fix: misc adjustments (#66)

* fix: misc * doc: update misc
2024-10-31 17:57:47 +08:00 · 2024-10-31 17:57:47 +08:00 · a1fda52c37
commit a1fda52c37
parent 56ca4d438e
21 changed files with 143 additions and 149 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -79,7 +79,7 @@ if(AIMRT_MASTER_PROJECT)
  set(CMAKE_CXX_VISIBLITY_INLINES_HIDDEN ON)
  set(BUILD_SHARED_LIBS OFF)

-  if(UNIX)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
    if(AIMRT_BUILD_TESTS)
      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
      set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
@ -91,7 +91,7 @@ endif()

 set(CMAKE_POSITION_INDEPENDENT_CODE ON)

-if(MSVC)
+if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
  add_compile_options(/utf-8 /wd4819)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
 endif()
@ -101,15 +101,11 @@ if(WIN32)
 endif()

 # Build document
-if(AIMRT_BUILD_DOCUMENT)
+if(AIMRT_BUILD_DOCUMENT AND UNIX)
  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()
+  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()

 # Include cmake module
@ -143,7 +139,22 @@ if(AIMRT_BUILD_CLI_TOOLS)
     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`")
+    message(WARNING "Try to install pyinstaller, jinja2 and pyyaml by `pip3 install pyinstaller jinja2 pyyaml --upgrade`")
+  endif()
+endif()
+
+if(AIMRT_BUILD_BAGTRANS)
+  include(CheckPythonPackage)
+  check_python_package(build BUILD_FOUND)
+  check_python_package(wheel WHEEL_FOUND)
+  check_python_package(setuptools SETUPTOOLS_FOUND)
+
+  if(NOT BUILD_FOUND
+     OR NOT WHEEL_FOUND
+     OR NOT SETUPTOOLS_FOUND)
+    set(AIMRT_BUILD_BAGTRANS OFF)
+    message(WARNING "Can not find build, wheel or setuptools in your python environment, will not compile bagtrans tool!")
+    message(WARNING "Try to install build, wheel and setuptools by `pip3 install build wheel setuptools --upgrade`")
  endif()
 endif()

@ -202,26 +213,11 @@ if(AIMRT_BUILD_RUNTIME)
         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`")
+        message(WARNING "Try to install build, setuptools and wheel by `pip3 install build setuptools wheel --upgrade`")
      endif()
    endif()
  endif()

-  if(AIMRT_BUILD_BAGTRANS)
-    include(CheckPythonPackage)
-    check_python_package(build BUILD_FOUND)
-    check_python_package(wheel WHEEL_FOUND)
-    check_python_package(setuptools SETUPTOOLS_FOUND)
-
-    if(NOT BUILD_FOUND
-       OR NOT WHEEL_FOUND
-       OR NOT SETUPTOOLS_FOUND)
-      set(AIMRT_BUILD_BAGTRANS OFF)
-      message(WARNING "Can not find build, wheel or setuptools in your python environment, will not compile bagtrans tool!")
-      message(WARNING "try to install build, wheel and setuptools by `pip3 install build wheel setuptools --upgrade`")
-    endif()
-  endif()
-
  if(AIMRT_BUILD_NET_PLUGIN)
    include(GetBoost)
  endif()
@ -305,8 +301,6 @@ endif()

 if(AIMRT_INSTALL
   AND AIMRT_BUILD_WITH_ROS2
-   AND AIMRT_BUILD_ROS2_PLUGIN
-   AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN
   AND AIMRT_BUILD_BAGTRANS)
  install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target bagtrans)")
 endif()
--- a/cmake/GetAsio.cmake
+++ b/cmake/GetAsio.cmake
@ -29,9 +29,12 @@ if(NOT asio_POPULATED)
  add_library(asio INTERFACE)
  add_library(asio::asio ALIAS asio)

-  target_include_directories(asio INTERFACE ${asio_SOURCE_DIR}/asio/include)
+  target_include_directories(asio INTERFACE $<BUILD_INTERFACE:${asio_SOURCE_DIR}/asio/include> $<INSTALL_INTERFACE:include/asio>)
  target_compile_definitions(asio INTERFACE ASIO_STANDALONE ASIO_NO_DEPRECATED)

+  file(GLOB_RECURSE head_files ${asio_SOURCE_DIR}/asio/include/*.hpp ${asio_SOURCE_DIR}/asio/include/*.ipp)
+  target_sources(asio INTERFACE FILE_SET HEADERS BASE_DIRS ${asio_SOURCE_DIR}/asio/include FILES ${head_files})
+
  find_package(Threads REQUIRED)
  target_link_libraries(asio INTERFACE Threads::Threads)

@ -64,6 +67,15 @@ if(NOT asio_POPULATED)

    target_compile_definitions(asio INTERFACE _WIN32_WINNT=${_WIN32_WINNT} WIN32_LEAN_AND_MEAN)
  endif()
+
+  set_property(TARGET asio PROPERTY EXPORT_NAME asio::asio)
+  install(
+    TARGETS asio
+    EXPORT asio-config
+    FILE_SET HEADERS
+    DESTINATION include/asio)
+
+  install(EXPORT asio-config DESTINATION lib/cmake/asio)
 endif()

 # import targets：
--- a/cmake/GetTBB.cmake
+++ b/cmake/GetTBB.cmake
@ -33,7 +33,7 @@ if(NOT tbb_POPULATED)
      CACHE STRING "" FORCE)

  set(TBB_INSTALL
-      OFF
+      ON
      CACHE BOOL "")

  set(TBB_STRICT
--- a/cmake/GetYamlCpp.cmake
+++ b/cmake/GetYamlCpp.cmake
@ -34,7 +34,7 @@ if(NOT yaml-cpp_POPULATED)
      OFF
      CACHE BOOL "")
  set(YAML_CPP_INSTALL
-      OFF
+      ON
      CACHE BOOL "")
  set(YAML_CPP_FORMAT_SOURCE
      OFF
--- a/document/doxygen/build.bat
+++ b/document/doxygen/build.bat
@ -1,15 +0,0 @@
-@echo off
-setlocal
-
-set "DIR=%~1"
-if "%DIR%"=="" set "DIR=."
-
-where doxygen >nul 2>&1
-if %ERRORLEVEL% == 0 (
-  if exist "%DIR%\html" (
-    rmdir /s /q "%DIR%\html"
-  )
-  doxygen "%DIR%\Doxyfile" > "%DIR%\doxygen.log" 2>&1
-)
-
-endlocal
--- a/document/sphinx-cn/release_notes/v0_9_0.md
+++ b/document/sphinx-cn/release_notes/v0_9_0.md
@ -8,13 +8,10 @@
  - 现在可以传入 zenoh 原生配置；
 - mqtt 新增配置项以支持加密传输；
 - 新增了第三方库 asio，runtime::core 不再引用 boost，改为引用独立的 asio 库，以减轻依赖；
- 修复 aimrt_py 多线程 rpc 调用 server 端概率性崩溃的问题；
- 为 aimrt_py 的 channel 功能提供了 Context 支持；
 - 新增 bagtrans 命令行工具，用于将 使用 aimrt record_playback 插件录制的 bag 文件转换为 ros2 的 bag 文件；

 **次要修改**：
 - 缩短了一些 examples 的文件路径长度；
- 修复了一些轻微问题；
 - 优化代码结构，移动代码 src/runtime/common/net 至新位置 src/common/net；
 - 升级 jsoncpp 至 1.9.6 版本以优化一些 cmake 问题；
 - 新增了 aimrt_py channel benchmark 示例；
@ -22,3 +19,7 @@
 - iceoryx 插件在编译前先检查是否存在libacl，不存在则不进行编译；
 - 提供 RPC 服务的插件现在支持指定 service name；
 - 提供一键运行example的脚本，并生成测试报告；
+- 修复 aimrt_py 多线程 rpc 调用 server 端概率性崩溃的问题；
+- 为 aimrt_py 的 channel 功能提供了 Context 支持；
+- 现在支持 install aimrt::runtime::core；
+- 删除一些未使用的协议；
--- a/document/sphinx-cn/tutorials/interface_cpp/channel.md
+++ b/document/sphinx-cn/tutorials/interface_cpp/channel.md
@ -257,7 +257,7 @@ Proxy 类型接口可以绑定类型信息，功能更齐全一些。但两种
  - 对于协程形式的回调，Context 和 Msg 的生命周期将持续到协程退出为止；


-此外还需要注意的是，由哪个执行器来执行订阅的回调，这和具体的 Channel 后端实现有关，在运行阶段通过配置才能确定，使用者在编写逻辑代码时不应有任何假设。详细信息请参考对应后端的文档。
+此外还需要注意的是，由哪个执行器来执行订阅的回调，这和具体的 Channel 后端实现有关，在运行阶段通过配置才能确定，使用者在编写逻辑代码时不应有任何假设，详细信息请参考对应后端的文档。


 最佳实践是：如果回调中的任务非常轻量，比如只是设置一个变量，那就可以直接在回调里处理；但如果回调中的任务比较重，那最好调度到其他专门执行任务的执行器里进行处理。
--- a/document/sphinx-cn/tutorials/interface_cpp/rpc.md
+++ b/document/sphinx-cn/tutorials/interface_cpp/rpc.md
@ -270,11 +270,14 @@ class XXXProxy : public aimrt::rpc::CoProxyBase {
  - 该方法实际调用的是一个为当前 RPC 生成的`RegisterXXXClientFunc`全局方法；
  - 该方法需要传入`aimrt::rpc::RpcHandleRef`句柄作为参数；
  - 该方法可以选择传入一个 RPC ServiceName 字段，作为注册时的 RPC 服务名称；
+- 如果有多个同类型的 Proxy，则通过 `ServiceName` 作为区分。开发者需要保证注册时和使用时的 `ServiceName` 一致；
 - 可以为 Proxy 设置一个默认 Context：
  - 如果在调用 RPC 时未传入 Context 或者传入了空的 Context，则会使用该 Proxy 默认的 Context；
  - 使用者可以通过`SetDefaultContextSharedPtr`和`GetDefaultContextSharedPtr`方法来设置、获取默认 Context；
  - 使用者可以通过`NewContextSharedPtr`方法从默认 Context 复制得到一份新的 Context；

+注意：开发者发起一个 RPC 调用后，特定的 RPC 后端将处理具体的请求，实际的耗时、性能等表现以及 timeout 功能等和运行时配置的后端有关，在开发阶段无法确定，详细信息请参考对应后端的文档。
+

 ### 同步型接口

@ -564,6 +567,11 @@ class XXXService : public aimrt::rpc::ServiceBase {
 - RPC Type 为固有属性，表示该 RPC Service 名称所属的体系，例如`pb`、`ros2`等。可以通过`RpcType`方法获取；
 - RPC ServiceName 表示该 RPC 服务的名称，如果不做特殊配置，则会使用一个跟**协议名称**绑定的默认值。如果需要使用同一套协议来提供不同的服务，也可以通过`SetServiceName`方法进行设置；

+注意：由哪个执行器来执行 Service 回调，这和具体的 RPC 后端实现有关，在运行阶段通过配置才能确定，使用者在编写逻辑代码时不应有任何假设，详细信息请参考对应后端的文档。
+
+
+最佳实践是：如果回调中的任务非常轻量，比如只是设置一个变量，那就可以直接在回调里处理；但如果回调中的任务比较重，那最好调度到其他专门执行任务的执行器里进行处理。
+

 ### 同步型接口

--- a/document/sphinx-cn/tutorials/quick_start/installation_cpp.md
+++ b/document/sphinx-cn/tutorials/quick_start/installation_cpp.md
@ -69,8 +69,6 @@ target_link_libraries(

 ### 安装后find_package引用

-请注意：使用 **install 后 find_package 引用**这种方式，只能引用部分功能，只能基于 pkg 模式开发，无法使用 app 模式开发、或开发 aimrt 插件。
-
 参考 [源码构建](build_from_source_ubuntu.md) 运行 build.sh 脚本进行构建，在构建时可以修改 `CMAKE_INSTALL_PREFIX` 指定安装目录，完成安装后，参考以下步骤完成引用：
 - 如果没有安装在系统路径，则需要在自己项目的 CMake 中设置 CMAKE_PREFIX_PATH 到 AimRT 的安装目录，例如：
  ```cmake
@ -84,6 +82,8 @@ target_link_libraries(
  include(GetProtobuf)
  include(GetYamlCpp)
  include(GetJsonCpp)
+  include(GetTBB)
+  include(GetAsio)
  ```
 - 如果编译 AimRT 时带上了 ROS 相关功能，还需要引用 AimRT 安装时引入的一些 ROS 包，例如：
  ```cmake
@ -105,6 +105,8 @@ include(GetLibUnifex)
 include(GetProtobuf)
 include(GetYamlCpp)
 include(GetJsonCpp)
+include(GetTBB)
+include(GetAsio)

 find_package(ros2_plugin_proto REQUIRED)
 find_package(aimrt REQUIRED)
--- a/src/common/net/CMakeLists.txt
+++ b/src/common/net/CMakeLists.txt
@ -23,8 +23,7 @@ add_library(${CUR_TARGET_ALIAS_NAME} ALIAS ${CUR_TARGET_NAME})
 # Set include path of target
 target_include_directories(
  ${CUR_TARGET_NAME}
-  INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
-            $<INSTALL_INTERFACE:include/aimrt>)
+  INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>)

 # Set link libraries of target
 target_link_libraries(
--- a/src/interface/aimrt_module_cpp_interface/CMakeLists.txt
+++ b/src/interface/aimrt_module_cpp_interface/CMakeLists.txt
@ -43,12 +43,6 @@ else()
  target_link_libraries(${CUR_TARGET_NAME} INTERFACE unifex::unifex)
 endif()

-# Fmt lib
-if(AIMRT_USE_FMT_LIB)
-  target_link_libraries(${CUR_TARGET_NAME} INTERFACE fmt::fmt)
-  target_compile_definitions(${CUR_TARGET_NAME} INTERFACE AIMRT_USE_FMT_LIB)
-endif()
-
 # Set installation of target
 if(AIMRT_INSTALL)
  set_property(TARGET ${CUR_TARGET_NAME} PROPERTY EXPORT_NAME ${CUR_TARGET_ALIAS_NAME})
--- a/src/plugins/grpc_plugin/CMakeLists.txt
+++ b/src/plugins/grpc_plugin/CMakeLists.txt
@ -48,11 +48,7 @@ add_werror(${CUR_TARGET_NAME})

 # Set installation of target
 if(AIMRT_INSTALL)
-  set_property(TARGET ${CUR_TARGET_NAME} PROPERTY EXPORT_NAME ${CUR_TARGET_ALIAS_NAME})
-  install(
-    TARGETS ${CUR_TARGET_NAME}
-    EXPORT ${INSTALL_CONFIG_NAME}
-    LIBRARY DESTINATION bin)
+  install(TARGETS ${CUR_TARGET_NAME} LIBRARY DESTINATION bin)
 endif()

 # Set test of target
--- a/src/protocols/CMakeLists.txt
+++ b/src/protocols/CMakeLists.txt
@ -3,37 +3,38 @@

 set_namespace()

-if(AIMRT_BUILD_EXAMPLES AND AIMRT_BUILD_WITH_PROTOBUF)
-  add_subdirectory(example)
-endif()
-
-if(AIMRT_BUILD_EXAMPLES AND AIMRT_BUILD_WITH_ROS2)
-  add_subdirectory(example_ros2)
-endif()
-
 if(AIMRT_BUILD_WITH_PROTOBUF)
  add_subdirectory(common)
-  add_subdirectory(geometry)
  add_subdirectory(sensor)
-  add_subdirectory(visualization)
+
+  if(AIMRT_BUILD_EXAMPLES)
+    add_subdirectory(example)
+  endif()
+
+  if(AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN)
+    add_subdirectory(plugins/time_manipulator_plugin)
+  endif()
+
+  if(AIMRT_BUILD_PARAMETER_PLUGIN)
+    add_subdirectory(plugins/parameter_plugin)
+  endif()
+
+  if(AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
+    add_subdirectory(plugins/record_playback_plugin)
+  endif()
+
+  if(AIMRT_BUILD_LOG_CONTROL_PLUGIN)
+    add_subdirectory(plugins/log_control_plugin)
+  endif()
+
 endif()

-if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN)
-  add_subdirectory(plugins/time_manipulator_plugin)
-endif()
+if(AIMRT_BUILD_WITH_ROS2)
+  if(AIMRT_BUILD_EXAMPLES)
+    add_subdirectory(example_ros2)
+  endif()

-if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_PARAMETER_PLUGIN)
-  add_subdirectory(plugins/parameter_plugin)
-endif()
-
-if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
-  add_subdirectory(plugins/record_playback_plugin)
-endif()
-
-if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_LOG_CONTROL_PLUGIN)
-  add_subdirectory(plugins/log_control_plugin)
-endif()
-
-if(AIMRT_BUILD_WITH_ROS2 AND AIMRT_BUILD_ROS2_PLUGIN)
-  add_subdirectory(plugins/ros2_plugin_proto)
+  if(AIMRT_BUILD_ROS2_PLUGIN OR AIMRT_BUILD_BAGTRANS)
+    add_subdirectory(plugins/ros2_plugin_proto)
+  endif()
 endif()
--- a/src/protocols/geometry/CMakeLists.txt
+++ b/src/protocols/geometry/CMakeLists.txt
@ -1,2 +0,0 @@
-# Copyright (c) 2023, AgiBot Inc.
-# All rights reserved.
--- a/src/protocols/sensor/joint.proto
+++ b/src/protocols/sensor/joint.proto
@ -1,34 +0,0 @@
-// Copyright (c) 2023, AgiBot Inc.
-// All rights reserved.
-
-syntax = "proto3";
-
-import "header.proto";
-
-package aimrt.protocols.sensor;
-
-message SingleJointState {
-  string name = 1;
-  double position = 2;
-  double velocity = 3;
-  double effort = 4;
-}
-
-message JointState {
-  aimrt.protocols.common.Header header = 1;
-  repeated SingleJointState data = 2;
-}
-
-message SingleJointStateWithPD {
-  string name = 1;
-  double position = 2;
-  double velocity = 3;
-  double effort = 4;
-  double stiffness = 5;
-  double damping = 6;
-}
-
-message JointStateWithPD {
-  aimrt.protocols.common.Header header = 1;
-  repeated SingleJointStateWithPD data = 2;
-}
--- a/src/protocols/visualization/CMakeLists.txt
+++ b/src/protocols/visualization/CMakeLists.txt
@ -1,2 +0,0 @@
-# Copyright (c) 2023, AgiBot Inc.
-# All rights reserved.
--- a/src/runtime/core/CMakeLists.txt
+++ b/src/runtime/core/CMakeLists.txt
@ -25,6 +25,9 @@ add_library(${CUR_TARGET_ALIAS_NAME} ALIAS ${CUR_TARGET_NAME})
 # Set source file of target
 target_sources(${CUR_TARGET_NAME} PRIVATE ${src})

+# Set head files of target
+target_sources(${CUR_TARGET_NAME} INTERFACE FILE_SET HEADERS BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR} FILES ${head_files})
+
 # Set include path of target
 target_include_directories(
  ${CUR_TARGET_NAME}
@ -49,6 +52,18 @@ add_werror(${CUR_TARGET_NAME})
 # Set version of target
 target_compile_definitions(${CUR_TARGET_NAME} PUBLIC AIMRT_VERSION="${AIMRT_VERSION}")

+# Set installation of target
+if(AIMRT_INSTALL)
+  set_property(TARGET ${CUR_TARGET_NAME} PROPERTY EXPORT_NAME ${CUR_TARGET_ALIAS_NAME})
+  install(
+    TARGETS ${CUR_TARGET_NAME}
+    EXPORT ${INSTALL_CONFIG_NAME}
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+            FILE_SET HEADERS
+            DESTINATION include/aimrt/${CUR_DIR})
+endif()
+
 # Set test of target
 if(AIMRT_BUILD_TESTS AND test_files)
  add_gtest_target(TEST_TARGET ${CUR_TARGET_NAME} TEST_SRC ${test_files})
--- a/src/runtime/core/module/module_manager.cc
+++ b/src/runtime/core/module/module_manager.cc
@ -398,6 +398,8 @@ std::list<std::pair<std::string, std::string>> ModuleManager::GenInitializationR
      state_.load() == State::kInit,
      "Method can only be called when state is 'Init'.");

+  std::list<std::pair<std::string, std::string>> report;
+
  std::vector<std::vector<std::string>> module_info_table =
      {{"name", "pkg", "version"}};

@ -413,7 +415,31 @@ std::list<std::pair<std::string, std::string>> ModuleManager::GenInitializationR
    module_info_table.emplace_back(std::move(cur_module_info));
  }

-  return {{"Module Info List", aimrt::common::util::DrawTable(module_info_table)}};
+  report.emplace_back(
+      std::pair<std::string, std::string>{
+          "Module Info List",
+          aimrt::common::util::DrawTable(module_info_table)});
+
+  std::vector<std::string> unused_module_options_vec;
+  for (const auto& item : options_.modules_options) {
+    auto finditr = std::find_if(
+        module_detail_info_vec_.begin(), module_detail_info_vec_.end(),
+        [name = item.name](const util::ModuleDetailInfo* ptr) {
+          return name == ptr->name;
+        });
+
+    if (finditr == module_detail_info_vec_.end())
+      unused_module_options_vec.emplace_back(item.name);
+  }
+
+  if (!unused_module_options_vec.empty()) {
+    report.emplace_back(
+        std::pair<std::string, std::string>{
+            "Unused Module Options Warning",
+            "[ " + aimrt::common::util::JoinVec(unused_module_options_vec, " , ") + " ]"});
+  }
+
+  return report;
 }

 }  // namespace aimrt::runtime::core::module
--- a/src/tools/CMakeLists.txt
+++ b/src/tools/CMakeLists.txt
@ -16,10 +16,10 @@ if(AIMRT_BUILD_CLI_TOOLS)
  add_subdirectory(aimrt_cli)
 endif()

+if(AIMRT_BUILD_WITH_ROS2 AND AIMRT_BUILD_BAGTRANS)
+  add_subdirectory(bagtrans)
+endif()
+
 if(AIMRT_BUILD_PYTHON_RUNTIME AND AIMRT_BUILD_PYTHON_PACKAGE)
  add_subdirectory(package_aimrt_py)
 endif()
-
-if(AIMRT_BUILD_WITH_ROS2 AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
-  add_subdirectory(bagtrans)
-endif()
--- a/src/tools/aimrt_cli/aimrt_cli/templates/workspace/ws_CMakeLists.txt.jinja2
+++ b/src/tools/aimrt_cli/aimrt_cli/templates/workspace/ws_CMakeLists.txt.jinja2
@ -29,28 +29,27 @@ if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
  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(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
    if({{ project_name | upper }}_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(/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()

+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
+  add_compile_options(/utf-8 /wd4819)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
+endif()
+
+if(WIN32)
+  add_compile_definitions(NOMINMAX)
+endif()
+
 # Include cmake module
 include(NamespaceTool)

--- a/src/tools/package_aimrt_py/CMakeLists.txt
+++ b/src/tools/package_aimrt_py/CMakeLists.txt
@ -2,7 +2,7 @@
 # All rights reserved.

 get_target_property(py_files aimrt::runtime::python_runtime PY_FILES)
-file(GLOB_RECURSE gencode_file ${PROJECT_SOURCE_DIR}/src/tools/protoc_plugin_py_gen_aimrt_py_rpc/*.py) # TODO
+file(GLOB_RECURSE gencode_file ${PROJECT_SOURCE_DIR}/src/tools/protoc_plugin_py_gen_aimrt_py_rpc/*.py)
 list(APPEND py_files ${gencode_file})

 set(AIMRT_PY_PKG_DIR ${CMAKE_BINARY_DIR}/aimrt_py_pkg)