CMakeLists.txt

#
# Copyright (C) 2021 ez-Wheel S.A.S.
#
# -----------------------------------------------------------------------------

# CMake version required ----------------------------------
cmake_minimum_required(VERSION 3.0)
project(swd_ros_controllers)

# ROS find packages ------------------------------------------------------------
# Find catkin macros and libraries
# if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
# is used, also find other catkin packages
find_package(
  catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  nav_msgs
  sensor_msgs
  geometry_msgs
  tf2_ros
  message_generation
)

# ------------------------------------------------------------------------------
# Build definition (to do before calling 'project()')
# ------------------------------------------------------------------------------

# Build type
if(NOT CMAKE_BUILD_TYPE)
  set(
    CMAKE_BUILD_TYPE Release CACHE STRING
    "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
    FORCE
  )
endif(NOT CMAKE_BUILD_TYPE)

# CASE OF C PROJECT
set(CMAKE_C_STANDARD 99)

if(NOT CMAKE_C_FLAGS)
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wformat-security " CACHE STRING "C99 compilation flags" FORCE)
endif(NOT CMAKE_C_FLAGS)

# CASE OF CPP PROJECT
set(CMAKE_CXX_STANDARD 11)

if(NOT CMAKE_CXX_FLAGS)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wformat-security" CACHE STRING "C++11 compilation flags" FORCE)
endif(NOT CMAKE_CXX_FLAGS)

# The code needs C++14 to work!
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

# ------------------------------------------------------------------------------
# Project definition, variable and dependencies
# ------------------------------------------------------------------------------
set(CMAKE_PROJECT_NAME ${PROJECT_NAME})
set(CMAKE_SYSTEM_NAME Linux)

set(CMAKE_PROJECT_BRIEF "ez-Wheel SWD ROS Controllers package")

# if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
# set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/image CACHE PATH "" FORCE)
# endif (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
set(PKG_CONFIG_PATH /opt/ezw/usr/lib/pkgconfig CACHE PATH "")
set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${PKG_CONFIG_PATH}")
message(STATUS "Pkgconfig extra path are: $ENV{PKG_CONFIG_PATH} ")

# Allow CTest
enable_testing()

# Allow subdirectory test and config
option(ENABLE_TESTS "Enable Tests" 1)

# Allow Clang-tidy
# set(CMAKE_CXX_CLANG_TIDY clang-tidy-12 --config-file=${CMAKE_SOURCE_DIR}/.clang-tidy --use-color --header-filter=${CMAKE_SOURCE_DIR}/include/)
# set(DCMAKE_EXPORT_COMPILE_COMMANDS ON)

# find_package(Doxygen)
# option(ENABLE_DOCS "Build API documentation" ${DOXYGEN_FOUND})

# Module dependencies used as pkgconfig or direct filepath/dirpath
set(LIST_MODULES_PKG_CONFIG_NAME "ezw-types ezwLog ezw-smc-service-client" CACHE STRING "Lists of pkgconfig modules dependencies" FORCE)

unset(__pkg_config_checked_EZW_TYPES CACHE)
unset(__pkg_config_checked_EZW_LOG CACHE)
unset(__pkg_config_checked_EZW_SMC_SERVICE_CLIENT CACHE)

set(EZW_TYPES_PKG_CONFIG_NAME "ezw-types" CACHE STRING "ezw-types pkg config name")
set(EZW_LOG_PKG_CONFIG_NAME "ezwLog" CACHE STRING "ezwLog pkg config name")
set(EZW_SMC_SERVICE_CLIENT_PKG_CONFIG_NAME "ezw-smc-service-client" CACHE STRING "Module EZW_SMC_SERVICE_CLIENT_CONFIG pkg config name")

# ------------------------------------------------------------------------------
# Project version
# ------------------------------------------------------------------------------

# Get the latest abbreviated commit hash of the working branch
execute_process(
  COMMAND git log -1 --format=%h
  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
  OUTPUT_VARIABLE GIT_COMMIT_HASH
  OUTPUT_STRIP_TRAILING_WHITESPACE
)

# ------------------------------------------------------------------------------
# pkgconfig
# ------------------------------------------------------------------------------
find_package(PkgConfig REQUIRED)

# Find ROS related packages
find_package(
  catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  nav_msgs
  sensor_msgs
  geometry_msgs
  tf2_ros
)

# ------------------------------------------------------------------------------
# Project configuration
# ------------------------------------------------------------------------------
include_directories(include)
include_directories(/opt/ezw/usr/include/dbus-1.0)

include_directories(${CMAKE_SOURCE_DIR}/include)

if(HAS_CONFIG)
  message(STATUS "Adding config from ${CMAKE_SOURCE_DIR}/config/")
  include_directories(${CMAKE_SOURCE_DIR}/config)
endif(HAS_CONFIG)

set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)

unset(__pkg_config_checked_EZW_TYPES CACHE)
unset(__pkg_config_checked_EZW_LOG CACHE)
unset(__pkg_config_checked_EZW_SMC_SERVICE_CLIENT CACHE)

# Use project pkg config
pkg_check_modules(EZW_TYPES REQUIRED ezw-types)
pkg_check_modules(EZW_LOG REQUIRED ezwLog)
pkg_check_modules(EZW_SMC_SERVICE_CLIENT REQUIRED ezw-smc-service-client)

# Here are some values data generated by CMake if the
# pkg required is found
# <XPREFIX>_FOUND          ... set to 1 if module(s) exist
# <XPREFIX>_LIBRARIES      ... only the libraries (w/o the '-l')
# <XPREFIX>_LIBRARY_DIRS   ... the paths of the libraries (w/o the '-L')
# <XPREFIX>_LDFLAGS        ... all required linker flags
# <XPREFIX>_LDFLAGS_OTHER  ... all other linker flags
# <XPREFIX>_INCLUDE_DIRS   ... the '-I' preprocessor flags (w/o the '-I')
# <XPREFIX>_CFLAGS         ... all required cflags
# <XPREFIX>_CFLAGS_OTHER   ... the other compiler flags

# Add include dirs. The case not configured will be empty
message(STATUS "
Add inc directory:
EZW_TYPES_INCLUDE_DIRS : ${EZW_TYPES_INCLUDE_DIRS}
EZW_LOG_INCLUDE_DIRS : ${EZW_LOG_INCLUDE_DIRS}
EZW_SMC_SERVICE_CLIENT_INCLUDE_DIRS : ${EZW_SMC_SERVICE_CLIENT_INCLUDE_DIRS}
CATKIN_INCLUDE_DIRS : ${catkin_INCLUDE_DIRS}
-------------------")

include_directories(
  ${EZW_TYPES_INCLUDE_DIRS}
  ${EZW_LOG_INCLUDE_DIRS}
  ${EZW_SMC_SERVICE_CLIENT_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

# Add library dirs. The case not configured will be empty
message(STATUS "
Add library directory:
EZW_LOG_LIBRARY_DIRS : ${EZW_LOG_LIBRARY_DIRS}
EZW_SMC_SERVICE_CLIENT_LIBRARY_DIRS : ${EZW_SMC_SERVICE_CLIENT_LIBRARY_DIRS}
CATKIN_LIBRARY_DIRS : ${catkin_LIBRARY_DIRS}
------------------------------")

link_directories(
  ${EZW_LOG_LIBRARY_DIRS}
  ${EZW_TOOLS_LIBRARY_DIRS}
  ${EZW_SMC_SERVICE_CLIENT_LIBRARY_DIRS}
  ${catkin_LIBRARY_DIRS}
)

# Add required definitions from pkgconfig
message(STATUS "
Add definitions:
EZW_LOG_CFLAGS : ${EZW_LOG_CFLAGS}
EZW_LOG_LDFLAGS : ${EZW_LOG_LDFLAGS}
EZW_SMC_SERVICE_CLIENT_CFLAGS : ${EZW_SMC_SERVICE_CLIENT_CFLAGS}
EZW_SMC_SERVICE_CLIENT_LDFLAGS : ${EZW_SMC_SERVICE_CLIENT_LDFLAGS}
------------------------------")

add_definitions(
  ${EZW_LOG_CFLAGS}
  ${EZW_LOG_LDFLAGS}
  ${EZW_SMC_SERVICE_CLIENT_CFLAGS}
  ${EZW_SMC_SERVICE_CLIENT_LDFLAGS}
)

# ------------------------------------------------------------------------------
# Sub-directories
# ------------------------------------------------------------------------------

# Check options required for main build
add_message_files(
  FILES
  SafetyFunctions.msg
)

# ------------------------------------------------------------------------------
# ROS generate messages
# ------------------------------------------------------------------------------
generate_messages(
  DEPENDENCIES
  std_msgs
)

# ##############################################
# Declare ROS dynamic reconfigure parameters ##
# ##############################################

# To declare and build dynamic reconfigure parameters within this
# package, follow these steps:
# * In the file package.xml:
# * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
# * In this file (CMakeLists.txt):
# * add "dynamic_reconfigure" to
# find_package(catkin REQUIRED COMPONENTS ...)
# * uncomment the "generate_dynamic_reconfigure_options" section below
# and list every .cfg file to be processed

# Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

# #################################
# catkin specific configuration ##
# #################################
# The catkin_package macro generates cmake config files for your package
# Declare things to be passed to dependent projects
# INCLUDE_DIRS: uncomment this if your package contains header files
# LIBRARIES: libraries you create in this project that dependent projects also need
# CATKIN_DEPENDS: catkin_packages dependent projects also need
# DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(

  # INCLUDE_DIRS include
  # LIBRARIES ezw_ros_controllers
  # CATKIN_DEPENDS roscpp std_msgs
  # DEPENDS system_lib
)

# #########
# Build ##
# #########
file(GLOB_RECURSE HEADERS include/*.hpp)

file(GLOB_RECURSE SOURCES_DIFF_CRTL src/diff_drive_controller/*.cpp)
file(GLOB_RECURSE SOURCES src/*.cpp)

add_executable(swd_diff_drive_controller ${SOURCES_DIFF_CRTL} ${COMMON_SOURCES} ${HEADERS})
add_dependencies(swd_diff_drive_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Specify libraries to link a library or executable target against
target_link_libraries(
  swd_diff_drive_controller
  ${EZW_LOG_LIBRARIES}
  ${EZW_SMC_SERVICE_CLIENT_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_custom_target(other_files SOURCES ${OTHER_FILES})

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
install(
  TARGETS swd_diff_drive_controller
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark other files for installation (e.g. launch and bag files, etc.)
install(
  FILES
  ${CMAKE_CURRENT_SOURCE_DIR}/launch/swd_diff_drive_controller.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)