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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(namespace "mavlinkcpp")
project("mavlink-cpp"
DESCRIPTION "Easily implement mavlink in C++"
VERSION 0.0.1
)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-missing-field-initializers -Wno-address-of-packed-member")
find_package(Threads REQUIRED)
find_package(Python COMPONENTS Interpreter)
if (NOT CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
message(STATUS "This project has a top-level one called [${CMAKE_PROJECT_NAME}]")
else()
message(STATUS "This project is a top-level one")
endif()
add_library(${PROJECT_NAME} STATIC)
target_sources(${PROJECT_NAME}
PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/src/Connection.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/ConnectionResult.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/UdpConnection.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/SerialConnection.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/Mavlink.cpp
)
execute_process(COMMAND astyle --quiet --options=astylerc
${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp,*.hpp,*.h
${CMAKE_CURRENT_SOURCE_DIR}/include/*.h,*.hpp
)
##### Build mavlink from source
set(MAVLINK_DIALECT "development") # standard, development, etc
set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/lib/mavlink")
set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/lib/mavlink")
execute_process(
COMMAND ${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
--lang C --wire-protocol 2.0
#--no-validate
#--strict-units
--output ${MAVLINK_LIBRARY_DIR}
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
add_library(mavlink_c INTERFACE)
target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT})
target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
add_dependencies(${PROJECT_NAME} mavlink_c)
target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
##########################################################
# The below is taken from:
# https://decovar.dev/blog/2021/03/08/cmake-cpp-library/
##########################################################
# Define headers for this library. PUBLIC headers are used for
# compiling the library, and will be added to consumers' build
# paths.
target_include_directories(${PROJECT_NAME}
PRIVATE
# where the library itself will look for its internal headers
${CMAKE_CURRENT_SOURCE_DIR}/src
${CMAKE_CURRENT_SOURCE_DIR}/include
PUBLIC
# where top-level project will look for the library's public headers
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}>
# where external projects will look for the library's public headers
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
$<INSTALL_INTERFACE:build/lib/mavlink/${MAVLINK_DIALECT}>
)
# Set public header list, this is the list of headers to be installed
set(public_headers
${CMAKE_CURRENT_SOURCE_DIR}/include/Mavlink.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/ConnectionResult.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/ThreadSafeQueue.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/helpers.hpp
)
# Copy mavlink headers into install
file(GLOB_RECURSE mavlink_headers ${CMAKE_CURRENT_SOURCE_DIR}/build/lib/mavlink/*.h)
list(APPEND public_headers ${mavlink_headers})
set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${public_headers}")
# for CMAKE_INSTALL_INCLUDEDIR definition
include(GNUInstallDirs)
# the variant with PUBLIC_HEADER property unfortunately does not preserve the above folder structure
# so instead we iterate through public headers and install them "manually"
foreach(header ${public_headers})
file(RELATIVE_PATH header_file_path "${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}" "${header}")
get_filename_component(header_directory_path "${header_file_path}" DIRECTORY)
install(
FILES ${header}
DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/${header_directory_path}"
)
endforeach()
# append suffix 'd' for debug builds
set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
# install the target and create export-set
install(TARGETS ${PROJECT_NAME}
EXPORT "${PROJECT_NAME}Targets"
# these get default values from GNUInstallDirs, no need to set them
#RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} # bin
#LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} # lib
#ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} # lib
# except for public headers, as we want them to be inside a library folder
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
# generate and install export file
install(EXPORT "${PROJECT_NAME}Targets"
FILE "${PROJECT_NAME}Targets.cmake"
NAMESPACE ${namespace}::
DESTINATION cmake
)
include(CMakePackageConfigHelpers)
# generate the version file for the config file
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
VERSION "${version}"
COMPATIBILITY AnyNewerVersion
)
# create config file
configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
INSTALL_DESTINATION cmake
)
# install config files
install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
DESTINATION cmake
)
# generate the export targets for the build tree
export(EXPORT "${PROJECT_NAME}Targets"
FILE "${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME}Targets.cmake"
NAMESPACE ${namespace}::
)