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ament2ino.cmake
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ament2ino.cmake
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# Copyright 2018 INRIA
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################
# ament2ino
################################################################
#
# This file should be used as a CMAKE_TOOLCHAIN_FILE
# Warning : It replace some common cmake functions,
# your project may not work properly.
#
################################################################
# Toolchain Files are called twice in the process...
if(CALL_ONCE)
return()
endif()
set(CALL_ONCE 1)
# Basic configuration of the toolchain
message("[ament2ino] toolchain configuration")
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_C_COMPILER_WORKS 1)
set(CMAKE_CXX_COMPILER_WORKS 1)
# Define BOARD
if(NOT DEFINED BOARD)
if(DEFINED ENV{BOARD})
set(BOARD $ENV{BOARD})
else()
set(BOARD native)
endif()
endif()
# Define RIOT
set(ARDUINO 1)
# Keep used variables from ament2riot (TODO : remove)
set(MAKEFILE_PATH "${CMAKE_INSTALL_PREFIX}/${PROJECT_NAME}/Makefile")
set(MAKEFILE_INCLUDE_PATH "${CMAKE_INSTALL_PREFIX}/${PROJECT_NAME}/Makefile.include")
# Fill the Arduino library include file
file(WRITE ${CMAKE_INSTALL_PREFIX}/Arduino/libraries/ros2_include/ros2_include.h "")
file(APPEND ${CMAKE_INSTALL_PREFIX}/Arduino/libraries/${PROJECT_NAME}/${PROJECT_NAME}.h "#include <ros2_include.h>\n")
################################################################
# Replace try_compile
################################################################
macro(try_compile)
# Do nothing
endmacro()
################################################################
# riot_add_config
################################################################
#
# riot_add_config(<name> <cfg_str>)
#
################################################################
macro(riot_add_config target cfg)
set(${target}_cfg ${${target}_cfg} ${cfg})
endmacro()
################################################################
# Replace add_executable
################################################################
#
# add_executable(<name> [WIN32] [MACOSX_BUNDLE]
# [EXCLUDE_FROM_ALL]
# source1 [source2 ...])
#
################################################################
macro(add_executable target)
message("[ament2ino] executing custom add_executable command")
# Parse arguments
set(options WIN32 MACOSX_BUNDLE EXCLUDE_FROM_ALL)
set(oneValueArgs "")
set(multiValueArgs "")
cmake_parse_arguments(args "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
# Display Warnings for unsupported parameters
foreach(opt in ${options})
if(args_${opt})
message(WARNING "[ament2ino] ${opt} option is not supported")
endif()
endforeach()
# Make the directory where the RIOT project will be put
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/ament2ino/${target})
# Foreach source arguments
set(${target}_sources "")
foreach(arg ${args_UNPARSED_ARGUMENTS})
# Search source file
if(IS_ABSOLUTE ${arg})
set(src ${arg})
elseif(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${arg})
set(src ${arg})
elseif(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/${arg})
set(src ${CMAKE_CURRENT_BINARY_DIR}/${arg})
else()
message(ERROR "Could not find source : ${arg}")
endif()
# Add install rule for source file
if("${target}" STREQUAL "${PROJECT_NAME}")
install(FILES ${src} DESTINATION Arduino/${target})
else()
install(FILES ${src} DESTINATION Arduino/${target})
endif()
# Add the source to ${target}_sources
set(${target}_sources ${${target}_sources} ${arg})
# Add the source directory to ${target}_src_dirs
get_filename_component(dir ${src} DIRECTORY)
list(APPEND ${target}_src_dirs ${dir})
endforeach(arg)
# Hack to get ament-generated *_BUILD_DEPENDS variables
unset(_AMENT_PACKAGE_NAME)
ament_package_xml()
# Add dummy executable target to enable related commands
file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/dummy.c" "int main() {}")
_add_executable(${target} "${CMAKE_CURRENT_BINARY_DIR}/dummy.c")
# Add custom target to trigger sources generation if any
add_custom_target(${target}_dummy ALL DEPENDS ${${target}_sources})
endmacro()
################################################################
# Replace add_library
################################################################
#
# add_library(<name> [STATIC | SHARED | MODULE]
# [EXCLUDE_FROM_ALL]
# source1 [source2 ...])
#
################################################################
function(add_library target)
message("[ament2ino] executing custom add_library command")
# Parse arguments
set(options STATIC SHARED MODULE EXCLUDE_FROM_ALL)
set(oneValueArgs "")
set(multiValueArgs "")
cmake_parse_arguments(args "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
# Display Warnings for unsupported parameters
foreach(opt in ${options})
if(args_${opt})
message(WARNING "[ament2ino] ${opt} option is not supported")
endif()
endforeach()
# Make the directory where the RIOT project will be put
file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/${target})
# Foreach source arguments
set(${target}_sources "")
foreach(arg ${args_UNPARSED_ARGUMENTS})
# Search source file
if(IS_ABSOLUTE ${arg})
set(src ${arg})
elseif(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${arg})
set(src ${arg})
elseif(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/${arg})
set(src ${CMAKE_CURRENT_BINARY_DIR}/${arg})
else()
message(ERROR "Could not find source : ${arg}")
endif()
# Add install rule for source file
if("${target}" STREQUAL "${PROJECT_NAME}")
install(FILES ${src} DESTINATION Arduino/libraries/${target})
else()
install(FILES ${src} DESTINATION Arduino/libraries/${target})
endif()
# Add the source to ${target}_sources
set(${target}_sources ${${target}_sources} ${arg})
# Add the source directory to ${target}_src_dirs
get_filename_component(dir ${src} DIRECTORY)
list(APPEND ${target}_src_dirs ${dir})
endforeach(arg)
# Search additional sources files that are not listed in args (headers)
list(REMOVE_DUPLICATES ${target}_src_dirs)
foreach(dir ${${target}_src_dirs})
# Get unlisted headers
file(GLOB srcs "${dir}/*.h")
# Add install rule for unlisted files
if("${target}" STREQUAL "${PROJECT_NAME}")
install(FILES ${srcs} DESTINATION Arduino/libraries/${target})
else()
install(FILES ${srcs} DESTINATION Arduino/libraries/${target})
endif()
endforeach()
# Hack to get ament-generated *_BUILD_DEPENDS variables
unset(_AMENT_PACKAGE_NAME)
ament_package_xml()
# Copy include dirs
if("${target}" STREQUAL "${PROJECT_NAME}")
foreach(dir ${${PROJECT_NAME}_INCLUDE_DIRECTORIES})
file(GLOB_RECURSE INCLUDE_FILES_H "${dir}/*.h")
file(GLOB_RECURSE INCLUDE_FILES_HPP "${dir}/*.hpp")
set(INCLUDE_FILES ${INCLUDE_FILES_H} ${INCLUDE_FILES_HPP})
foreach(f ${INCLUDE_FILES})
string(REGEX REPLACE ".*/include/" "" ff ${f})
string(REGEX REPLACE "/[a-z_]+\\.hp*" "" fff ${ff})
install(FILES ${f} DESTINATION Arduino/libraries/${target}/${fff})
endforeach()
endforeach()
endif()
# Fill the Arduino library include file
file(APPEND ${CMAKE_INSTALL_PREFIX}/Arduino/libraries/${target}/${target}.h "#include <ros2_include.h>\n")
foreach(dep ${${target}_BUILD_DEPENDS})
file(APPEND ${CMAKE_INSTALL_PREFIX}/Arduino/libraries/${target}/${target}.h "#include <${dep}.h>\n")
endforeach()
if(NOT "${target}" STREQUAL "${PROJECT_NAME}")
file(APPEND ${CMAKE_INSTALL_PREFIX}/Arduino/libraries/${PROJECT_NAME}/${PROJECT_NAME}.h "#include <${target}.h>\n")
endif()
# Add dummy library target to enable related commands
file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/dummy.c" "")
_add_library(${target} STATIC "${CMAKE_CURRENT_BINARY_DIR}/dummy.c")
# Add custom target to trigger sources generation if any
add_custom_target(${target}_dummy ALL DEPENDS ${${target}_sources})
endfunction()