(CPACK_COMPONENT_CMAKE_DESCRIPTION "CMake configuration files")
   set(CPACK_COMPONENT_HEADERS_DESCRIPTION "eProsima ${PRODUCT_NAME_SHORT} C++ Headers")
   set(CPACK_COMPONENT_HEADERS_DISPLAY_NAME "C++ Headers")
   set(CPACK_COMPONENT_HEADERS_DESCRIPTION "eProsima ${PRODUCT_NAME_SHORT} C++ Headers")
   string(TOUPPER "${MSVC_ARCH}" MSVC_ARCH_UPPER)
   set(CPACK_COMPONENT_LIBRARIES_${MSVC_ARCH_UPPER}_DISPLAY_NAME "${MSCV_ARCH}")
   set(CPACK_COMPONENT_LIBRARIES_${MSVC_ARCH_UPPER}_DESCRIPTION "eProsima ${PRODUCT_NAME_SHORT} libraries form platform ${MSVC_ARCH}")
   set(CPACK_COMPONENT_LICENSES_DISPLAY_NAME "License")
   set(CPACK_COMPONENT_LICENSES_DESCRIPTION "eProsima ${PRODUCT_NAME_SHORT} License")

   # Setup NSIS installer.
   set(CPACK_NSIS_DISPLAY_NAME "${PRODUCT_NAME_LONG} ${PROJECT_VERSION}")
   set(CPACK_NSIS_PACKAGE_NAME "eProsima ${PRODUCT_NAME_LONG} ${PROJECT_VERSION}")
   set(CPACK_NSIS_URL_INFO_ABOUT "www.eprosima.com")
   set(CPACK_NSIS_CONTACT "support@eprosima.com")
   set(CPACK_NSIS_MUI_ICON "${PROJECT_SOURCE_DIR}/utils/images/icon/eprosima_icon.ico")
   set(CPACK_NSIS_MENU_LINKS 
       "bin/MicroXRCEAgent.exe" "${PRODUCT_NAME_SHORT}"
       "Uninstall.exe" "Uninstall ${PRODUCT_NAME_SHORT}"
       )
   if(CMAKE_CL_64)

set(CPACK_NSIS_INSTALL_ROOT "$ENV{PROGRAMFILES}\\eProsima") 

   else() 
       set(PF86_STR "PROGRAMFILES(x86)")

set(CPACK_NSIS_INSTALL_ROOT "$ENV{${PF86_STR}}\\eProsima") 

   endif()

   # Setup configure files for NSIS installer.
   configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/windows/NSISPackaging.cmake.in
       ${PROJECT_BINARY_DIR}/cmake/packaging/windows/NSISPackaging.cmake @ONLY
       )
   # Setup redistributables installation nsh.
   if(${MSVC_ARCH} STREQUAL "x64Win64VS2017")
       set(REDIST_REGISTER "SOFTWARE\\Classes\\Installer\\Dependencies\\,,amd64,14.0,bundle")

set(REDIST_VERSION "14.15.26706.0") set(REDIST_LINK "https://download.visualstudio.microsoft.com/download/pr/20ef12bb-5283-41d7-90f7-eb3bb7355de7/8b58fd89f948b2430811db3da92299a6/vc_redist.x64.exe") set(REDIST_EXEC "vc_redist_x64.exe") 

   elseif(${MSVC_ARCH} STREQUAL "i86Win32VS2017")
       set(REDIST_REGISTER "SOFTWARE\\Classes\\Installer\\Dependencies\\,,x86,14.0,bundle")

set(REDIST_VERSION "14.15.26706.0") set(REDIST_LINK "https://download.visualstudio.microsoft.com/download/pr/749aa419-f9e4-4578-a417-a43786af205e/d59197078cc425377be301faba7dd87a/vc_redist.x86.exe") set(REDIST_EXEC "vc_redist_i86.exe") 

   endif()
   configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/windows/InstallRedistributables.nsh.in
       ${PROJECT_BINARY_DIR}/cmake/packaging/windows/InstallRedistributables.nsh @ONLY
       )

   # Setup CPack install script
   set(CPACK_INSTALL_SCRIPT "${PROJECT_BINARY_DIR}/cmake/packaging/windows/NSISPackaging.cmake")

   # Update CMAKE_MODULE_PATH to find NSIS.template.in
   set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/packaging/windows")	

   include(CPack)

endif() </pre>

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