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Add rosbuild support in GenerateRTTRosCommPackage and rtt_ros service #11

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merged 1 commit into from
Aug 30, 2013
Merged

Add rosbuild support in GenerateRTTRosCommPackage and rtt_ros service #11

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66 changes: 51 additions & 15 deletions rtt_roscomm/cmake/GenerateRTTROSCommPackage.cmake.em
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Original file line number Diff line number Diff line change
Expand Up @@ -18,22 +18,53 @@ endif()

include(AddFileDependencies)

if(ORO_USE_ROSBUILD)
set(rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY "${PROJECT_SOURCE_DIR}/include/orocos")
set(rtt_roscomm_GENERATED_SOURCES_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/src")
set(rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION)
elseif(ORO_USE_CATKIN)
set(rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/include/orocos")
set(rtt_roscomm_GENERATED_SOURCES_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/src")
set(rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION "${CATKIN_GLOBAL_INCLUDE_DESTINATION}/orocos")
else()
set(rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/include/orocos")
set(rtt_roscomm_GENERATED_SOURCES_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/src")
set(rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION "include/orocos")
endif()

macro(ros_generate_rtt_typekit package)
# Check if we're generating code for messages in this package
if(NOT package STREQUAL PROJECT_NAME)
find_package(${package})
find_package(${package} QUIET)
endif()

find_package(genmsg)
find_package(rtt_roscomm)

# Get all .msg files
if(genmsg_VERSION VERSION_GREATER 0.4.19)
set(MSGS ${${package}_MESSAGE_FILES})
else()
message(SEND_ERROR "genmsg version must be 0.4.19 or greater to generate RTT typekits for ROS messages")
if(${package}_FOUND)
# Get all .msg files
if(genmsg_VERSION VERSION_GREATER 0.4.19)
set(MSGS ${${package}_MESSAGE_FILES})
else()
message(SEND_ERROR "genmsg version must be 0.4.19 or greater to generate RTT typekits for ROS messages")
endif()

# try to find rosbuild-style message package
elseif(ROSBUILD_init_called)
rosbuild_find_ros_package(${package})
if(DEFINED ${package}_PACKAGE_PATH)
set(${package}_FOUND TRUE)
file(GLOB MSGS "${${package}_PACKAGE_PATH}/msg/*.msg")
set(${package}_EXPORTED_TARGETS)
endif()
endif()


# message package not found
if(NOT ${package}_FOUND)
message(SEND_ERROR "Package ${package} not found. Will not generate RTT typekit.")
set(MSGS)
endif()

if( NOT "${MSGS}" STREQUAL "" )

# Set the boost header generation script path
Expand Down Expand Up @@ -78,7 +109,7 @@ macro(ros_generate_rtt_typekit package)
set(ROSMSGTYPESHEADERS "${ROSMSGTYPESHEADERS}#include \"${ROSMSGNAME}.h\"\n")

# Necessary for create_boost_header.py command below
set(_ROSMSG_GENERATED_BOOST_HEADER "${CATKIN_DEVEL_PREFIX}/include/${ROSMSGBOOSTHEADER}")
set(_ROSMSG_GENERATED_BOOST_HEADER "${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/${ROSMSGBOOSTHEADER}")
list(APPEND ROSMSGS_GENERATED_BOOST_HEADERS ${_ROSMSG_GENERATED_BOOST_HEADER})

add_custom_command(
Expand All @@ -92,10 +123,10 @@ macro(ros_generate_rtt_typekit package)

# TypeInfo object
set(_template_types_src_dir "${rtt_roscomm_DIR}/rtt_roscomm_pkg_template/src/orocos/types")
set(_template_types_dst_dir "${CMAKE_CURRENT_BINARY_DIR}/src/orocos/types")
set(_template_types_dst_dir "${rtt_roscomm_GENERATED_SOURCES_OUTPUT_DIRECTORY}/orocos/types")

set(_template_typekit_src_dir "${rtt_roscomm_DIR}/rtt_roscomm_pkg_template/include/PKG_NAME/typekit")
set(_template_typekit_dst_dir "${CATKIN_DEVEL_PREFIX}/include/${package}/typekit")
set(_template_typekit_dst_dir "${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/${package}/typekit")

configure_file(
${_template_types_src_dir}/ros_msg_typekit_plugin.cpp.in
Expand Down Expand Up @@ -134,23 +165,28 @@ macro(ros_generate_rtt_typekit package)
${_template_typekit_dst_dir}/Types.h @@ONLY )

# Targets
include_directories(${CATKIN_DEVEL_PREFIX}/include ${catkin_INCLUDE_DIRS})
include_directories(${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY} ${catkin_INCLUDE_DIRS})

orocos_typekit( rtt-${package}-typekit ${_template_types_dst_dir}/ros_${package}_typekit.cpp ${ROSMSG_TYPEKIT_PLUGINS})
orocos_typekit( rtt-${package}-ros-transport ${_template_types_dst_dir}/ros_${package}_transport.cpp )
target_link_libraries( rtt-${package}-typekit ${catkin_LIBRARIES})
target_link_libraries( rtt-${package}-ros-transport ${catkin_LIBRARIES})
add_dependencies( rtt-${package}-typekit ${${package}_EXPORTED_TARGETS})
add_dependencies( rtt-${package}-ros-transport ${${package}_EXPORTED_TARGETS})
if(DEFINED ${package}_EXPORTED_TARGETS)
add_dependencies( rtt-${package}-typekit ${${package}_EXPORTED_TARGETS})
add_dependencies( rtt-${package}-ros-transport ${${package}_EXPORTED_TARGETS})
endif()
add_file_dependencies( ${_template_types_dst_dir}/ros_${package}_typekit.cpp "${CMAKE_CURRENT_LIST_FILE}" ${ROSMSGS_GENERATED_BOOST_HEADERS} )
add_file_dependencies( ${_template_types_dst_dir}/ros_${package}_transport.cpp "${CMAKE_CURRENT_LIST_FILE}" ${ROSMSGS_GENERATED_BOOST_HEADERS} )

set_directory_properties(PROPERTIES
ADDITIONAL_MAKE_CLEAN_FILES "${ROSMSG_TYPEKIT_PLUGINS};${ROSMSG_TRANSPORT_PLUGIN};${_template_types_dst_dir}/ros_${package}_typekit.cpp;${_template_types_dst_dir}/ros_${package}_transport.cpp;${CATKIN_DEVEL_PREFIX}/include/${package}/boost")

# Install generated header files (dependent packages might need them)
install(FILES ${ROSMSGS_GENERATED_BOOST_HEADERS} DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${package}/boost/)
install(DIRECTORY "${CATKIN_DEVEL_PREFIX}/include/${package}/typekit/" DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${package}/typekit)
if(DEFINED rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION)
# install(FILES ${ROSMSGS_GENERATED_BOOST_HEADERS} DESTINATION ${rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION}/${package}/boost/)
# install(DIRECTORY "${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/${package}/typekit" DESTINATION ${rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION}/${package})
install(DIRECTORY "${rtt_roscomm_GENERATED_HEADERS_OUTPUT_DIRECTORY}/${package}" DESTINATION "${rtt_roscomm_GENERATED_HEADERS_INSTALL_DESTINATION}")
endif()

else()
# Return if nothing to do
Expand Down