From 95834c0605ed376c6c4e52c4e839e9d2f67b65ca Mon Sep 17 00:00:00 2001
From: Bakin Denis <denis.bakin5@gmail.com>
Date: Sun, 14 Apr 2024 15:08:48 +0000
Subject: [PATCH] fix: requested changes implemented fix: added header-only
 include location correctly

---
 packages/camera/CMakeLists.txt                | 14 ++++-----
 packages/camera/include/camera.h              |  2 +-
 packages/camera/package.xml                   |  2 +-
 packages/common/CMakeLists.txt                | 29 +++++++++++++++++++
 .../include/lock_free_queue.h                 |  0
 .../{lock_free_queue => common}/package.xml   |  4 +--
 packages/common/tests/CMakeLists.txt          |  4 +++
 .../tests/src/test.cpp                        |  0
 packages/lock_free_queue/CMakeLists.txt       | 17 -----------
 9 files changed, 43 insertions(+), 29 deletions(-)
 create mode 100644 packages/common/CMakeLists.txt
 rename packages/{lock_free_queue => common}/include/lock_free_queue.h (100%)
 rename packages/{lock_free_queue => common}/package.xml (90%)
 create mode 100644 packages/common/tests/CMakeLists.txt
 rename packages/{lock_free_queue => common}/tests/src/test.cpp (100%)
 delete mode 100644 packages/lock_free_queue/CMakeLists.txt

diff --git a/packages/camera/CMakeLists.txt b/packages/camera/CMakeLists.txt
index 1f2ba5d..b524b76 100644
--- a/packages/camera/CMakeLists.txt
+++ b/packages/camera/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(yaml_cpp_vendor REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(Boost REQUIRED)
 find_package(camera_srvs REQUIRED)
-find_package(lock_free_queue REQUIRED)
+find_package(common REQUIRED)
 
 add_library(mvsdk SHARED IMPORTED)
 set_target_properties(mvsdk PROPERTIES IMPORTED_LOCATION "/lib/libMVSDK.so")
@@ -28,11 +28,9 @@ add_executable(calibration src/calibration_main.cpp src/calibration.cpp
                            src/params.cpp)
 
 target_include_directories(
-  camera
-  PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../lock_free_queue/include>"
-    "/usr/include")
+  camera PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>" "/usr/include")
+
 target_include_directories(
   calibration PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                      "/usr/include")
@@ -44,7 +42,7 @@ ament_target_dependencies(
   OpenCV
   sensor_msgs
   yaml_cpp_vendor
-  lock_free_queue)
+  common)
 
 ament_target_dependencies(
   calibration
@@ -61,7 +59,7 @@ ament_target_dependencies(
   Boost
   camera_srvs)
 
-target_link_libraries(camera mvsdk queue_lib)
+target_link_libraries(camera mvsdk common::common)
 
 install(TARGETS camera calibration DESTINATION lib/${PROJECT_NAME})
 
diff --git a/packages/camera/include/camera.h b/packages/camera/include/camera.h
index a1572be..fa43d6f 100644
--- a/packages/camera/include/camera.h
+++ b/packages/camera/include/camera.h
@@ -6,7 +6,7 @@
 #include <opencv2/core/core.hpp>
 
 #include "CameraApi.h"
-#include "lock_free_queue.h"
+#include "common/lock_free_queue.h"
 #include "params.h"
 
 #include <chrono>
diff --git a/packages/camera/package.xml b/packages/camera/package.xml
index 02ac16c..d353ba1 100644
--- a/packages/camera/package.xml
+++ b/packages/camera/package.xml
@@ -21,7 +21,7 @@
   <depend>yaml_cpp_vendor</depend>
   <depend>Boost</depend>
   <depend>camera_srvs</depend>
-  <depend>lock_free_queue</depend>
+  <depend>common</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/packages/common/CMakeLists.txt b/packages/common/CMakeLists.txt
new file mode 100644
index 0000000..5bda4b0
--- /dev/null
+++ b/packages/common/CMakeLists.txt
@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.8)
+project(common)
+
+find_package(ament_cmake REQUIRED)
+
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(
+  ${PROJECT_NAME}
+  INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+            "$<INSTALL_INTERFACE:include>")
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT "export_${PROJECT_NAME}"
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES
+  DESTINATION include)
+
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory("tests")
+endif()
+
+ament_export_targets("export_${PROJECT_NAME}")
+ament_package()
diff --git a/packages/lock_free_queue/include/lock_free_queue.h b/packages/common/include/lock_free_queue.h
similarity index 100%
rename from packages/lock_free_queue/include/lock_free_queue.h
rename to packages/common/include/lock_free_queue.h
diff --git a/packages/lock_free_queue/package.xml b/packages/common/package.xml
similarity index 90%
rename from packages/lock_free_queue/package.xml
rename to packages/common/package.xml
index 23b4e01..88d60b9 100644
--- a/packages/lock_free_queue/package.xml
+++ b/packages/common/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>lock_free_queue</name>
+  <name>common</name>
   <version>0.0.0</version>
-  <description>lock_free_queue</description>
+  <description>common</description>
   <license>MIT</license>
   <maintainer email="denis.bakin5@gmail.com">Denis Bakin</maintainer>
 
diff --git a/packages/common/tests/CMakeLists.txt b/packages/common/tests/CMakeLists.txt
new file mode 100644
index 0000000..579aae6
--- /dev/null
+++ b/packages/common/tests/CMakeLists.txt
@@ -0,0 +1,4 @@
+ament_add_gtest(queue_test src/test.cpp)
+target_include_directories(
+  queue_test PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
+target_link_libraries(queue_test ${PROJECT_NAME})
diff --git a/packages/lock_free_queue/tests/src/test.cpp b/packages/common/tests/src/test.cpp
similarity index 100%
rename from packages/lock_free_queue/tests/src/test.cpp
rename to packages/common/tests/src/test.cpp
diff --git a/packages/lock_free_queue/CMakeLists.txt b/packages/lock_free_queue/CMakeLists.txt
deleted file mode 100644
index 18582b5..0000000
--- a/packages/lock_free_queue/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(lock_free_queue)
-
-find_package(ament_cmake_gtest REQUIRED)
-
-add_compile_options(-Wall -Wextra -Wpedantic -Wno-dev)
-
-add_library(queue_lib INTERFACE)
-target_include_directories(
-  queue_lib INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
-
-ament_add_gtest(queue_test tests/src/test.cpp)
-target_include_directories(
-  queue_test PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
-target_link_libraries(queue_test queue_lib)
-
-ament_package()