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rosbuild_catkinize() macro to ease catkinization (see ros_comm) 

and a bunch of trailing whitespace removal
This commit is contained in:
Troy Straszheim 2011-12-29 13:46:35 +00:00
parent 5d9fbfde03
commit 0255ba04fc
2 changed files with 97 additions and 75 deletions
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150
core/rosbuild/public.cmake
View File

@ -8,28 +8,28 @@ include(AddFileDependencies)
# Used to check if a function exists
include(CheckFunctionExists)
# Find a ros package.
macro(rosbuild_find_ros_package pkgname)
# catch the error output to suppress it
execute_process(
COMMAND rospack find ${pkgname}
ERROR_VARIABLE __rospack_err_ignore
OUTPUT_VARIABLE __pkg_dir
OUTPUT_STRIP_TRAILING_WHITESPACE)
# todo: catch return code and be smart about it
set(${pkgname}_PACKAGE_PATH ${__pkg_dir})
endmacro(rosbuild_find_ros_package)
# Find a ros package.
macro(rosbuild_find_ros_package pkgname)
# catch the error output to suppress it
execute_process(
COMMAND rospack find ${pkgname}
ERROR_VARIABLE __rospack_err_ignore
OUTPUT_VARIABLE __pkg_dir
OUTPUT_STRIP_TRAILING_WHITESPACE)
# todo: catch return code and be smart about it
set(${pkgname}_PACKAGE_PATH ${__pkg_dir})
endmacro(rosbuild_find_ros_package)
# Find a ros stack.
macro(rosbuild_find_ros_stack stackname)
# catch the error output to suppress it
execute_process(
COMMAND rosstack find ${stackname}
ERROR_VARIABLE __rospack_err_ignore
OUTPUT_VARIABLE __stack_dir
OUTPUT_STRIP_TRAILING_WHITESPACE)
# todo: catch return code and be smart about it
set(${stackname}_STACK_PATH ${__stack_dir})
# Find a ros stack.
macro(rosbuild_find_ros_stack stackname)
# catch the error output to suppress it
execute_process(
COMMAND rosstack find ${stackname}
ERROR_VARIABLE __rospack_err_ignore
OUTPUT_VARIABLE __stack_dir
OUTPUT_STRIP_TRAILING_WHITESPACE)
# todo: catch return code and be smart about it
set(${stackname}_STACK_PATH ${__stack_dir})
endmacro(rosbuild_find_ros_stack)
# Retrieve the current COMPILE_FLAGS for the given target, append the new
@ -197,7 +197,7 @@ macro(rosbuild_init)
set(_prefix ${PROJECT_NAME})
set(${_prefix}_INCLUDEDIR "" CACHE INTERNAL "")
# Get the full paths to the manifests for all packages on which
# Get the full paths to the manifests for all packages on which
# we depend
rosbuild_invoke_rospack(${PROJECT_NAME} _rospack deps_manifests_invoke_result deps-manifests)
rosbuild_invoke_rospack(${PROJECT_NAME} _rospack msgsrv_gen_invoke_result deps-msgsrv)
@ -226,18 +226,18 @@ macro(rosbuild_init)
rosbuild_invoke_rospack(${PROJECT_NAME} ${_prefix} INCLUDE_DIRS cflags-only-I --deps-only)
#message("${pkgname} include dirs: ${${_prefix}_INCLUDE_DIRS}")
set(${_prefix}_INCLUDE_DIRS ${${_prefix}_INCLUDE_DIRS} CACHE INTERNAL "")
# Get the other cflags
rosbuild_invoke_rospack(${PROJECT_NAME} ${_prefix} temp cflags-only-other --deps-only)
_rosbuild_list_to_string(${_prefix}_CFLAGS_OTHER "${${_prefix}_temp}")
#message("${pkgname} other cflags: ${${_prefix}_CFLAGS_OTHER}")
set(${_prefix}_CFLAGS_OTHER ${${_prefix}_CFLAGS_OTHER} CACHE INTERNAL "")
# Get the lib dirs
rosbuild_invoke_rospack(${PROJECT_NAME} ${_prefix} LIBRARY_DIRS libs-only-L --deps-only)
#message("${pkgname} library dirs: ${${_prefix}_LIBRARY_DIRS}")
set(${_prefix}_LIBRARY_DIRS ${${_prefix}_LIBRARY_DIRS} CACHE INTERNAL "")
# Get the libs
rosbuild_invoke_rospack(${PROJECT_NAME} ${_prefix} LIBRARIES libs-only-l --deps-only)
#
@ -247,13 +247,13 @@ macro(rosbuild_init)
list(REVERSE ${_prefix}_LIBRARIES)
list(REMOVE_DUPLICATES ${_prefix}_LIBRARIES)
list(REVERSE ${_prefix}_LIBRARIES)
# Also throw in the libs that we want to link everything against (only
# use case for this so far is -lgcov when building with code coverage
# support).
list(APPEND ${_prefix}_LIBRARIES "${ROS_LINK_LIBS}")
set(${_prefix}_LIBRARIES ${${_prefix}_LIBRARIES} CACHE INTERNAL "")
# Get the other lflags
rosbuild_invoke_rospack(${PROJECT_NAME} ${_prefix} temp libs-only-other --deps-only)
_rosbuild_list_to_string(${_prefix}_LDFLAGS_OTHER "${${_prefix}_temp}")
@ -313,7 +313,7 @@ macro(rosbuild_init)
if(NOT rosbuild_test_nobuild)
add_dependencies(test tests)
endif(NOT rosbuild_test_nobuild)
# Clean out previous test results before running tests. Use bash
# conditional to ignore failures (most often happens when a stale NFS
# handle lingers in the test results directory), because CMake doesn't
@ -369,10 +369,10 @@ macro(rosbuild_init)
# and will eventually be removed.
add_custom_target(rospack_genmsg_libexe)
add_dependencies(rosbuild_precompile rospack_genmsg_libexe)
# ${gendeps_exe} is a convenience variable that roslang cmake rules
# must reference as a dependency of msg/srv generation
set(gendeps_exe ${roslib_path}/scripts/gendeps)
set(gendeps_exe ${roslib_path}/scripts/gendeps)
# If the roslang package is available, pull in cmake/roslang.cmake from
# there; it will in turn include message-generation logic from client
@ -495,15 +495,15 @@ macro(rosbuild_add_executable exe)
# Add explicit dependency of each file on our manifest.xml and those of
# our dependencies.
get_target_property(_srclist ${exe} SOURCES)
foreach(_src ${_srclist})
get_target_property(_srclist ${exe} SOURCES)
foreach(_src ${_srclist})
set(_file_name _file_name-NOTFOUND)
find_file(_file_name ${_src} ${CMAKE_CURRENT_SOURCE_DIR} /)
if(NOT _file_name)
message("[rosbuild] Couldn't find source file ${_src}; assuming that it is in ${CMAKE_CURRENT_SOURCE_DIR} and will be generated later")
set(_file_name ${CMAKE_CURRENT_SOURCE_DIR}/${_src})
endif(NOT _file_name)
add_file_dependencies(${_file_name} ${ROS_MANIFEST_LIST})
add_file_dependencies(${_file_name} ${ROS_MANIFEST_LIST})
endforeach(_src)
rosbuild_add_compile_flags(${exe} ${${PROJECT_NAME}_CFLAGS_OTHER})
@ -625,7 +625,7 @@ macro(rosbuild_add_gtest_labeled label)
endmacro(rosbuild_add_gtest_labeled)
# A helper to run rostests. It generates a command to run rostest on
# the specified file and makes this target a dependency of test.
# the specified file and makes this target a dependency of test.
macro(rosbuild_add_rostest file)
string(REPLACE "/" "_" _testname ${file})
_rosbuild_add_rostest(${file})
@ -645,7 +645,7 @@ macro(rosbuild_add_rostest_labeled label)
endmacro(rosbuild_add_rostest_labeled)
# A helper to run Python unit tests. It generates a command to run python
# the specified file
# the specified file
macro(rosbuild_add_pyunit file)
string(REPLACE "/" "_" _testname ${file})
_rosbuild_add_pyunit(${ARGV})
@ -740,8 +740,8 @@ macro(rosbuild_gendeps _pkg _msgfile)
execute_process(
COMMAND ${roslib_path}/scripts/gendeps ${_input}
OUTPUT_VARIABLE __other_msgs
ERROR_VARIABLE __rospack_err_ignore
OUTPUT_STRIP_TRAILING_WHITESPACE)
ERROR_VARIABLE __rospack_err_ignore
OUTPUT_STRIP_TRAILING_WHITESPACE)
# For some reason, the output from gendeps has escaped spaces in it.
# Converting to a string and then back to a list removes them.
_rosbuild_list_to_string(${_pkg}_${_msgfile}_GENDEPS "${__other_msgs}")
@ -825,26 +825,26 @@ macro(rosbuild_genmsg)
endmacro(rosbuild_genmsg)
macro(rosbuild_add_boost_directories)
set(_sysroot "--sysroot=${CMAKE_FIND_ROOT_PATH}")
set(_sysroot "--sysroot=${CMAKE_FIND_ROOT_PATH}")
execute_process(COMMAND "rosboost-cfg" ${_sysroot} "--include_dirs"
OUTPUT_VARIABLE BOOST_INCLUDE_DIRS
RESULT_VARIABLE _boostcfg_failed
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (_boostcfg_failed)
message(FATAL_ERROR "rosboost-cfg --include_dirs failed")
endif(_boostcfg_failed)
set(_sysroot "--sysroot=${CMAKE_FIND_ROOT_PATH}")
set(_sysroot "--sysroot=${CMAKE_FIND_ROOT_PATH}")
execute_process(COMMAND "rosboost-cfg" ${_sysroot} "--lib_dirs"
OUTPUT_VARIABLE BOOST_LIB_DIRS
RESULT_VARIABLE _boostcfg_failed
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (_boostcfg_failed)
message(FATAL_ERROR "rosboost-cfg --lib_dirs failed")
endif(_boostcfg_failed)
add_definitions(-DBOOST_CB_DISABLE_DEBUG)
include_directories(${BOOST_INCLUDE_DIRS})
link_directories(${BOOST_LIB_DIRS})
@ -861,13 +861,13 @@ macro(rosbuild_link_boost target)
set(_libs "${_libs},${arg}")
endif(_first)
endforeach(arg)
set(_sysroot "--sysroot=${CMAKE_FIND_ROOT_PATH}")
set(_sysroot "--sysroot=${CMAKE_FIND_ROOT_PATH}")
execute_process(COMMAND "rosboost-cfg" ${_sysroot} "--libs" ${_libs}
OUTPUT_VARIABLE BOOST_LIBS
ERROR_VARIABLE _boostcfg_error
RESULT_VARIABLE _boostcfg_failed
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (_boostcfg_failed)
message(FATAL_ERROR "[rosboost-cfg --libs ${_libs}] failed with error: ${_boostcfg_error}")
endif(_boostcfg_failed)
@ -887,7 +887,7 @@ macro(rosbuild_download_test_data _url _filename)
# Create a legal target name, in case the target name has slashes in it
string(REPLACE "/" "_" _testname download_data_${_filename})
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/${_filename}
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/${_filename}
COMMAND $ENV{ROS_ROOT}/core/rosbuild/bin/download_checkmd5.py ${_url} ${PROJECT_SOURCE_DIR}/${_filename} ${ARGN}
VERBATIM)
add_custom_target(${_testname} DEPENDS ${PROJECT_SOURCE_DIR}/${_filename})
@ -951,7 +951,7 @@ macro(rosbuild_add_openmp_flags target)
if("$ENV{ROS_TEST_COVERAGE}" STREQUAL "1")
_rosbuild_warn("because ROS_TEST_COVERAGE is set, OpenMP support is disabled")
else("$ENV{ROS_TEST_COVERAGE}" STREQUAL "1")
# First, try to use the standard FindOpenMP module (#3184). If that
# fails, fall back on manual detection. I don't know why the standard
# detection would ever fail; it's possible that the manual
@ -970,30 +970,30 @@ macro(rosbuild_add_openmp_flags target)
"-omp" # Tru64
"-qsmp=omp" # AIX
)
# backup for a variable we will change
set(_rospack_openmp_flags_backup ${CMAKE_REQUIRED_FLAGS})
# mark the fact we do not yet know the flag
set(_rospack_openmp_flag_found FALSE)
set(_rospack_openmp_flag_value)
# find an OpenMP flag that works
foreach(_rospack_openmp_test_flag ${_rospack_check_openmp_flags})
if(NOT _rospack_openmp_flag_found)
if(NOT _rospack_openmp_flag_found)
set(CMAKE_REQUIRED_FLAGS ${_rospack_openmp_test_flag})
check_function_exists(omp_set_num_threads _rospack_openmp_function_found${_rospack_openmp_test_flag})
if(_rospack_openmp_function_found${_rospack_openmp_test_flag})
set(_rospack_openmp_flag_value ${_rospack_openmp_test_flag})
set(_rospack_openmp_flag_found TRUE)
endif(_rospack_openmp_function_found${_rospack_openmp_test_flag})
endif(NOT _rospack_openmp_flag_found)
endforeach(_rospack_openmp_test_flag ${_rospack_check_openmp_flags})
# restore the CMake variable
set(CMAKE_REQUIRED_FLAGS ${_rospack_openmp_flags_backup})
# add the flags or warn
if(_rospack_openmp_flag_found)
rosbuild_add_compile_flags(${target} ${_rospack_openmp_flag_value})
@ -1011,7 +1011,7 @@ macro(rosbuild_make_distribution)
endmacro(rosbuild_make_distribution)
# Compute the number of hardware cores on the machine. Intended to use for
# gating tests that have heavy processor requirements.
# gating tests that have heavy processor requirements.
include($ENV{ROS_ROOT}/core/rosbuild/ProcessorCount.cmake)
macro(rosbuild_count_cores num)
ProcessorCount(${num})
@ -1047,17 +1047,17 @@ endmacro(rosbuild_check_for_display)
macro(rosbuild_add_swigpy_library target lib)
rosbuild_add_library(${target} ${ARGN})
# swig python needs a shared library named _<modulename>.[so|dll|...]
# this renames the output file to conform to that by prepending
# this renames the output file to conform to that by prepending
# an underscore in place of the "lib" prefix.
# If on Darwin, force the suffix so ".so", because the MacPorts
# If on Darwin, force the suffix so ".so", because the MacPorts
# version of Python won't find _foo.dylib for 'import _foo'
if(APPLE)
set_target_properties(${target}
PROPERTIES OUTPUT_NAME ${lib}
PROPERTIES OUTPUT_NAME ${lib}
PREFIX "_" SUFFIX ".so")
else(APPLE)
set_target_properties(${target}
PROPERTIES OUTPUT_NAME ${lib}
PROPERTIES OUTPUT_NAME ${lib}
PREFIX "_")
endif(APPLE)
endmacro(rosbuild_add_swigpy_library)
@ -1067,11 +1067,11 @@ macro(rosbuild_check_for_sse)
include(CheckCXXSourceRuns)
if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX )
set(SSE_FLAGS)
set(CMAKE_REQUIRED_FLAGS "-msse3")
check_cxx_source_runs("
#include <pmmintrin.h>
int main()
{
__m128d a, b;
@ -1082,11 +1082,11 @@ macro(rosbuild_check_for_sse)
return 0;
}"
HAS_SSE3_EXTENSIONS)
set(CMAKE_REQUIRED_FLAGS "-msse2")
check_cxx_source_runs("
#include <emmintrin.h>
int main()
{
__m128d a, b;
@ -1097,7 +1097,7 @@ macro(rosbuild_check_for_sse)
return 0;
}"
HAS_SSE2_EXTENSIONS)
set(CMAKE_REQUIRED_FLAGS "-msse")
check_cxx_source_runs("
#include <xmmintrin.h>
@ -1112,9 +1112,9 @@ macro(rosbuild_check_for_sse)
return 0;
}"
HAS_SSE_EXTENSIONS)
set(CMAKE_REQUIRED_FLAGS)
if(HAS_SSE3_EXTENSIONS)
set(SSE_FLAGS "-msse3 -mfpmath=sse")
message(STATUS "[rosbuild] Found SSE3 extensions, using flags: ${SSE_FLAGS}")
@ -1128,7 +1128,7 @@ macro(rosbuild_check_for_sse)
elseif(MSVC)
check_cxx_source_runs("
#include <emmintrin.h>
int main()
{
__m128d a, b;
@ -1176,12 +1176,12 @@ macro(rosbuild_include pkg module)
endmacro(rosbuild_include)
macro(rosbuild_get_package_version _var pkgname)
execute_process(
COMMAND rosstack contains ${pkgname}
ERROR_VARIABLE __rosstack_err_ignore
execute_process(
COMMAND rosstack contains ${pkgname}
ERROR_VARIABLE __rosstack_err_ignore
OUTPUT_VARIABLE __stack
RESULT_VARIABLE _rosstack_failed
OUTPUT_STRIP_TRAILING_WHITESPACE)
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(_rosstack_failed OR NOT __stack)
message(FATAL_ERROR "[rosbuild] Failed to find stack containing package ${pkgname}")
else(_rosstack_failed OR NOT __stack)
@ -1190,12 +1190,12 @@ macro(rosbuild_get_package_version _var pkgname)
endmacro(rosbuild_get_package_version)
macro(rosbuild_get_stack_version _var stackname)
execute_process(
COMMAND rosversion ${stackname}
ERROR_VARIABLE __rosversion_err_ignore
execute_process(
COMMAND rosversion ${stackname}
ERROR_VARIABLE __rosversion_err_ignore
OUTPUT_VARIABLE __version
RESULT_VARIABLE _rosversion_failed
OUTPUT_STRIP_TRAILING_WHITESPACE)
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(_rosversion_failed OR NOT __version)
message(FATAL_ERROR "[rosbuild] Failed to find version of stack ${stackname}")
else(_rosversion_failed OR NOT __version)

22
core/rosbuild/rosbuild.cmake
View File

@ -1,5 +1,27 @@
cmake_minimum_required(VERSION 2.4.6)
#
# Catkin-compat thunks
#
cmake_policy(SET CMP0011 OLD)
macro(rosbuild_catkinize)
if(CATKIN)
message(STATUS "thunking from rosbuild in ${CMAKE_CURRENT_SOURCE_DIR}")
if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/catkin.cmake)
include(catkin.cmake)
else()
message(STATUS "warning: Directory ${CMAKE_CURRENT_SOURCE_DIR} contains rosbuild_catkinize but no catkin.cmake")
endif()
return()
endif()
endmacro()
if(CATKIN)
return()
endif()
# Policy settings to prevent warnings on 2.6 but ensure proper operation on
# 2.4.
if(COMMAND cmake_policy)