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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.20)
project(rcutils)
# Default to C11
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 11)
endif()
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
include(CheckLibraryExists)
find_package(ament_cmake_python REQUIRED)
find_package(ament_cmake_ros REQUIRED)
# By default, without the settings below, find_package(Python3) will attempt
# to find the newest python version it can, and additionally will find the
# most specific version. For instance, on a system that has
# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find
# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10.
# The behavior we want is to prefer the "system" installed version unless the
# user specifically tells us othewise through the Python3_EXECUTABLE hint.
# Setting CMP0094 to NEW means that the search will stop after the first
# python version is found. Setting Python3_FIND_UNVERSIONED_NAMES means that
# the search will prefer /usr/bin/python3 over /usr/bin/python3.11. And that
# latter functionality is only available in CMake 3.20 or later, so we need
# at least that version.
cmake_policy(SET CMP0094 NEW)
set(Python3_FIND_UNVERSIONED_NAMES FIRST)
find_package(Python3 REQUIRED COMPONENTS Interpreter)
ament_python_install_package(${PROJECT_NAME})
if(UNIX AND NOT APPLE)
include(cmake/check_c_compiler_uses_glibc.cmake)
check_c_compiler_uses_glibc(USES_GLIBC)
if(USES_GLIBC)
# Ensure GNU extended libc API is used, as C++ test code will.
# See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=2082.
add_definitions(-D_GNU_SOURCE)
endif()
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# enables building a static library but later link it into a dynamic library
add_compile_options(-fPIC)
endif()
if(NOT WIN32)
# About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
# implicit sign conversions in gtest.cc, see https://ci.ros2.org/job/ci_osx/9381/clang/.
# Hence disabling -Wsign-conversion for now until all those have eventually been fixed.
# (from https://github.com/ros2/rcutils/pull/263#issuecomment-663252537)
add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic)
endif()
if(WIN32)
set(time_impl_c src/time_win32.c)
else()
set(time_impl_c src/time_unix.c)
endif()
set(rcutils_sources
src/allocator.c
src/array_list.c
src/char_array.c
src/cmdline_parser.c
src/env.c
src/error_handling.c
src/filesystem.c
src/find.c
src/format_string.c
src/hash_map.c
src/logging.c
src/process.c
src/qsort.c
src/repl_str.c
src/sha256.c
src/shared_library.c
src/snprintf.c
src/split.c
src/strcasecmp.c
src/strdup.c
src/strerror.c
src/string_array.c
src/string_map.c
src/testing/fault_injection.c
src/time.c
${time_impl_c}
src/uint8_array.c
)
set_source_files_properties(
${rcutils_sources}
PROPERTIES language "C")
# "watch" template/inputs for changes
configure_file(
"resource/logging_macros.h.em"
"logging_macros.h.em.watch"
COPYONLY)
configure_file(
"rcutils/logging.py"
"logging.py.watch"
COPYONLY)
# generate header with logging macros
set(rcutils_module_path ${CMAKE_CURRENT_SOURCE_DIR})
set(python_code
"import em" # implicitly added ; between python statements due to CMake list
"\
em.invoke( \
[ \
'-o', 'include/rcutils/logging_macros.h', \
'-D', 'rcutils_module_path=\"${rcutils_module_path}\"', \
'${CMAKE_CURRENT_SOURCE_DIR}/resource/logging_macros.h.em' \
] \
)")
string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
add_custom_command(OUTPUT include/rcutils/logging_macros.h
COMMAND ${CMAKE_COMMAND} -E make_directory "include/rcutils"
COMMAND Python3::Interpreter ARGS -c "${python_code}"
DEPENDS
"${CMAKE_CURRENT_BINARY_DIR}/logging_macros.h.em.watch"
"${CMAKE_CURRENT_BINARY_DIR}/logging.py.watch"
COMMENT "Expanding logging_macros.h.em"
VERBATIM
)
list(APPEND rcutils_sources
include/rcutils/logging_macros.h)
add_library(
${PROJECT_NAME}
${rcutils_sources})
target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()
target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
# Needed if pthread is used for thread local storage.
if(IOS AND IOS_SDK_VERSION LESS 10.0)
ament_export_libraries(pthread)
endif()
install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
if(BUILD_TESTING)
find_package(performance_test_fixture REQUIRED)
find_package(ament_cmake_gmock REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)
find_package(ament_lint_auto REQUIRED)
# cppcheck 1.90 doesn't understand some of the syntax in remove_noexcept.hpp
# Since we already have cppcheck disabled on Linux, just disable it completely
# for this package.
list(APPEND AMENT_LINT_AUTO_EXCLUDE
ament_cmake_cppcheck
)
ament_lint_auto_find_test_dependencies()
find_package(launch_testing_ament_cmake REQUIRED)
check_library_exists(atomic __atomic_load_8 "" HAVE_LIBATOMICS)
if(HAVE_LIBATOMICS AND NOT WIN32)
# Exporting link flag since it won't pass ament_export_libraries() existance check
ament_export_link_flags("-latomic")
endif()
if(ament_cmake_cppcheck_FOUND)
ament_cppcheck(
TESTNAME "cppcheck_logging_macros"
"${CMAKE_CURRENT_BINARY_DIR}/include/rcutils/logging_macros.h")
endif()
if(ament_cmake_cpplint_FOUND)
ament_cpplint(
TESTNAME "cpplint_logging_macros"
# the generated code might contain longer lines for templated types
MAX_LINE_LENGTH 999
ROOT "${CMAKE_CURRENT_BINARY_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}/include/rcutils/logging_macros.h")
endif()
if(ament_cmake_uncrustify_FOUND)
ament_uncrustify(
TESTNAME "uncrustify_logging_macros"
# the generated code might contain longer lines for templated types
MAX_LINE_LENGTH 0
"${CMAKE_CURRENT_BINARY_DIR}/include/rcutils/logging_macros.h")
endif()
find_package(mimick_vendor REQUIRED)
find_package(osrf_testing_tools_cpp REQUIRED)
get_target_property(memory_tools_test_env_vars
osrf_testing_tools_cpp::memory_tools LIBRARY_PRELOAD_ENVIRONMENT_VARIABLE)
get_target_property(memory_tools_is_available
osrf_testing_tools_cpp::memory_tools LIBRARY_PRELOAD_ENVIRONMENT_IS_AVAILABLE)
ament_add_gtest(test_logging test/test_logging.cpp)
target_link_libraries(test_logging ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
add_executable(test_logging_long_messages test/test_logging_long_messages.cpp)
target_link_libraries(test_logging_long_messages ${PROJECT_NAME})
add_launch_test(
"test/test_logging_long_messages.py"
TARGET test_logging_long_messages
WORKING_DIRECTORY "$<TARGET_FILE_DIR:test_logging_long_messages>"
TIMEOUT 10
)
add_launch_test(
"test/test_logging_output_format.py"
TARGET test_logging_output_format
WORKING_DIRECTORY "$<TARGET_FILE_DIR:test_logging_long_messages>"
TIMEOUT 10
)
ament_add_gmock(test_logging_macros test/test_logging_macros.cpp)
target_link_libraries(test_logging_macros ${PROJECT_NAME})
add_executable(test_logging_macros_c test/test_logging_macros.c)
target_link_libraries(test_logging_macros_c ${PROJECT_NAME})
ament_add_test(test_logging_macros_c
COMMAND "$<TARGET_FILE:test_logging_macros_c>"
GENERATE_RESULT_FOR_RETURN_CODE_ZERO)
set(SKIP_MEMORY_TOOLS_TEST "")
if(NOT memory_tools_is_available)
set(SKIP_MEMORY_TOOLS_TEST "SKIP_TEST")
endif()
# Gtests
ament_add_gtest(test_allocator test/test_allocator.cpp
ENV ${memory_tools_test_env_vars}
${SKIP_MEMORY_TOOLS_TEST}
)
if(TARGET test_allocator)
target_link_libraries(test_allocator ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gtest(test_char_array
test/test_char_array.cpp
)
if(TARGET test_char_array)
target_link_libraries(test_char_array ${PROJECT_NAME})
endif()
# Can't use C++ with stdatomic_helper.h
add_executable(test_atomics_executable
test/test_atomics.c
)
set_target_properties(test_atomics_executable
PROPERTIES
LANGUAGE C
)
target_link_libraries(test_atomics_executable ${PROJECT_NAME})
if(HAVE_LIBATOMICS)
target_link_libraries(test_atomics_executable atomic)
endif()
add_test(NAME test_atomics COMMAND test_atomics_executable)
ament_add_gmock(test_error_handling test/test_error_handling.cpp
# Append the directory of librcutils so it is found at test time.
APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:${PROJECT_NAME}>"
ENV ${memory_tools_test_env_vars}
)
if(TARGET test_error_handling)
target_link_libraries(test_error_handling ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gmock(test_error_handling_helpers test/test_error_handling_helpers.cpp
# Append the directory of librcutils so it is found at test time.
APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:${PROJECT_NAME}>"
ENV ${memory_tools_test_env_vars}
)
if(TARGET test_error_handling_helpers)
target_include_directories(test_error_handling_helpers PUBLIC include)
target_link_libraries(test_error_handling_helpers osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gtest(test_split
test/test_split.cpp
)
if(TARGET test_split)
target_link_libraries(test_split ${PROJECT_NAME})
endif()
ament_add_gtest(test_find
test/test_find.cpp
)
if(TARGET test_find)
target_link_libraries(test_find ${PROJECT_NAME})
endif()
ament_add_gtest(test_strerror
test/test_strerror.cpp
)
ament_add_test_label(test_strerror mimick)
if(TARGET test_strerror)
target_link_libraries(test_strerror ${PROJECT_NAME} mimick)
endif()
ament_add_gtest(test_string_array
test/test_string_array.cpp
)
if(TARGET test_string_array)
target_link_libraries(test_string_array ${PROJECT_NAME})
endif()
ament_add_gtest(test_env test/test_env.cpp
ENV
EMPTY_TEST=
NORMAL_TEST=foo
APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:${PROJECT_NAME}>"
)
if(TARGET test_env)
target_link_libraries(test_env ${PROJECT_NAME})
endif()
ament_add_gtest(test_filesystem
test/test_filesystem.cpp
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
)
ament_add_test_label(test_filesystem mimick)
if(TARGET test_filesystem)
target_link_libraries(test_filesystem ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
target_compile_definitions(test_filesystem PRIVATE BUILD_DIR="${CMAKE_CURRENT_BINARY_DIR}")
endif()
ament_add_gtest(test_strdup
test/test_strdup.cpp
)
if(TARGET test_strdup)
target_link_libraries(test_strdup ${PROJECT_NAME})
endif()
ament_add_gtest(test_format_string
test/test_format_string.cpp
)
if(TARGET test_format_string)
target_link_libraries(test_format_string ${PROJECT_NAME})
endif()
ament_add_gtest(test_string_map
test/test_string_map.cpp
)
if(TARGET test_string_map)
target_link_libraries(test_string_map ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gtest(test_isalnum_no_locale
test/test_isalnum_no_locale.cpp
)
if(TARGET test_isalnum_no_locale)
target_link_libraries(test_isalnum_no_locale ${PROJECT_NAME})
endif()
ament_add_gtest(test_repl_str
test/test_repl_str.cpp
TIMEOUT 300
)
if(TARGET test_repl_str)
target_link_libraries(test_repl_str ${PROJECT_NAME})
endif()
ament_add_gtest(test_sha256
test/test_sha256.cpp
)
if(TARGET test_sha256)
target_link_libraries(test_sha256 ${PROJECT_NAME})
endif()
macro(add_dummy_shared_library target)
add_library(${target} test/dummy_shared_library/dummy_shared_library.c)
if(WIN32)
# Causes the visibility macros to use dllexport rather than dllimport
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${target} PRIVATE "DUMMY_SHARED_LIBRARY_BUILDING_DLL")
endif()
endmacro()
ament_add_gtest(test_shared_library_in_run_paths test/test_shared_library.cpp)
if(TARGET test_shared_library_in_run_paths)
# Rely on CMake setting build tree RUNPATHs by default on Unix systems.
add_dummy_shared_library(dummy_shared_library_in_run_paths)
target_compile_definitions(test_shared_library_in_run_paths PRIVATE
"SHARED_LIBRARY_UNDER_TEST=dummy_shared_library_in_run_paths")
if(NOT WIN32 AND NOT APPLE)
# NOTE(hidmic): DT_RUNPATH entries are ignored by dlopen in Linux despite the fact
# documentation says otherwise, so here we fallback to DT_RPATH entries.
target_link_libraries(test_shared_library_in_run_paths "-Wl,--disable-new-dtags")
endif()
target_link_libraries(test_shared_library_in_run_paths ${PROJECT_NAME})
endif()
set(project_binary_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
set(test_libraries_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>/test_libraries")
ament_add_gtest(test_shared_library_in_load_paths test/test_shared_library.cpp
APPEND_LIBRARY_DIRS ${project_binary_dir} ${test_libraries_dir}
)
if(TARGET test_shared_library_in_load_paths)
# Make sure CMake adds no RPATHs/RUNPATHs.
set_target_properties(test_shared_library_in_load_paths
PROPERTIES SKIP_BUILD_RPATH TRUE)
add_dummy_shared_library(dummy_shared_library_in_load_paths)
set_target_properties(dummy_shared_library_in_load_paths PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${test_libraries_dir})
target_compile_definitions(test_shared_library_in_load_paths PRIVATE
"SHARED_LIBRARY_UNDER_TEST=dummy_shared_library_in_load_paths")
target_link_libraries(test_shared_library_in_load_paths ${PROJECT_NAME})
endif()
include(CheckCXXCompilerFlag)
macro(check_cxx_linker_flag flag var)
set(CMAKE_REQUIRED_FLAGS ${flag})
check_cxx_compiler_flag("" ${var})
set(CMAKE_REQUIRED_FLAGS)
endmacro()
ament_add_gtest(test_shared_library_preloaded test/test_shared_library.cpp)
if(TARGET test_shared_library_preloaded)
add_dummy_shared_library(dummy_shared_library_preloaded)
set_target_properties(dummy_shared_library_preloaded PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${test_libraries_dir})
target_compile_definitions(test_shared_library_preloaded PRIVATE
"SHARED_LIBRARY_UNDER_TEST=dummy_shared_library_preloaded")
if(NOT WIN32)
# Force (apparently) unused libraries to be linked in.
check_cxx_linker_flag("-Wl,--no-as-needed" is_no_as_needed_supported)
if(NOT is_no_as_needed_supported)
check_cxx_linker_flag("-Wl,-all_load" is_all_load_supported)
if(NOT is_all_load_supported)
message(WARNING "No known linker flag to force library linkage")
message(WARNING "test_shared_library_preloaded might fail in runtime")
else()
target_link_libraries(test_shared_library_preloaded "-Wl,-all_load")
endif()
else()
target_link_libraries(test_shared_library_preloaded "-Wl,--no-as-needed")
endif()
endif()
target_link_libraries(test_shared_library_preloaded dummy_shared_library_preloaded)
target_link_libraries(test_shared_library_preloaded ${PROJECT_NAME})
endif()
ament_add_gtest(test_time
test/test_time.cpp
ENV ${memory_tools_test_env_vars})
ament_add_test_label(test_time mimick)
if(TARGET test_time)
target_link_libraries(test_time ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gtest(test_snprintf
test/test_snprintf.cpp
)
if(TARGET test_snprintf)
target_link_libraries(test_snprintf ${PROJECT_NAME})
endif()
ament_add_gtest(test_strcasecmp
test/test_strcasecmp.cpp
)
if(TARGET test_strcasecmp)
target_link_libraries(test_strcasecmp ${PROJECT_NAME})
endif()
ament_add_gtest(test_uint8_array
test/test_uint8_array.cpp
)
if(TARGET test_uint8_array)
target_link_libraries(test_uint8_array ${PROJECT_NAME})
endif()
ament_add_gtest(test_array_list
test/test_array_list.cpp
)
if(TARGET test_array_list)
target_link_libraries(test_array_list ${PROJECT_NAME})
endif()
ament_add_gtest(test_hash_map
test/test_hash_map.cpp
)
if(TARGET test_hash_map)
target_link_libraries(test_hash_map ${PROJECT_NAME})
endif()
ament_add_gtest(test_cmdline_parser
test/test_cmdline_parser.cpp
)
if(TARGET test_cmdline_parser)
target_link_libraries(test_cmdline_parser ${PROJECT_NAME})
endif()
ament_add_gtest(test_process
test/test_process.cpp
)
if(TARGET test_process)
target_link_libraries(test_process ${PROJECT_NAME})
endif()
ament_add_gtest(test_logging_custom_env test/test_logging_custom_env.cpp
ENV
RCUTILS_CONSOLE_OUTPUT_FORMAT=
"[{severity}] [{time},{time_as_nanoseconds}] [{name},{function_name},{file_name}]: {line_number}-{message}"
RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1
RCUTILS_LOGGING_BUFFERED_STREAM=1
RCUTILS_LOGGING_USE_STDOUT=1
RCUTILS_COLORIZED_OUTPUT=1
)
ament_add_test_label(test_logging_custom_env mimick)
if(TARGET test_logging_custom_env)
target_link_libraries(test_logging_custom_env ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools mimick)
endif()
# RCUTILS_LOGGING_MAX_OUTPUT_FORMAT_LEN is defined as 2048, truncation should occur
foreach(i RANGE 0 100)
set(_output_format
"${_output_format} [{severity}] [{time},{time_as_nanoseconds}] [{name},{function_name},{file_name}]: {line_number}-{message}")
endforeach(i)
ament_add_gtest(test_logging_custom_env2 test/test_logging_custom_env.cpp
ENV
RCUTILS_CONSOLE_OUTPUT_FORMAT="${_output_format}"
RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=0
RCUTILS_LOGGING_BUFFERED_STREAM=0
RCUTILS_LOGGING_USE_STDOUT=0
RCUTILS_COLORIZED_OUTPUT=0
)
ament_add_test_label(test_logging_custom_env2 mimick)
if(TARGET test_logging_custom_env2)
target_link_libraries(test_logging_custom_env2 ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools mimick)
endif()
ament_add_gtest(test_logging_bad_env test/test_logging_bad_env.cpp
ENV
RCUTILS_LOGGING_USE_STDOUT=42
)
if(TARGET test_logging_bad_env)
target_link_libraries(test_logging_bad_env ${PROJECT_NAME})
endif()
ament_add_gtest(test_logging_bad_env2 test/test_logging_bad_env.cpp
ENV
RCUTILS_COLORIZED_OUTPUT=42
)
if(TARGET test_logging_bad_env2)
target_link_libraries(test_logging_bad_env2 ${PROJECT_NAME})
endif()
ament_add_gtest(test_logging_bad_env3 test/test_logging_bad_env.cpp
ENV
RCUTILS_LOGGING_BUFFERED_STREAM=42
)
if(TARGET test_logging_bad_env3)
target_link_libraries(test_logging_bad_env3 ${PROJECT_NAME})
endif()
ament_add_gtest(test_logging_enable_for
test/test_logging_enable_for.cpp
)
if(TARGET test_logging_enable_for)
target_link_libraries(test_logging_enable_for ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gtest(test_logging_console_output_handler
test/test_logging_console_output_handler.cpp
)
if(TARGET test_logging_console_output_handler)
target_link_libraries(test_logging_console_output_handler ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
endif()
ament_add_gtest(test_macros
test/test_macros.cpp
)
if(TARGET test_macros)
target_link_libraries(test_macros ${PROJECT_NAME})
endif()
add_performance_test(benchmark_logging test/benchmark/benchmark_logging.cpp)
if(TARGET benchmark_logging)
target_link_libraries(benchmark_logging ${PROJECT_NAME})
endif()
add_performance_test(benchmark_err_handle test/benchmark/benchmark_error_handling.cpp)
if(TARGET benchmark_err_handle)
target_link_libraries(benchmark_err_handle ${PROJECT_NAME})
endif()
endif()
# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
# Export modern CMake targets
ament_export_targets(${PROJECT_NAME})
ament_export_dependencies(ament_cmake)
ament_package()
install(
DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
DESTINATION include/${PROJECT_NAME})