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https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
acc7fbbf01
adds build of gz_msgs on end-user computer This means we don't need to provide different zips for different versions of ubuntu. The problem was that gazebo on 14.04 comes with protobuf 2.5 but gazebo on 15.10 comes with 2.6 added a few other fixes to the install script as well also fix dependency between simluation publishing and libwpilibcsim building Change-Id: I57d5a26ed7795bc61a25402e2986c6023d1d78ac
90 lines
2.9 KiB
CMake
90 lines
2.9 KiB
CMake
Cmake_minimum_required(VERSION 2.8)
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project(gz_msgs)
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#copied from GazeboUtils.cmake
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macro (APPEND_TO_CACHED_STRING _string _cacheDesc)
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FOREACH (newItem ${ARGN})
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SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
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ENDFOREACH (newItem ${ARGN})
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endmacro (APPEND_TO_CACHED_STRING)
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find_package(Protobuf REQUIRED)
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if (NOT PROTOBUF_FOUND)
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MESSAGE ("Missing: Google Protobuf (libprotobuf-dev)")
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endif()
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if (NOT PROTOBUF_PROTOC_EXECUTABLE)
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MESSAGE ( "Missing: Google Protobuf Compiler (protobuf-compiler)")
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endif()
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if (NOT PROTOBUF_PROTOC_LIBRARY)
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MESSAGE ("Missing: Google Protobuf Compiler Library (libprotoc-dev)")
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endif()
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#list all proto files used
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get_filename_component(PROTO_DIR src/main/proto ABSOLUTE)
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set(msgs
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"${PROTO_DIR}/bool.proto"
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"${PROTO_DIR}/driver-station.proto"
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"${PROTO_DIR}/float64.proto"
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"${PROTO_DIR}/frc_joystick.proto"
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)
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set (GZ_MSGS_INCLUDE_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated" CACHE FILEPATH "gz_msgs include directory")
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set (GZ_MSGS_INCLUDE_SUBDIR "${GZ_MSGS_INCLUDE_DIR}/simulation/gz_msgs")
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file(MAKE_DIRECTORY ${GZ_MSGS_INCLUDE_SUBDIR})
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set(PROTO_SRCS)
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set(PROTO_HDRS)
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set(MSGS_HEADER "${GZ_MSGS_INCLUDE_SUBDIR}/msgs.h")
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foreach(FIL ${msgs})
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get_filename_component(ABS_FIL ${FIL} ABSOLUTE)
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get_filename_component(FIL_WE ${FIL} NAME_WE)
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list(APPEND PROTO_SRCS "${GZ_MSGS_INCLUDE_SUBDIR}/${FIL_WE}.pb.cc")
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list(APPEND PROTO_HDRS "${GZ_MSGS_INCLUDE_SUBDIR}/${FIL_WE}.pb.h")
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add_custom_command(
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OUTPUT
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"${GZ_MSGS_INCLUDE_SUBDIR}/${FIL_WE}.pb.cc"
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"${GZ_MSGS_INCLUDE_SUBDIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out=${GZ_MSGS_INCLUDE_SUBDIR} --proto_path=${PROTO_DIR} ${ABS_FIL}
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COMMENT "compiling ${ABS_FIL}"
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VERBATIM)
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endforeach()
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set_source_files_properties(${PROTO_SRCS} ${PROTO_HDRS} PROPERTIES GENERATED TRUE)
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###############################################
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#Generating msgs.h
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#create the message_headers and keep it in cache
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set (message_headers "" CACHE INTERNAL "Include dirs description")
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#add includes to the msgs.h file
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foreach (hdr ${PROTO_HDRS})
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string (REPLACE "${CMAKE_CURRENT_BINARY_DIR}/generated/" "" hdr ${hdr})
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APPEND_TO_CACHED_STRING(message_headers
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"Message Types" "#include \"${hdr}\"\n")
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endforeach()
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configure_file(msgs.h.in ${MSGS_HEADER})
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file(GLOB_RECURSE COM_SRC_FILES msgs/*.cc)
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include_directories(msgs ${PROTOBUF_INCLUDE_DIR})
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if (WIN32)
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add_library(${PROJECT_NAME} ${PROTO_SRCS} ${SRC_FILES})
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else()
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add_library(${PROJECT_NAME} SHARED ${PROTO_SRCS} ${SRC_FILES})
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endif()
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target_link_libraries(${PROJECT_NAME} ${PROTOBUF_LIBRARIES})
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set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "$ENV{HOME}/wpilib/simulation/lib")
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install(TARGETS ${PROJECT_NAME}
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DESTINATION "$ENV{HOME}/wpilib/simulation/lib")
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install(DIRECTORY "${GZ_MSGS_INCLUDE_DIR}/simulation"
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DESTINATION "$ENV{HOME}/wpilib/simulation/include")
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