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CMakeLists.txt
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CMakeLists.txt
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# Copyright (c) 2023, AgiBot Inc.
# All rights reserved.
cmake_minimum_required(VERSION 3.24)
project(aimrt LANGUAGES C CXX)
# Set cmake path
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
# Some option
option(AIMRT_BUILD_TESTS "AimRT build tests." OFF)
option(AIMRT_BUILD_EXAMPLES "AimRT build examples." OFF)
option(AIMRT_BUILD_DOCUMENT "AimRT build document." OFF)
option(AIMRT_BUILD_RUNTIME "AimRT build runtime." ON)
option(AIMRT_BUILD_CLI_TOOLS "AimRT build aimrt command line tools." OFF)
option(AIMRT_BUILD_PYTHON_RUNTIME "AimRT build python runtime." OFF)
option(AIMRT_USE_FMT_LIB "AimRT use fmt library." ON)
option(AIMRT_BUILD_WITH_PROTOBUF "AimRT build with protobuf." ON)
option(AIMRT_USE_LOCAL_PROTOC_COMPILER "AimRT use local protoc compiler." OFF)
option(AIMRT_USE_PROTOC_PYTHON_PLUGIN "AimRT use protoc python plugin." OFF)
option(AIMRT_BUILD_WITH_ROS2 "AimRT build with ros2." OFF)
option(AIMRT_BUILD_NET_PLUGIN "AimRT build net plugin." OFF)
option(AIMRT_BUILD_ROS2_PLUGIN "AimRT build ros2 plugin." OFF)
option(AIMRT_BUILD_MQTT_PLUGIN "AimRT build mqtt plugin." OFF)
option(AIMRT_BUILD_ZENOH_PLUGIN "AimRT build zenoh plugin." OFF)
option(AIMRT_BUILD_ICEORYX_PLUGIN "AimRT build iceoryx plugin." OFF)
option(AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN "AimRT build record playback plugin." OFF)
option(AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN "AimRT build time manipulator plugin." OFF)
option(AIMRT_BUILD_PARAMETER_PLUGIN "AimRT build parameter plugin." OFF)
option(AIMRT_BUILD_LOG_CONTROL_PLUGIN "AimRT build log control plugin." OFF)
option(AIMRT_BUILD_OPENTELEMETRY_PLUGIN "AimRT build opentelemetry plugin." OFF)
option(AIMRT_BUILD_GRPC_PLUGIN "AimRT build grpc plugin." OFF)
option(AIMRT_INSTALL "Enable installation of AimRT." ON)
option(AIMRT_BUILD_PYTHON_PACKAGE "AimRT build python package." OFF)
option(AIMRT_EXECUTOR_USE_STDEXEC "AimRT use stdexec as executor impl. (Experimental)" OFF)
option(AIMRT_BUILD_WITH_WERROR "AimRT build with -Werror option. (Experimental)" OFF)
# Some necessary settings
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Set default build type as Release
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
file(READ "${CMAKE_SOURCE_DIR}/VERSION" AIMRT_VERSION)
string(STRIP "${AIMRT_VERSION}" AIMRT_VERSION)
set(INSTALL_CONFIG_NAME ${PROJECT_NAME}-config)
# Master project configuration
if(NOT DEFINED AIMRT_MASTER_PROJECT)
set(AIMRT_MASTER_PROJECT OFF)
if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
set(AIMRT_MASTER_PROJECT ON)
endif()
endif()
if(AIMRT_MASTER_PROJECT)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(FETCHCONTENT_BASE_DIR ${CMAKE_SOURCE_DIR}/_deps)
set(CMAKE_CXX_VISIBILITY_PRESET hidden)
set(CMAKE_CXX_VISIBLITY_INLINES_HIDDEN ON)
set(BUILD_SHARED_LIBS OFF)
if(UNIX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
if(AIMRT_BUILD_TESTS)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
endif()
endif()
if(MSVC)
add_compile_options(/utf-8 /wd4819)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
endif()
if(WIN32)
add_compile_definitions(NOMINMAX)
endif()
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
endif()
# Build document
if(AIMRT_BUILD_DOCUMENT)
message(STATUS "gen document ...")
set(AIMRT_DOC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/document)
if(WIN32)
execute_process(COMMAND ${AIMRT_DOC_DIR}/doxygen/build.bat ${AIMRT_DOC_DIR}/doxygen WORKING_DIRECTORY ${AIMRT_DOC_DIR}/doxygen)
elseif(UNIX)
execute_process(COMMAND ${AIMRT_DOC_DIR}/doxygen/build.sh ${AIMRT_DOC_DIR}/doxygen WORKING_DIRECTORY ${AIMRT_DOC_DIR}/doxygen)
execute_process(COMMAND ${AIMRT_DOC_DIR}/sphinx-cn/build.sh ${AIMRT_DOC_DIR}/sphinx-cn WORKING_DIRECTORY ${AIMRT_DOC_DIR}/sphinx-cn)
endif()
endif()
# Include cmake module
include(NamespaceTool)
if(AIMRT_BUILD_TESTS)
include(GetGTest)
enable_testing()
endif()
if(AIMRT_EXECUTOR_USE_STDEXEC)
include(GetStdexec)
else()
include(GetLibUnifex)
endif()
if(AIMRT_USE_FMT_LIB)
include(GetFmt)
endif()
if(AIMRT_BUILD_CLI_TOOLS)
find_package(Python3 REQUIRED)
include(CheckPythonPackage)
check_python_package(pyinstaller PYINSTALLER_FOUND)
check_python_package(jinja2 JINJA2_FOUND)
check_python_package(pyyaml PYYAML_FOUND)
if(NOT PYINSTALLER_FOUND
OR NOT JINJA2_FOUND
OR NOT PYYAML_FOUND)
set(AIMRT_BUILD_CLI_TOOLS OFF)
message(WARNING "Can not find pyinstaller, jinja2 or pyyaml in your python environment, will not compile aimrt_cli!")
message(WARNING "try to install pyinstaller, jinja2 and pyyaml by `pip3 install pyinstaller jinja2 pyyaml --upgrade`")
endif()
endif()
if(AIMRT_BUILD_WITH_PROTOBUF)
include(GetProtobuf)
include(ProtobufGenCode)
if(AIMRT_USE_LOCAL_PROTOC_COMPILER)
set(Protobuf_PROTOC_EXECUTABLE
"protoc"
CACHE STRING "Path to protoc compiler.")
add_executable(aimrt::protoc IMPORTED GLOBAL)
set_target_properties(aimrt::protoc PROPERTIES IMPORTED_LOCATION ${Protobuf_PROTOC_EXECUTABLE})
set_property(GLOBAL PROPERTY PROTOC_NAMESPACE_PROPERTY "aimrt")
endif()
if(AIMRT_USE_PROTOC_PYTHON_PLUGIN)
find_package(Python3 REQUIRED)
endif()
endif()
if(AIMRT_BUILD_WITH_ROS2)
# fix cmake policy for using FindPythonInterp and FindPythonLibs (ros2)
if(POLICY CMP0148)
cmake_policy(SET CMP0148 OLD)
endif()
# fix gflag
set(BUILD_TESTING
OFF
CACHE BOOL "")
include(GetJsonCpp)
find_package(rclcpp REQUIRED)
find_package(Python3 REQUIRED)
endif()
if(AIMRT_BUILD_RUNTIME)
include(GetBoost)
include(GetGFlags)
include(GetYamlCpp)
include(GetTBB)
if(AIMRT_BUILD_PYTHON_RUNTIME)
find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
set(PYBIND11_PYTHON_VERSION ${Python3_VERSION})
include(GetPybind11)
if(AIMRT_BUILD_PYTHON_PACKAGE)
include(CheckPythonPackage)
check_python_package(build BUILD_FOUND)
check_python_package(setuptools SETUPTOOLS_FOUND)
check_python_package(wheel WHEEL_FOUND)
if(NOT BUILD_FOUND
OR NOT SETUPTOOLS_FOUND
OR NOT WHEEL_FOUND)
set(AIMRT_BUILD_PYTHON_PACKAGE OFF)
message(WARNING "Can not find build, setuptools or wheel in your python environment, will not generate aimrt_py package! ")
message(WARNING "try to install build, setuptools and wheel by `pip3 install build setuptools wheel --upgrade`")
endif()
endif()
endif()
if(AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
include(GetSqlite)
endif()
if(AIMRT_BUILD_ICEORYX_PLUGIN)
include(GetCppToml)
include(GetIceoryx)
endif()
if(AIMRT_BUILD_MQTT_PLUGIN)
include(GetPahoMqttC)
endif()
if(AIMRT_BUILD_ZENOH_PLUGIN)
# find Rust compiler
execute_process(
COMMAND rustc --version
RESULT_VARIABLE rustc_result
OUTPUT_VARIABLE rustc_output
ERROR_QUIET)
if(rustc_result EQUAL 0)
message(STATUS "Rust compiler (rustc) found: ${rustc_output}")
include(GetZenoh)
else()
message(WARNING "Rust compiler (rustc) not found, will not compile zenoh plugin. Please install Rust environment referring to https://www.rust-lang.org/tools/install.")
set(AIMRT_BUILD_ZENOH_PLUGIN OFF)
endif()
endif()
if(AIMRT_BUILD_OPENTELEMETRY_PLUGIN)
include(GetProtobuf)
include(GetNlohmannJson)
include(GetOpenTelemetryProto)
include(GetOpenTelemetryCpp)
endif()
if(AIMRT_BUILD_GRPC_PLUGIN)
include(GetNghttp2)
endif()
endif()
# Add subdirectory
add_subdirectory(src)
if(AIMRT_INSTALL)
# Install
install(
DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake
DESTINATION ./
FILES_MATCHING
PATTERN "*.cmake")
install(EXPORT ${INSTALL_CONFIG_NAME} DESTINATION lib/cmake/${PROJECT_NAME})
endif()
# Put at last to ensure ros2 installation is done
if(AIMRT_INSTALL
AND AIMRT_BUILD_PYTHON_RUNTIME
AND AIMRT_BUILD_PYTHON_PACKAGE)
install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target create_python_pkg)")
endif()