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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(zros)
# may be support windows
if(UNIX)
set(CMAKE_CXX_FLAGS "-std=c++11")
set(PROTOBUF_PROTOC_EXECUTABLE /usr/local/bin/protoc)
set(GRPC_CPP_PLUGIN_EXECUTABLE /usr/local/bin/grpc_cpp_plugin)
set(GRPC_LIBRARIES libgrpc++.a libgrpc.a)
set(ZEROMQ_LIBRARIES zmq)
link_libraries(tcmalloc.a profiler.a -lpthread -lz -lssl -lcrypto)
elseif(WIN32)
# TODO
endif(UNIX)
# -I
include_directories(
${zros_SOURCE_DIR}/include
${CMAKE_CURRENT_BINARY_DIR}
)
# now just one, may lot
set(ZROS_GRPC_PROTO ${zros_SOURCE_DIR}/src/zros_proto/zros.proto)
find_Package(Protobuf REQUIRED)
# which need package to zros lib for other use
set (ZROS_FILES
${zros_SOURCE_DIR}/include/zros/signal_handle.h
${zros_SOURCE_DIR}/include/zros/singleton.h
${zros_SOURCE_DIR}/include/zros/thread_pool.h
${zros_SOURCE_DIR}/include/zros/service_discovery.h
${zros_SOURCE_DIR}/include/zros/service_server_interface.h
${zros_SOURCE_DIR}/include/zros/service_server.h
${zros_SOURCE_DIR}/include/zros/publisher_interface.h
${zros_SOURCE_DIR}/include/zros/publisher.h
${zros_SOURCE_DIR}/include/zros/publisher_manager.h
${zros_SOURCE_DIR}/include/zros/subscriber.h
${zros_SOURCE_DIR}/include/zros/subscriber_interface.h
${zros_SOURCE_DIR}/include/zros/node_handle.h
${zros_SOURCE_DIR}/include/zros/service_server_manager.h
${zros_SOURCE_DIR}/include/zros/service_client_manager.h
${zros_SOURCE_DIR}/include/zros/zros.h
${zros_SOURCE_DIR}/include/zros/subscriber.h
${zros_SOURCE_DIR}/include/zros/subscriber_interface.h
${zros_SOURCE_DIR}/include/zros/subscriber_manager.h
${zros_SOURCE_DIR}/src/zros_cpp/subscriber_manager.cc
${zros_SOURCE_DIR}/src/zros_cpp/node_handle.cc
${zros_SOURCE_DIR}/src/zros_cpp/zros.cc
${zros_SOURCE_DIR}/src/zros_cpp/service_discovery.cc
${zros_SOURCE_DIR}/src/zros_cpp/service_client_interface.cc
${zros_SOURCE_DIR}/src/zros_cpp/publisher_interface.cc
${zros_SOURCE_DIR}/src/zros_cpp/service_server_manager.cc
${zros_SOURCE_DIR}/src/zros_cpp/service_client_manager.cc
${zros_SOURCE_DIR}/src/zros_cpp/impl/service_discovery_impl.cc
${zros_SOURCE_DIR}/src/zros_cpp/impl/service_servers_impl.h
${zros_SOURCE_DIR}/src/zros_cpp/impl/service_servers_impl.cc
${zros_SOURCE_DIR}/src/zros_cpp/impl/service_clients_impl.h
${zros_SOURCE_DIR}/src/zros_cpp/impl/service_clients_impl.cc
${zros_SOURCE_DIR}/src/zros_cpp/publisher_manager.cc
${zros_SOURCE_DIR}/src/zros_cpp/impl/publisher_impl.h
${zros_SOURCE_DIR}/src/zros_cpp/impl/publisher_impl.cc
${zros_SOURCE_DIR}/src/zros_cpp/impl/subscriber_impl.h
${zros_SOURCE_DIR}/src/zros_cpp/impl/subscriber_impl.cc
)
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${ZROS_GRPC_PROTO})
# grpc genrate cpp
get_filename_component(ABS_PROTO ${ZROS_GRPC_PROTO} ABSOLUTE)
get_filename_component(PROTOS_WE ${ZROS_GRPC_PROTO} NAME_WE)
list(APPEND PROTO_SRCS "${CMAKE_CURRENT_BINARY_DIR}/${PROTOS_WE}.grpc.pb.cc")
list(APPEND PROTO_HDRS "${CMAKE_CURRENT_BINARY_DIR}/${PROTOS_WE}.grpc.pb.h")
add_custom_command (
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${PROTOS_WE}.grpc.pb.h"
"${CMAKE_CURRENT_BINARY_DIR}/${PROTOS_WE}.grpc.pb.cc"
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
ARGS -I ${zros_SOURCE_DIR}/src/zros_proto
--grpc_out=${CMAKE_CURRENT_BINARY_DIR}
--plugin=protoc-gen-grpc=${GRPC_CPP_PLUGIN_EXECUTABLE}
${ABS_PROTO}
DEPENDS ${NAME_PRO} ${GRPC_CPP_PLUGIN_EXECUTABLE} ${PROTOBUF_PROTOC_EXECUTABLE}
COMMENT "Running C++ Protocol buffer"
)
set_source_files_properties(${PROTO_SRCS} ${PROTO_HDRS} PROPERTIES GENERATED TRUE)
# zros
add_library(zros ${ZROS_FILES} ${PROTO_SRCS} ${PROTO_HDRS})
target_link_libraries(zros ${GRPC_LIBRARIES} ${PROTOBUF_LIBRARIES} ${ZEROMQ_LIBRARIES})
# install zros
message( ${CMAKE_CURRENT_BINARY_DIR})
if(UNIX)
# default is /usr/local/lib
install(TARGETS zros DESTINATION lib)
install(DIRECTORY ${zros_SOURCE_DIR}/include/zros DESTINATION include)
install(FILES
"${zros_SOURCE_DIR}/build/zros.grpc.pb.h"
"${zros_SOURCE_DIR}/build/zros.pb.h"
DESTINATION include/zros
)
install(DIRECTORY ${zros_SOURCE_DIR}/examples/cpp DESTINATION share)
endif(UNIX)
# zros_master
set (ZROS_MASTER_SRC
${zros_SOURCE_DIR}/src/zros_master/main.cc
${zros_SOURCE_DIR}/src/zros_master/zros_master.h
${zros_SOURCE_DIR}/src/zros_master/zros_master.cc
${zros_SOURCE_DIR}/src/zros_master/signal_handle.cc
${zros_SOURCE_DIR}/src/zros_master/node_manager.h
${zros_SOURCE_DIR}/src/zros_master/node_manager.cc
${zros_SOURCE_DIR}/src/zros_master/service_manager.cc
${zros_SOURCE_DIR}/src/zros_master/service_manager.h
${zros_SOURCE_DIR}/src/zros_master/topic_manager.cc
${zros_SOURCE_DIR}/src/zros_master/topic_manager.h
${zros_SOURCE_DIR}/src/zros_master/connect_task.h
${zros_SOURCE_DIR}/src/zros_master/connect_task.cc
)
add_executable(zros_master ${ZROS_MASTER_SRC})
target_link_libraries(zros_master zros)
# install zros master
if(UNIX)
install(TARGETS zros_master DESTINATION bin)
endif(UNIX)
add_subdirectory(src/demos)
# example
protobuf_generate_cpp(EXAMPLE_PROTO_SRCS EXAMPLE_PROTO_HDRS ${zros_SOURCE_DIR}/examples/cpp/test_message.proto ${zros_SOURCE_DIR}/examples/cpp/test_service.proto)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
add_executable(example_service_server ${zros_SOURCE_DIR}/examples/cpp/example_service_server.cc ${EXAMPLE_PROTO_SRCS} ${EXAMPLE_PROTO_HDRS})
target_link_libraries(example_service_server zros)
add_executable(example_service_client ${zros_SOURCE_DIR}/examples/cpp/example_service_client.cc ${EXAMPLE_PROTO_SRCS} ${EXAMPLE_PROTO_HDRS})
target_link_libraries(example_service_client zros)
add_executable(example_publisher ${zros_SOURCE_DIR}/examples/cpp/example_publisher.cc ${EXAMPLE_PROTO_SRCS} ${EXAMPLE_PROTO_HDRS})
target_link_libraries(example_publisher zros)
add_executable(example_subscriber ${zros_SOURCE_DIR}/examples/cpp/example_subscriber.cc ${EXAMPLE_PROTO_SRCS} ${EXAMPLE_PROTO_HDRS})
target_link_libraries(example_subscriber zros)