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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 ( )
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file ( READ "${PROJECT_SOURCE_DIR}/VERSION" AIMRT_VERSION )
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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
O R N O T J I N J A 2 _ F O U N D
O R N O T P Y Y A M L _ F O U N D )
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
" p r o t o c "
C A C H E S T R I N G " P a t h t o p r o t o c c o m p i l e r . " )
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
O F F
C A C H E B O O L " " )
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
O R N O T S E T U P T O O L S _ F O U N D
O R N O T W H E E L _ F O U N D )
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 (
C O M M A N D r u s t c - - v e r s i o n
R E S U L T _ V A R I A B L E r u s t c _ r e s u l t
O U T P U T _ V A R I A B L E r u s t c _ o u t p u t
E R R O R _ Q U I E T )
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 (
D I R E C T O R Y $ { C M A K E _ C U R R E N T _ S O U R C E _ D I R } / c m a k e
D E S T I N A T I O N . /
F I L E S _ M A T C H I N G
P A T T E R N " * . c m a k e " )
install ( EXPORT ${ INSTALL_CONFIG_NAME } DESTINATION lib/cmake/ ${ PROJECT_NAME } )
endif ( )
# Put at last to ensure ros2 installation is done
if ( AIMRT_INSTALL
A N D A I M R T _ B U I L D _ P Y T H O N _ R U N T I M E
A N D A I M R T _ B U I L D _ P Y T H O N _ P A C K A G E )
install ( CODE "execute_process(COMMAND \" ${ CMAKE_COMMAND } \" --build \"${CMAKE_BINARY_DIR}\" --config ${ CMAKE_BUILD_TYPE } --target create_python_pkg ) " )
endif ( )
