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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5.1)
project(cyber VERSION 9.0.0) # Apollo Version
set(CMAKE_CXX_STANDARD 14)
set(TARGET_NAME ${PROJECT_NAME})
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Debug)
endif()
enable_language(ASM)
include(CMakePackageConfigHelpers)
include(GNUInstallDirs)
# ccache
find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND)
message(STATUS "### use ccache")
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
endif()
# fix for gcc 9
#set(CMAKE_POSITION_INDEPENDENT_CODE ON)
#set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pie")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CROUTINE_FILE "cyber/croutine/detail/swap_x86_64.S")
if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
set(CROUTINE_FILE "cyber/croutine/detail/swap_x86_64.S")
message("### SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR} ${CROUTINE_FILE}")
else()
set(CROUTINE_FILE "cyber/croutine/detail/swap_aarch64.S")
message("### SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR} ${CROUTINE_FILE}")
endif()
find_package(Threads REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(fastrtps REQUIRED)
find_package(fastcdr REQUIRED)
find_package(glog REQUIRED)
find_package(Protobuf REQUIRED)
# find_package(Python REQUIRED COMPONENTS Interpreter Development)
pkg_check_modules(Python REQUIRED python3)
pkg_check_modules(Uuid REQUIRED uuid)
pkg_check_modules(Gflags REQUIRED gflags)
pkg_check_modules(NlohmannJson REQUIRED nlohmann_json)
# set(Python_VERSION "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
set(Python_VERSION "${Python_VERSION}")
set(CYBER_PYTHON_PATH "lib/python${Python_VERSION}/site-packages/cyber/python")
set(CYBER_PYTHON_INTERNAL_PATH "${CYBER_PYTHON_PATH}/internal")
set(CYBER_PYTHON_PROTOBUF_PATH "lib/python${Python_VERSION}/site-packages/cyber/proto")
set(CYBER_MSGS_CACHE ON CACHE BOOL "generate cyber proto msgs flag.")
if(NOT DEFINED glog_LIBRARIES)
set(glog_LIBRARIES "glog")
endif()
if(NOT DEFINED Uuid_LIBRARIES)
set(Uuid_LIBRARIES "uuid")
endif()
set(DEPENCENCY_INCLUDE_DIRS
${fastcdr_INCLUDE_DIR}
${fastrtps_INCLUDE_DIR}
${Protobuf_INCLUDE_DIRS}
${Python_INCLUDE_DIRS}
${Uuid_INCLUDE_DIRS}
${glog_INCLUDE_DIRS}
${Gflags_INCLUDE_DIRS}
${NlohmannJson_INCLUDE_DIRS}
)
set(DEPENCENCY_LIB_DIRS
${fastcdr_LIB_DIR}
${fastrtps_LIB_DIR}
${Protobuf_LIBRARIES_DIRS}
${Python_LIBRARIES_DIRS}
${Uuid_LIBRARIES_DIRS}
${glog_LIBRARY_DIRS}
${Gflags_LIBRARY_DIRS}
${NlohmannJson_LIBRARY_DIRS}
)
set(DEPENCENCY_LIBS
${glog_LIBRARIES}
${Gflags_LIBRARIES}
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${DEPENCENCY_INCLUDE_DIRS}
)
link_directories(${DEPENCENCY_LIB_DIRS})
file(GLOB CYBER_PROTO_FILES
"${CMAKE_CURRENT_SOURCE_DIR}/modules/common_msgs/**/*.proto"
"${CMAKE_CURRENT_SOURCE_DIR}/cyber/proto/*.proto"
"${CMAKE_CURRENT_SOURCE_DIR}/cyber/examples/proto/*.proto"
)
if(${CYBER_MSGS_CACHE})
set(CYBER_MSGS_CACHE OFF CACHE BOOL "generate cyber proto msgs flag." FORCE)
foreach(FIL ${CYBER_PROTO_FILES})
message("### generate proto file: ${FIL}")
get_filename_component(FIL_WE ${FIL} NAME_WE)
string(REGEX REPLACE ".+/(.+)\\..*" "\\1" FILE_NAME ${FIL})
string(REGEX REPLACE "(.+)\\${FILE_NAME}.*" "\\1" FILE_PATH ${FIL})
execute_process(
COMMAND
${PROTOBUF_PROTOC_EXECUTABLE}
-I${CMAKE_CURRENT_SOURCE_DIR}
--cpp_out=${CMAKE_CURRENT_SOURCE_DIR}
--python_out=${CMAKE_CURRENT_SOURCE_DIR}
${FIL}
)
endforeach()
endif()
file(GLOB CYBER_PROTO_SRCS
"cyber/proto/*.pb.cc"
"cyber/proto/*.pb.h"
"cyber/examples/proto/*.pb.cc"
"cyber/examples/proto/*.pb.h"
"modules/common_msgs/**/*.pb.cc"
"modules/common_msgs/**/*.pb.h"
)
file(GLOB CYBER_SRCS
"cyber/base/*.cc"
"cyber/blocker/*.cc"
"cyber/class_loader/*.cc"
"cyber/class_loader/*/*.cc"
"cyber/common/*.cc"
"cyber/component/*.cc"
"cyber/croutine/*.cc"
"cyber/croutine/*/*.cc"
"cyber/data/*.cc"
"cyber/event/*.cc"
"cyber/io/*.cc"
"cyber/logger/*.cc"
"cyber/message/*.cc"
"cyber/node/*.cc"
"cyber/parameter/*.cc"
"cyber/plugin_manager/*.cc"
"cyber/record/*.cc"
"cyber/record/*/*.cc"
"cyber/scheduler/*.cc"
"cyber/scheduler/*/*.cc"
"cyber/service/*.cc"
"cyber/service_discovery/*.cc"
"cyber/service_discovery/*/*.cc"
"cyber/task/*.cc"
"cyber/time/*.cc"
"cyber/timer/*.cc"
"cyber/transport/*.cc"
"cyber/transport/*/*.cc"
"cyber/*.cc"
"cyber/sysmo/*.cc"
${CROUTINE_FILE}
)
list(FILTER CYBER_SRCS EXCLUDE REGEX .*test[.]cc)
list(FILTER CYBER_SRCS EXCLUDE REGEX .*/cyber/class_loader/test/*)
list(REMOVE_ITEM CYBER_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/cyber/class_loader/shared_library/sample.cc")
add_library(${TARGET_NAME} SHARED
${CYBER_PROTO_SRCS}
${CYBER_SRCS}
)
target_link_libraries(${TARGET_NAME}
${glog_LIBRARIES}
${Gflags_LIBRARIES}
${NlohmannJson_LIBRARIES}
${Protobuf_LIBRARIES}
${Uuid_LIBRARIES}
fastrtps
fastcdr
atomic
dl
rt
)
add_subdirectory(cyber/mainboard)
add_subdirectory(cyber/examples)
add_subdirectory(cyber/python)
add_subdirectory(cyber/tools)
# --------------------------------------------------------------
# CPack
# --------------------------------------------------------------
# 打包方式
include(InstallRequiredSystemLibraries)
set(CPACK_GENERATOR DEB)
set(CPACK_SOURCE_GENERATOR TGZ ZIP)
set(CPACK_PACKAGE_NAME "${TARGET_NAME}")
set(CPACK_PACKAGE_CONTACT "job@minhang.me")
set(CPACK_PACKAGE_VERSION "${PROJECT_VERSION}")
set(CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_VERSION_MAJOR}")
set(CPACK_PACKAGE_VERSION_MINOR "${PROJECT_VERSION_MINOR}")
set(CPACK_PACKAGE_VERSION_PATCH "${PROJECT_VERSION_PATCH}")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Apollo CyberRT")
set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
set(CPACK_OUTPUT_FILE_PREFIX "packages")
set(CPACK_PACKAGE_RELOCATABLE TRUE)
set(CPACK_MONOLITHIC_INSTALL TRUE)
set(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
set(CPACK_RPM_PACKAGE_GROUP "Development/Libraries")
set(CPACK_RPM_PACKAGE_LICENSE "MIT")
set(CPACK_DEBIAN_PACKAGE_HOMEPAGE "https://github.com/minhanghuang/CyberRT")
set(CPACK_PACKAGE_FILE_NAME "lib${CPACK_PACKAGE_NAME}")
set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_FILE_NAME}_${CPACK_PACKAGE_VERSION}_${CMAKE_SYSTEM_PROCESSOR}")
include(CPack)
# --------------------------------------------------------------
# package
# --------------------------------------------------------------
configure_file("cmake/${TARGET_NAME}.pc.in"
"${PROJECT_BINARY_DIR}/pkgconfig/${TARGET_NAME}.pc" @ONLY)
configure_package_config_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TARGET_NAME}-config.cmake.in"
"cmake/${TARGET_NAME}-config.cmake"
INSTALL_DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${TARGET_NAME}"
NO_CHECK_REQUIRED_COMPONENTS_MACRO
PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR TARGET_NAME
)
write_basic_package_version_file(cmake/${TARGET_NAME}-config-version.cmake
VERSION ${PROJECT_VERSION}
COMPATIBILITY AnyNewerVersion
)
install(FILES
"${PROJECT_BINARY_DIR}/pkgconfig/${TARGET_NAME}.pc"
DESTINATION "${CMAKE_INSTALL_DATADIR}/pkgconfig"
)
install(FILES
"${PROJECT_BINARY_DIR}/cmake/${TARGET_NAME}-config.cmake"
"${PROJECT_BINARY_DIR}/cmake/${TARGET_NAME}-config-version.cmake"
DESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/${TARGET_NAME}"
)
install(EXPORT ${TARGET_NAME}-targets
DESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/${TARGET_NAME}"
)
# cyber .h files
install(DIRECTORY cyber/
DESTINATION include/cyber/
FILES_MATCHING
PATTERN "*.h"
)
# apollo conf
file(COPY cyber/conf/
DESTINATION ${CMAKE_BINARY_DIR}/share/conf/
)
install(DIRECTORY ${CMAKE_BINARY_DIR}/share/conf/
DESTINATION share/conf/
)
# setup.zsh
configure_file("setup.bash.in" "${CMAKE_BINARY_DIR}/setup.bash" @ONLY)
configure_file("setup.zsh.in" "${CMAKE_BINARY_DIR}/setup.zsh" @ONLY)
install(FILES ${CMAKE_BINARY_DIR}/setup.zsh ${CMAKE_BINARY_DIR}/setup.bash
DESTINATION .
)
# cyber python api
file(COPY cyber/python/
DESTINATION ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PATH}
)
install(DIRECTORY ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PATH}/
DESTINATION ${CYBER_PYTHON_PATH}
FILES_MATCHING
PATTERN "*.py"
)
# cyber python protobuf
file(WRITE ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PROTOBUF_PATH}/__init__.py "import os\n")
file(APPEND ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PROTOBUF_PATH}/__init__.py "import sys\n")
file(APPEND ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PROTOBUF_PATH}/__init__.py "sys.path.insert(0, os.path.abspath(os.path.dirname(__file__)))\n")
file(COPY cyber/proto/
DESTINATION ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PROTOBUF_PATH}
FILES_MATCHING
PATTERN "*.py"
)
install(DIRECTORY ${CMAKE_BINARY_DIR}/${CYBER_PYTHON_PROTOBUF_PATH}/
DESTINATION ${CYBER_PYTHON_PROTOBUF_PATH}
)
# install
install(TARGETS ${TARGET_NAME}
EXPORT ${TARGET_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)