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CMakeLists.txt
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CMakeLists.txt
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# Copyright (C) 2018 Björnborg
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
endif(CCACHE_FOUND)
cmake_minimum_required(VERSION 3.2)
project(openkorp-device-bbblue-prugw)
################################################################################
# Defining the relevant versions of OpenDLV Standard Message Set and libcluon.
set(OPENDLV_STANDARD_MESSAGE_SET opendlv-standard-message-set.odvd)
set(OPENKORP_MESSAGE_SET openkorp-message-set.odvd)
set(CLUON_COMPLETE cluon-complete-v0.0.98.hpp)
################################################################################
# This project requires C++14 or newer.
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Strip unneeded symbols from binaries.
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -s")
# Build a static binary.
set(CMAKE_EXE_LINKER_FLAGS "-static-libgcc -static-libstdc++")
# Add further warning levels.
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
-D_XOPEN_SOURCE=700 \
-D_FORTIFY_SOURCE=2 \
-O2 \
-fstack-protector \
-fomit-frame-pointer \
-pipe \
-pedantic -pedantic-errors \
-Werror \
-Weffc++ \
-Wall -Wextra -Wshadow -Wdeprecated \
-Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
-Wuninitialized -Wunreachable-code \
-Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
-Wunused-value -Wunused-variable -Wunused-result \
-Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
# Threads are necessary for linking the resulting binaries as UDPReceiver is running in parallel.
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
find_program(FOUND_CLUON cluon-msc)
################################################################################
# Find installed libcluon
if(FOUND_CLUON)
message(STATUS "Libcluon: found at " ${FOUND_CLUON})
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} -E create_symlink ${FOUND_CLUON} ${CMAKE_BINARY_DIR}/cluon-msc
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp)
else()
################################################################################
# Extract cluon-msc from cluon-complete.hpp.
message(STATUS "Libcluon: not found - generating cluon-msc from header file")
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp
COMMAND ${CMAKE_CXX_COMPILER} -o ${CMAKE_BINARY_DIR}/cluon-msc ${CMAKE_BINARY_DIR}/cluon-complete.cpp -std=c++14 -pthread -D HAVE_CLUON_MSC
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE})
endif()
################################################################################
# Generate opendlv-standard-message-set.{hpp,cpp} from ${OPENDLV_STANDARD_MESSAGE_SET} file.
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-sources --cpp-add-include-file=opendlv-standard-message-set.hpp --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-headers --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
################################################################################
# Generate openkorp-message-set.{hpp,cpp}
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/openkorp-message-set.cpp
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-sources --cpp-add-include-file=openkorp-message-set.hpp --out=${CMAKE_BINARY_DIR}/openkorp-message-set.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENKORP_MESSAGE_SET}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-headers --out=${CMAKE_BINARY_DIR}/openkorp-message-set.hpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENKORP_MESSAGE_SET}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENKORP_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
# Add current build directory as include directory as it contains generated files.
include_directories(SYSTEM ${CMAKE_BINARY_DIR})
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
################################################################################
# Find ncurse
find_package( Curses REQUIRED )
include_directories( ${CURSES_INCLUDE_DIRS} )
################################################################################
# Gather all object code first to avoid double compilation.
add_library(${PROJECT_NAME}-core OBJECT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp ${CMAKE_BINARY_DIR}/openkorp-message-set.cpp src/PwmMotors.cpp src/Motor.cpp)
set(LIBRARIES Threads::Threads ${CURSES_LIBRARIES})
################################################################################
# Create executable.
add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/${PROJECT_NAME}.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
target_link_libraries(${PROJECT_NAME} ${LIBRARIES})
################################################################################
# Enable unit testing.
enable_testing()
add_executable(${PROJECT_NAME}-runner ${CMAKE_CURRENT_SOURCE_DIR}/test/tests-prugw.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
target_link_libraries(${PROJECT_NAME}-runner ${LIBRARIES})
add_test(NAME ${PROJECT_NAME}-runner COMMAND ${PROJECT_NAME}-runner)
################################################################################
# Install executable.
install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})