executor_testbench/rcl_executor/CMakeLists.txt at master · micro-ROS/executor_testbench · GitHub

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cmake_minimum_required(VERSION 3.5)

project(rcl_executor)

#################################################
# compiler settings
#################################################

# Default to C11
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 11)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()


# for performance tracing
# see https://gitlab.com/micro-ROS/ros_tracing/ros2_perf_analysis/tree/feature/simple-analysis/scripts
add_compile_options(-finstrument-functions
-fplugin=/home/jst3si/micro-ros/src/instrument-attribute-gcc-plugin/instrument_attribute.so
-fplugin-arg-instrument_attribute-debug)

set(CMAKE_VERBOSE_MAKEFILE ON)

#################################################
# package dependencies
#################################################
find_package(ament_cmake_ros REQUIRED)
find_package(rcl REQUIRED)
find_package(rcutils REQUIRED)


#################################################
# include directories
#################################################
include_directories(include)

#################################################
# create library
#################################################
add_library(${PROJECT_NAME} src/handle.c src/let_executor.c)

ament_target_dependencies(${PROJECT_NAME}
  rcl
  rcutils
)

install(DIRECTORY include/ DESTINATION include)
install(TARGETS ${PROJECT_NAME} DESTINATION lib)

# specific order: dependents before dependencies
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})

#################################################
# gtest
#################################################

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(ament_lint_auto REQUIRED)
  find_package(std_msgs REQUIRED)
  find_package(geometry_msgs REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE) # No copyright header check since link to NOTICE file is not recognized properly.
  find_package(rcl REQUIRED)
  find_package(osrf_testing_tools_cpp REQUIRED)
  ament_lint_auto_find_test_dependencies()

  ament_add_gtest(${PROJECT_NAME}_test
    test/test_let_executor.cpp test/test_handle.cpp
  )

  target_include_directories(${PROJECT_NAME}_test PRIVATE include)
  target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})
  ament_target_dependencies(${PROJECT_NAME}_test
    rcl
    rcutils
    osrf_testing_tools_cpp
    std_msgs
    geometry_msgs
  )
endif()

#################################################
# export dependencies
#################################################
# specific order: dependents before dependencies
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl)
ament_export_dependencies(rcutils)
ament_package()

install(
  DIRECTORY include/
  DESTINATION include
)