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AimRT/CMakeLists.txt
zhangyi1357 bb68f77f67
build: enhance build options for modular components (#97) 
* 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>
2024-11-13 13:48:28 +08:00

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CMake
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# Copyright (c) 2023, AgiBot Inc.
# All rights reserved.
cmake_minimum_required(VERSION 3.24)
project(aimrt LANGUAGES C CXX)
# Prevent variables from being reset by option
# This setting allows predefined variables to take precedence for FetchContent_MakeAvailable()
# see: https://cmake.org/cmake/help/latest/policy/CMP0077.html
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)
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_USE_LOCAL_PROTOC_COMPILER "AimRT use local protoc compiler." OFF)
option(AIMRT_USE_PROTOC_PYTHON_PLUGIN "AimRT use protoc python 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_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 "${PROJECT_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 ${CMAKE_SOURCE_DIR}/_deps)
set(CMAKE_CXX_VISIBILITY_PRESET hidden)
set(CMAKE_CXX_VISIBLITY_INLINES_HIDDEN ON)
set(BUILD_SHARED_LIBS OFF)
if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
if(AIMRT_BUILD_TESTS)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
endif()
endif()
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
endif()
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
add_compile_options(/utf-8 /wd4819)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
endif()
if(WIN32)
add_compile_definitions(NOMINMAX)
endif()
# Build document
if(AIMRT_BUILD_DOCUMENT AND UNIX)
message(STATUS "gen document ...")
set(AIMRT_DOC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/document)
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
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)
if(NOT Protobuf_PROTOC_EXECUTABLE)
find_program(PROTOC_EXECUTABLE protoc)
if(NOT PROTOC_EXECUTABLE)
message(FATAL_ERROR "AIMRT_USE_LOCAL_PROTOC_COMPILER is ON, but can not find protoc compiler, " #
"please install protoc and make it available in your PATH, or set Protobuf_PROTOC_EXECUTABLE to protoc path")
endif()
message(STATUS "Found local protoc compiler: ${PROTOC_EXECUTABLE}")
set(Protobuf_PROTOC_EXECUTABLE
${PROTOC_EXECUTABLE}
CACHE STRING "Path to local protoc compiler.")
endif()
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()
include(GetJsonCpp)
include(GetYamlCpp)
find_package(rclcpp REQUIRED)
find_package(Python3 REQUIRED)
endif()
if(AIMRT_BUILD_RUNTIME)
include(GetAsio)
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_NET_PLUGIN)
include(GetBoost)
endif()
if(AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
include(GetSqlite)
endif()
if(AIMRT_BUILD_ICEORYX_PLUGIN)
# try to find libacl
if(CMAKE_SYSTEM_NAME MATCHES "Linux|QNX")
find_library(ACL_LIB acl)
if(NOT ACL_LIB)
message(WARNING "ICEORYX PLUGIN: libacl1-dev not found, please install the package by: sudo apt install libacl1-dev.")
set(AIMRT_BUILD_ICEORYX_PLUGIN OFF)
endif()
endif()
if(AIMRT_BUILD_ICEORYX_PLUGIN)
include(GetCppToml)
include(GetIceoryx)
endif()
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
"ZENOH_PLUGIN: 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(GetBoost)
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 ${CMAKE_BUILD_TYPE} --target create_python_pkg)")
endif()
# Print all aimrt options
message("\n AIMRT CMake Options/Info:")
get_cmake_property(all_variables VARIABLES)
string(REGEX MATCHALL "AIMRT_[A-Za-z0-9_]*" aimrt_vars "${all_variables}")
list(REMOVE_DUPLICATES aimrt_vars)
list(SORT aimrt_vars)
foreach(var ${aimrt_vars})
string(LENGTH ${var} var_length)
math(EXPR padding_length "40 - ${var_length}")
if(padding_length GREATER 0)
string(REPEAT "." ${padding_length} padding)
else()
set(padding "")
endif()
message(" ${var}${padding}: ${${var}}")
endforeach()
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