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build: enhance build options for modular components (#97)

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* build: enhance build options for modular components

Add dependent options for building various plugins and components, allowing finer control over runtime and external library usage. This change improves flexibility and ensures that components are only built when their dependencies are active, optimizing the build process.

* build: update grpc plugin dependency condition

Remove protobuf dependency requirement for the grpc plugin, simplifying its build configuration. This improves flexibility by allowing the grpc plugin to be built independently of the protobuf option.

---------

Co-authored-by: zhangyi <zhangyi@agibot.com>
This commit is contained in:
zhangyi1357 2024-11-13 13:48:28 +08:00 committed by GitHub
parent 94af04fcb7
commit bb68f77f67
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GPG Key ID: B5690EEEBB952194
3 changed files with 31 additions and 28 deletions
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36
CMakeLists.txt
View File

@ -13,40 +13,40 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# Set cmake path
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
include(CMakeDependentOption)
# 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_WITH_PROTOBUF "AimRT build with protobuf." ON)
option(AIMRT_BUILD_WITH_ROS2 "AimRT build with ros2." OFF)
option(AIMRT_BUILD_PYTHON_RUNTIME "AimRT build python runtime." OFF)
cmake_dependent_option(AIMRT_BUILD_PYTHON_RUNTIME "AimRT build python runtime." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_PYTHON_PACKAGE "AimRT build python package." OFF "AIMRT_BUILD_PYTHON_RUNTIME;AIMRT_INSTALL" 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_BUILD_ECHO_PLUGIN "AimRT build echo plugin." OFF)
cmake_dependent_option(AIMRT_BUILD_NET_PLUGIN "AimRT build net plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_MQTT_PLUGIN "AimRT build mqtt plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_ZENOH_PLUGIN "AimRT build zenoh plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_ICEORYX_PLUGIN "AimRT build iceoryx plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_OPENTELEMETRY_PLUGIN "AimRT build opentelemetry plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_ECHO_PLUGIN "AimRT build echo plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
cmake_dependent_option(AIMRT_BUILD_ROS2_PLUGIN "AimRT build ros2 plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_ROS2" OFF)
cmake_dependent_option(AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN "AimRT build record playback plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_PROTOBUF" OFF)
cmake_dependent_option(AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN "AimRT build time manipulator plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_PROTOBUF" OFF)
cmake_dependent_option(AIMRT_BUILD_PARAMETER_PLUGIN "AimRT build parameter plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_PROTOBUF" OFF)
cmake_dependent_option(AIMRT_BUILD_LOG_CONTROL_PLUGIN "AimRT build log control plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_PROTOBUF" OFF)
cmake_dependent_option(AIMRT_BUILD_GRPC_PLUGIN "AimRT build grpc plugin." OFF "AIMRT_BUILD_RUNTIME" 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)

11
src/examples/plugins/ros2_plugin/CMakeLists.txt
View File

@ -12,10 +12,13 @@ add_subdirectory(assistant/native_ros2_chn_publisher)
add_subdirectory(assistant/native_ros2_chn_subscriber)
add_subdirectory(assistant/native_ros2_rpc_client)
add_subdirectory(assistant/native_ros2_rpc_server)
add_subdirectory(assistant/native_ros2_pb_chn_publisher)
add_subdirectory(assistant/native_ros2_pb_chn_subscriber)
add_subdirectory(assistant/native_ros2_pb_rpc_client)
add_subdirectory(assistant/native_ros2_pb_rpc_server)
if(AIMRT_BUILD_WITH_PROTOBUF)
add_subdirectory(assistant/native_ros2_pb_chn_publisher)
add_subdirectory(assistant/native_ros2_pb_chn_subscriber)
add_subdirectory(assistant/native_ros2_pb_rpc_client)
add_subdirectory(assistant/native_ros2_pb_rpc_server)
endif()
# install
if(CMAKE_SYSTEM_NAME MATCHES "Linux")

12
src/plugins/CMakeLists.txt
View File

@ -7,7 +7,7 @@ if(AIMRT_BUILD_NET_PLUGIN)
add_subdirectory(net_plugin)
endif()
if(AIMRT_BUILD_WITH_ROS2 AND AIMRT_BUILD_ROS2_PLUGIN)
if(AIMRT_BUILD_ROS2_PLUGIN)
add_subdirectory(ros2_plugin)
endif()
@ -23,19 +23,19 @@ if(AIMRT_BUILD_ICEORYX_PLUGIN)
add_subdirectory(iceoryx_plugin)
endif()
if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
if(AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
add_subdirectory(record_playback_plugin)
endif()
if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN)
if(AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN)
add_subdirectory(time_manipulator_plugin)
endif()
if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_PARAMETER_PLUGIN)
if(AIMRT_BUILD_PARAMETER_PLUGIN)
add_subdirectory(parameter_plugin)
endif()
if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_LOG_CONTROL_PLUGIN)
if(AIMRT_BUILD_LOG_CONTROL_PLUGIN)
add_subdirectory(log_control_plugin)
endif()
@ -43,7 +43,7 @@ if(AIMRT_BUILD_OPENTELEMETRY_PLUGIN)
add_subdirectory(opentelemetry_plugin)
endif()
if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_GRPC_PLUGIN)
if(AIMRT_BUILD_GRPC_PLUGIN)
add_subdirectory(grpc_plugin)
endif()