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rtt_roscomm: generate dependency typekits #174

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rtt_roscomm: generate dependency typekits #174

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64 changes: 60 additions & 4 deletions rtt_roscomm/cmake/GenerateRTTROSCommPackage.cmake.em
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Original file line number Diff line number Diff line change
Expand Up @@ -43,12 +43,68 @@ endmacro()

macro(ros_generate_rtt_typekit package)
cmake_parse_arguments(ros_generate_rtt_typekit "" "" "EXTRA_INCLUDES" ${ARGN})
set(_package ${package})
add_subdirectory(${rtt_roscomm_TEMPLATES_DIR}/typekit ${package}_typekit)

find_package(rtt_${package} QUIET)
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This approach would prevent that the typekit is rebuilt in an existing workspace after it has been built once, for example after one message definition was updated?


if(NOT rtt_${package}_FOUND AND NOT TARGET rtt-${package}-typekit)
set(_include_dirs)
set(_pkg_libs)
set(_msg_exported_targets)
set(_typekit_targets)
set(_transport_targets)
set(_mqueue_targets)
set(_corba_targets)

include(${${package}_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/${package}/cmake/${package}-msg-paths.cmake)

foreach(dep ${${package}_MSG_DEPENDENCIES})
find_package(${dep} QUIET)

if(${dep}_FOUND)
list(APPEND _include_dirs ${${dep}_INCLUDE_DIRS})
list(APPEND _pkg_libs ${${dep}_LIBRARIES})
list(APPEND _msg_exported_targets ${${dep}_EXPORTED_TARGETS})

find_package(rtt_${dep} QUIET)

if(NOT rtt_${dep}_FOUND AND NOT TARGET rtt-${dep}-typekit)
ros_generate_rtt_typekit(${dep})
endif()

if(rtt_${dep}_FOUND)
list(APPEND _pkg_libs ${rtt_${dep}_LIBRARIES})
endif()

if(TARGET rtt-${dep}-typekit)
list(APPEND _typekit_targets rtt-${dep}-typekit)
endif()

if(TARGET rtt-${dep}-ros-transport)
list(APPEND _transport_targets rtt-${dep}-ros-transport)
endif()

if(TARGET rtt-${dep}-ros-transport-mqueue)
list(APPEND _mqueue_targets rtt-${dep}-ros-transport-mqueue)
endif()

if(TARGET rtt-${dep}-ros-transport-corba)
list(APPEND _corba_targets rtt-${dep}-ros-transport-corba)
endif()
endif()
endforeach()

set(_package ${package})
add_subdirectory(${rtt_roscomm_TEMPLATES_DIR}/typekit ${package}_typekit)
endif()
endmacro(ros_generate_rtt_typekit)

macro(ros_generate_rtt_service_proxies package)
cmake_parse_arguments(ros_generate_rtt_service_proxies "" "" "EXTRA_INCLUDES" ${ARGN})
set(_package ${package})
add_subdirectory(${rtt_roscomm_TEMPLATES_DIR}/service ${package}_service_proxies)

find_package(rtt_${package} QUIET)

if(NOT rtt_${package}_FOUND AND NOT TARGET rtt_${package}_rosservice_proxies)
set(_package ${package})
add_subdirectory(${rtt_roscomm_TEMPLATES_DIR}/service ${package}_service_proxies)
endif()
endmacro(ros_generate_rtt_service_proxies)
7 changes: 4 additions & 3 deletions rtt_roscomm/src/templates/service/CMakeLists.txt
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Expand Up @@ -90,16 +90,17 @@ configure_file(
include_directories(
${USE_OROCOS_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${${_package}_INCLUDE_DIRS})
${${_package}_INCLUDE_DIRS}
${_include_dirs})

# Targets
if(NOT DEFINED CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "Release")
set(CMAKE_BUILD_TYPE MinSizeRel)
endif()
orocos_service( rtt_${ROSPACKAGE}_rosservice_proxies ${CMAKE_CURRENT_BINARY_DIR}/rtt_rosservice_proxies.cpp)
target_link_libraries( rtt_${ROSPACKAGE}_rosservice_proxies ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})
target_link_libraries( rtt_${ROSPACKAGE}_rosservice_proxies ${catkin_LIBRARIES} ${_pkg_libs} ${USE_OROCOS_LIBRARIES})
if(DEFINED ${_package}_EXPORTED_TARGETS)
add_dependencies( rtt_${ROSPACKAGE}_rosservice_proxies ${${_package}_EXPORTED_TARGETS})
add_dependencies( rtt_${ROSPACKAGE}_rosservice_proxies ${${_package}_EXPORTED_TARGETS} ${_msg_exported_targets})
endif()

get_directory_property(_additional_make_clean_files ADDITIONAL_MAKE_CLEAN_FILES)
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31 changes: 16 additions & 15 deletions rtt_roscomm/src/templates/typekit/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -196,7 +196,8 @@ include_directories(
${rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION}/orocos
${USE_OROCOS_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${${_package}_INCLUDE_DIRS})
${${_package}_INCLUDE_DIRS}
${_include_dirs})

# Targets
if(NOT DEFINED CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "Release")
Expand All @@ -206,45 +207,45 @@ add_custom_target(rtt-${_package}-generate_boost_headers
DEPENDS ${${_package}_GENERATED_BOOST_HEADERS}
)
orocos_typekit(rtt-${_package}-typekit ${rtt-${_package}-typekit_SOURCES})
target_link_libraries(rtt-${_package}-typekit ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${USE_OROCOS_LIBRARIES})
add_dependencies(rtt-${_package}-typekit rtt-${_package}-generate_boost_headers)
target_link_libraries(rtt-${_package}-typekit ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${_pkg_libs} ${USE_OROCOS_LIBRARIES})
add_dependencies(rtt-${_package}-typekit rtt-${_package}-generate_boost_headers ${_typekit_targets})
orocos_typekit(rtt-${_package}-ros-transport ${rtt-${_package}-ros-transport_SOURCES})
target_link_libraries(rtt-${_package}-ros-transport ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${USE_OROCOS_LIBRARIES})
add_dependencies(rtt-${_package}-ros-transport rtt-${_package}-generate_boost_headers)
target_link_libraries(rtt-${_package}-ros-transport ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${_pkg_libs} ${USE_OROCOS_LIBRARIES})
add_dependencies(rtt-${_package}-ros-transport rtt-${_package}-generate_boost_headers ${_transport_targets})

# Build mqueue transport plugin
if(ENABLE_MQ)
orocos_typekit(rtt-${_package}-ros-transport-mqueue ${rtt-${_package}-ros-transport-mqueue_SOURCES})
target_link_libraries(rtt-${_package}-ros-transport-mqueue ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${USE_OROCOS_LIBRARIES} ${OROCOS-RTT_MQUEUE_LIBRARIES})
add_dependencies(rtt-${_package}-ros-transport-mqueue rtt-${_package}-generate_boost_headers)
target_link_libraries(rtt-${_package}-ros-transport-mqueue ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${_pkg_libs} ${USE_OROCOS_LIBRARIES} ${OROCOS-RTT_MQUEUE_LIBRARIES})
add_dependencies(rtt-${_package}-ros-transport-mqueue rtt-${_package}-generate_boost_headers ${_mqueue_targets})
endif()

# Build corba transport plugin
if(ENABLE_CORBA)
orocos_typekit(rtt-${_package}-ros-transport-corba ${rtt-${_package}-ros-transport-corba_SOURCES})
target_link_libraries(rtt-${_package}-ros-transport-corba ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${USE_OROCOS_LIBRARIES} ${OROCOS-RTT_CORBA_LIBRARIES})
add_dependencies(rtt-${_package}-ros-transport-corba rtt-${_package}-generate_boost_headers)
target_link_libraries(rtt-${_package}-ros-transport-corba ${catkin_LIBRARIES} ${${_package}_LIBRARIES} ${_pkg_libs} ${USE_OROCOS_LIBRARIES} ${OROCOS-RTT_CORBA_LIBRARIES})
add_dependencies(rtt-${_package}-ros-transport-corba rtt-${_package}-generate_boost_headers ${_corba_targets})
endif()

# Add an explicit dependency between the typekits and message files
# TODO: Add deps for all msg dependencies
if(${_package}_EXPORTED_TARGETS)
if(${_package}_EXPORTED_TARGETS OR DEFINED _msg_exported_targets)
if(NOT ${_package} STREQUAL ${PROJECT_NAME})
add_dependencies(rtt-${_package}-typekit ${${_package}_EXPORTED_TARGETS})
add_dependencies(rtt-${_package}-ros-transport ${${_package}_EXPORTED_TARGETS})
add_dependencies(rtt-${_package}-typekit ${${_package}_EXPORTED_TARGETS} ${_msg_exported_targets})
add_dependencies(rtt-${_package}-ros-transport ${${_package}_EXPORTED_TARGETS} ${_msg_exported_targets})
if(TARGET rtt-${_package}-ros-transport-mqueue)
add_dependencies(rtt-${_package}-ros-transport-mqueue ${${_package}_EXPORTED_TARGETS})
add_dependencies(rtt-${_package}-ros-transport-mqueue ${${_package}_EXPORTED_TARGETS} ${_msg_exported_targets})
endif()
if(TARGET rtt-${_package}-ros-transport-corba)
add_dependencies(rtt-${_package}-ros-transport-corba ${${_package}_EXPORTED_TARGETS})
add_dependencies(rtt-${_package}-ros-transport-corba ${${_package}_EXPORTED_TARGETS} ${_msg_exported_targets})
endif()
endif()
endif()

# Add the typekit libraries to the dependecies exported by this project
# LIST(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS "rtt-${_package}-typekit") # <-- This is already done in orocos_typekit().
# LIST(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS "rtt-${_package}-ros-transport") # <-- This is already done in orocos_typekit().
LIST(APPEND ${PROJECT_NAME}_EXPORTED_INCLUDE_DIRS "${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/orocos" ${${_package}_INCLUDE_DIRS})
LIST(APPEND ${PROJECT_NAME}_EXPORTED_INCLUDE_DIRS "${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/orocos" ${${_package}_INCLUDE_DIRS} ${_include_dirs})

get_directory_property(_additional_make_clean_files ADDITIONAL_MAKE_CLEAN_FILES)
list(APPEND _additional_make_clean_files "${rtt-${_package}-typekit_SOURCES};${rtt-${_package}-ros-transport_SOURCES};${rtt-${_package}-ros-transport-corba_SOURCES};${rtt-${_package}-ros-transport-mqueue_SOURCES};${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/orocos/${_package}")
Expand Down