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CMakeLists.txt
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#########################################################################
# CMakeLists.txt file for building SOEM with CMake #
# #
# Copyright (c) 2012 Orestes Mas <[email protected]> #
# Copyright (c) 2012-2013 Leopold Palomo-Avellaneda <[email protected]> #
# #
# This file is free software: you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation, either version 3 of the License, or #
# (at your option) any later version. #
# #
# This program is distributed in the hope that it will be useful, #
# but WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
# GNU General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with this program. If not, see <http://www.gnu.org/licenses/>. #
#########################################################################
cmake_minimum_required (VERSION 2.6)
project(SOEM)
# SOEM version. Defined here but not exported to header files, because it's already defined there
set( SOEM_VERSION 1.3.0 )
string( REGEX MATCHALL "[0-9]+" SOEM_VERSIONS ${SOEM_VERSION} )
list( GET SOEM_VERSIONS 0 SOEM_VERSION_MAJOR)
list( GET SOEM_VERSIONS 1 SOEM_VERSION_MINOR)
list( GET SOEM_VERSIONS 2 SOEM_VERSION_PATCH)
# Some example programs use "libpthread"
# http://stackoverflow.com/questions/1620918/cmake-and-libpthread
find_package(Threads REQUIRED)
# Setting some flags
set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-undefined")
# Optional
#set (CMAKE_C_FLAGS "-fdump-rtl-expand")
#Check if we need to link against librt
include(CheckLibraryExists)
CHECK_LIBRARY_EXISTS(rt clock_gettime "time.h" HAVE_CLOCK_GETTIME)
if(HAVE_CLOCK_GETTIME)
set(CMAKE_SHARED_EXTRA_LIBS "-lrt")
endif()
option(ENABLE_STATIC_LIB "Enable libsoem static." ON)
option(ENABLE_TESTS "Enable test programs and utilities linked dynamically." ON)
option(ENABLE_TESTS_STATIC "Enable test programs and utilities linked statically." OFF)
option(ENABLE_RTNET "Enable RTnet over Xenomai." ON)
option(ENABLE_YOUBOT_PATCH "Enable YouBot patch to solve a bug in the mailboxes." OFF)
if(ENABLE_YOUBOT_PATCH)
add_definitions( -DUSE_YOUBOT )
endif()
configure_file( ${CMAKE_SOURCE_DIR}/soem.pc.in ${CMAKE_BINARY_DIR}/soem.pc @ONLY)
if(ENABLE_RTNET)
#common commands for building c++ executables and libraries
find_path(RTNET_INCLUDE_DIR NAMES rtnet.h PATH_SUFFIXES rtnet/include)
if(NOT RTNET_INCLUDE_DIR)
set(ENABLE_RTNET OFF)
endif()
if(RTNET_INCLUDE_DIR)
message("Found RTNET: ${RTNET_INCLUDE_DIR}")
# try Xenomai
# find Xenomai
include(FindPkgConfig)
#dependencies native
pkg_check_modules(XENO_NATIVE REQUIRED libxenomai_native)
message("Found xenomai native includes : ${XENO_NATIVE_INCLUDE_DIRS}" )
message("--> with CFLAGS : ${XENO_NATIVE_CFLAGS}" )
message("Found xenomai native libs : ${XENO_NATIVE_LIBRARIES}" )
message("--> with LDFLAGS : ${XENO_NATIVE_LDFLAGS}" )
# posix
pkg_check_modules(XENO_POSIX REQUIRED libxenomai_posix)
message("Found xenomai posix includes : ${XENO_POSIX_INCLUDE_DIRS}" )
message("--> with CFLAGS : ${XENO_POSIX_CFLAGS}" )
message("Found xenomai posix libs : ${XENO_POSIX_LIBRARIES}" )
message("--> with LDFLAGS : ${XENO_POSIX_LDFLAGS}" )
# RTDM
pkg_check_modules(XENO_RTDM REQUIRED libxenomai_rtdm)
message("Found xenomai rtdm includes : ${XENO_RTDM_INCLUDE_DIRS}" )
message("--> with CFLAGS : ${XENO_RTDM_CFLAGS}" )
message("Found xenomai rtdm libs : ${XENO_RTDM_LIBRARIES}" )
message("--> with LDFLAGS : ${XENO_RTDM_LDFLAGS}" )
# setting some flags for the lib
# ########################################################
# Arranging some list ...
string (REPLACE ";" " " SOEM_CFLAGS_RTNET "${XENO_RTDM_CFLAGS}")
set(SOEM_CFLAGS_RTNET "-DRTNET ${SOEM_CFLAGS_RTNET}")
string (REPLACE ";" " " CMAKE_LINKER_FLAGS_RTNET "${XENO_RTDM_LDFLAGS}")
set(CMAKE_LINKER_FLAGS_RTNET "-lnative ${CMAKE_LINKER_FLAGS_RTNET}")
message(STATUS "Compiler RTNET Flags for the library: " ${SOEM_CFLAGS_RTNET})
message(STATUS "Linker RTNET flags for the library: " ${CMAKE_LINKER_FLAGS_RTNET})
# setting some flags for the examples
# ########################################################
#set(SOEM_CFLAGS_POSIX "-DRTNET ${XENO_POSIX_CFLAGS}")
#set(CMAKE_EXE_LINKER_FLAGS_RTNET "-lnative ${XENO_POSIX_LDFLAGS}")
#message(STATUS "Compiler RTNET POSIX flags for the examples: " ${SOEM_CFLAGS_POSIX})
#message(STATUS "Linker RTNET POSIX flags for the examples: " ${CMAKE_EXE_LINKER_FLAGS_RTNET})
configure_file( ${CMAKE_SOURCE_DIR}/soemrt.pc.in ${CMAKE_BINARY_DIR}/soemrt.pc @ONLY)
endif()
endif()
########################
# Defining the sources
########################
include_directories(${CMAKE_SOURCE_DIR}/osal)
include_directories(${CMAKE_SOURCE_DIR}/soem)
# SOEM header files
set(SOEM_HDRS
soem/ethercatbase.h
soem/ethercatcoe.h
soem/ethercatconfig.h
soem/ethercatconfiglist.h
soem/ethercatdc.h
soem/ethercatfoe.h
soem/ethercatmain.h
soem/ethercatprint.h
soem/ethercatsoe.h
soem/ethercattype.h
)
# SOEM source files (without examples)
set(SOEM_SRC
soem/ethercatbase.c
soem/ethercatcoe.c
soem/ethercatconfig.c
soem/ethercatdc.c
soem/ethercatfoe.c
soem/ethercatmain.c
soem/ethercatprint.c
soem/ethercatsoe.c
)
set(OSAL_H
osal/osal.h )
if(WIN32)
### OSAL source
set(OSAL_SRC
osal/win32/osal.c
)
set(OSAL_HDRS
osal/win32/inttypes.h
osal/win32/osal_win32.h
osal/win32/stdint.h
)
### OSWL source
### the pcap part is not included ...
### it doesn't works ....
include_directories(${CMAKE_SOURCE_DIR}/oshw/win32)
set(OSHW_SRC
oshw/win32/nicdrv.c
oshw/win32/oshw.c
)
set(OSHW_HDRS
oshw/win32/oshw.h
oshw/win32/nicdrv.h
)
endif(WIN32)
if(UNIX)
### OSAL source
set(OSAL_SRC
osal/linux/osal.c
)
set(OSAL_HDRS
osal/linux/inttypes.h
osal/linux/osal_win32.h
osal/linux/stdint.h
)
include_directories(${CMAKE_SOURCE_DIR}/oshw/linux)
### OSWL source
set(OSHW_SRC
oshw/linux/nicdrv.c
oshw/linux/oshw.c
)
set(OSHW_HDRS
oshw/linux/oshw.h
oshw/linux/nicdrv.h
)
endif(UNIX)
# Create static library (.a) with all basic SOEM functions
if(ENABLE_STATIC_LIB)
add_library(soem_static STATIC ${SOEM_SRC} ${OSHW_SRC} ${OSAL_SRC})
set_target_properties(soem_static PROPERTIES
OUTPUT_NAME soem
# Set accumulated compilation flags: (.so and .a)
# COMPILE_FLAGS "${CMAKE_C_FLAGS}"
# LINK_FLAGS "${CMAKE_LD_FLAGS}"
INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"
CLEAN_DIRECT_OUTPUT 1)
endif()
# Create dynamic library (.so) with all basic SOEM functions
add_library(soem_dynamic SHARED ${SOEM_SRC} ${OSHW_SRC} ${OSAL_SRC})
target_link_libraries (soem_dynamic ${CMAKE_SHARED_EXTRA_LIBS})
set_target_properties( soem_dynamic PROPERTIES
DEFINE_SYMBOL "SOEM_DLL_EXPORT"
SOVERSION "${SOEM_VERSION_MAJOR}.${SOEM_VERSION_MINOR}.${SOEM_VERSION_PATCH}"
VERSION "${SOEM_VERSION}"
OUTPUT_NAME soem
# Set accumulated compilation flags: (.so and .a)
# COMPILE_FLAGS "${XENO_CFLAGS_RTDM}"
LINK_FLAGS "${CMAKE_SHARED_LINKER_FLAGS}"
INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"
CLEAN_DIRECT_OUTPUT 1)
# # Build example executables
# # NOTE: The executables are dynamically linked
if(ENABLE_TESTS)
#ebox eepromtool red_test simple_test slaveinfo firm_update
if(WIN32)
add_executable(ebox test/win32/ebox/ebox.c)
target_link_libraries(ebox soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
add_executable(simple_test test/win32/simple_test/simple_test.c)
target_link_libraries(simple_test soem_dynamic)
add_executable(eepromtool test/win32/eepromtool/eepromtool.c)
target_link_libraries(eepromtool soem_dynamic)
add_executable(slaveinfo test/win32/slaveinfo/slaveinfo.c)
target_link_libraries(slaveinfo soem_dynamic)
add_executable(red_test test/win32/red_test/red_test.c)
target_link_libraries(red_test soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
add_executable(firm_update test/win32/firm_update/firm_update.c)
target_link_libraries(firm_update soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
endif()
if(UNIX)
add_executable(ebox test/linux/ebox/ebox.c)
target_link_libraries(ebox soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
add_executable(simple_test test/linux/simple_test/simple_test.c)
target_link_libraries(simple_test soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
add_executable(eepromtool test/linux/eepromtool/eepromtool.c)
target_link_libraries(eepromtool soem_dynamic)
add_executable(slaveinfo test/linux/slaveinfo/slaveinfo.c)
target_link_libraries(slaveinfo soem_dynamic)
add_executable(red_test test/linux/red_test/red_test.c)
target_link_libraries(red_test soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
add_executable(firm_update test/linux/firm_update/firm_update.c)
target_link_libraries(firm_update soem_dynamic ${CMAKE_THREAD_LIBS_INIT})
endif()
# Installing
install(TARGETS ebox eepromtool red_test simple_test slaveinfo firm_update DESTINATION bin)
endif(ENABLE_TESTS)
if(ENABLE_STATIC_LIB)
install(TARGETS soem_static DESTINATION lib)
endif()
# Defaul install
install(TARGETS soem_dynamic DESTINATION lib)
# Just ones headers
install(FILES ${SOEM_HDRS} ${OSAL_H} ${OSHW_HDRS} DESTINATION include/soem)
#pkg-config files
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/soem.pc DESTINATION lib/pkgconfig )
# Static tests
if(ENABLE_TESTS_STATIC)
set(CMAKE_EXE_LINKER_FLAGS_STATIC "${CMAKE_SHARED_LINKER_FLAGS}")
add_executable(ebox_s test/linux/ebox/ebox.c)
target_link_libraries(ebox_s soem_static ${CMAKE_EXE_LINKER_FLAGS_STATIC}
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_SHARED_EXTRA_LIBS} )
add_executable(simple_test_s test/linux/simple_test/simple_test.c)
target_link_libraries(simple_test_s soem_static ${CMAKE_EXE_LINKER_FLAGS_STATIC}
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_SHARED_EXTRA_LIBS} )
add_executable(eepromtool_s test/linux/eepromtool/eepromtool.c)
target_link_libraries(eepromtool_s soem_static ${CMAKE_EXE_LINKER_FLAGS_STATIC}
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_SHARED_EXTRA_LIBS} )
add_executable(slaveinfo_s test/linux/slaveinfo/slaveinfo.c)
target_link_libraries(slaveinfo_s soem_static ${CMAKE_EXE_LINKER_FLAGS_STATIC}
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_SHARED_EXTRA_LIBS} )
add_executable(red_test_s test/linux/red_test/red_test.c)
target_link_libraries(red_test_s soem_static ${CMAKE_EXE_LINKER_FLAGS_STATIC}
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_SHARED_EXTRA_LIBS} )
add_executable(firm_update_s test/linux/firm_update/firm_update.c)
target_link_libraries(firm_update_s soem_static ${CMAKE_EXE_LINKER_FLAGS_STATIC}
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_SHARED_EXTRA_LIBS} )
# Installing
install(TARGETS ebox_s eepromtool_s red_test_s simple_test_s slaveinfo_s firm_update_s DESTINATION bin)
endif()
# RTNET part
###############################################################################
if(ENABLE_RTNET)
# Create static library (.a) with all basic SOEM functions
include_directories(${RTNET_INCLUDE_DIR})
if(ENABLE_STATIC_LIB)
add_library(soem_static_rt STATIC ${SOEM_SRC} ${OSHW_SRC} ${OSAL_SRC})
target_link_libraries(soem_static_rt ${CMAKE_LINKER_FLAGS_RTNET})
set_target_properties(soem_static_rt PROPERTIES
OUTPUT_NAME soemrt
COMPILE_FLAGS "${SOEM_CFLAGS_RTNET}"
#LINK_FLAGS "${CMAKE_LINKER_FLAGS_RTNET}"
INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"
CLEAN_DIRECT_OUTPUT 1)
install(TARGETS soem_static_rt DESTINATION lib)
endif()
# Create dynamic library (.so) with all basic SOEM functions
add_library(soem_dynamic_rt SHARED ${SOEM_SRC} ${OSHW_SRC} ${OSAL_SRC})
target_link_libraries(soem_dynamic_rt ${CMAKE_LINKER_FLAGS_RTNET})
set_target_properties( soem_dynamic_rt PROPERTIES
DEFINE_SYMBOL "SOEM_DLL_EXPORT"
SOVERSION "${SOEM_VERSION_MAJOR}.${SOEM_VERSION_MINOR}.${SOEM_VERSION_PATCH}"
VERSION "${SOEM_VERSION}"
OUTPUT_NAME soemrt
COMPILE_FLAGS "${SOEM_CFLAGS_RTNET}"
#LINK_FLAGS "${CMAKE_LINKER_FLAGS_RTNET}"
INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"
CLEAN_DIRECT_OUTPUT 1)
# Defaul install
install(TARGETS soem_dynamic_rt DESTINATION lib)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/soemrt.pc DESTINATION lib/pkgconfig )
if(ENABLE_TESTS)
add_executable(ebox_rt test/linux/ebox/ebox.c)
target_link_libraries(ebox_rt soem_dynamic_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET})
set_target_properties(ebox_rt PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET}")
add_executable(simple_test_rt test/linux/simple_test/simple_test.c)
target_link_libraries(simple_test_rt soem_dynamic_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET})
set_target_properties(simple_test_rt PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_RTNET}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET}")
add_executable(eepromtool_rt test/linux/eepromtool/eepromtool.c)
target_link_libraries(eepromtool_rt soem_dynamic_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET})
set_target_properties(eepromtool_rt PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET}")
add_executable(slaveinfo_rt test/linux/slaveinfo/slaveinfo.c)
target_link_libraries(slaveinfo_rt soem_dynamic_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET})
set_target_properties(slaveinfo_rt PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_RTNET}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET}")
add_executable(red_test_rt test/linux/red_test/red_test.c)
target_link_libraries(red_test_rt soem_dynamic_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET})
set_target_properties(red_test_rt PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET}")
add_executable(firm_update_rt test/linux/firm_update/firm_update.c)
target_link_libraries(firm_update_rt soem_dynamic_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET})
set_target_properties(firm_update_rt PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET}")
install(TARGETS ebox_rt eepromtool_rt red_test_rt simple_test_rt slaveinfo_rt firm_update_rt
DESTINATION bin)
endif()
if(ENABLE_TESTS_STATIC)
set(CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC "${CMAKE_EXE_LINKER_FLAGS_RTNET} ${CMAKE_LINKER_FLAGS_RTNET}")
message(STATUS "Linker RTNET POSIX flags for the examples (STATIC): " ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
add_executable(ebox_rt_s test/linux/ebox/ebox.c)
target_link_libraries(ebox_rt_s soem_static_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
set_target_properties(ebox_rt_s PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC}")
add_executable(simple_test_rt_s test/linux/simple_test/simple_test.c)
target_link_libraries(simple_test_rt_s soem_static_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
set_target_properties(simple_test_rt_s PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC}")
add_executable(eepromtool_rt_s test/linux/eepromtool/eepromtool.c)
target_link_libraries(eepromtool_rt_s soem_static_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
set_target_properties(eepromtool_rt_s PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC}")
add_executable(slaveinfo_rt_s test/linux/slaveinfo/slaveinfo.c)
target_link_libraries(slaveinfo_rt_s soem_static_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
set_target_properties(slaveinfo_rt_s PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC}")
add_executable(red_test_rt_s test/linux/red_test/red_test.c)
target_link_libraries(red_test_rt_s soem_static_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
set_target_properties(red_test_rt_s PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC}")
add_executable(firm_update_rt_s test/linux/firm_update/firm_update.c)
target_link_libraries(firm_update_rt_s soem_static_rt ${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC})
set_target_properties(firm_update_rt_s PROPERTIES
COMPILE_FLAGS "${SOEM_CFLAGS_POSIX}")
#LINK_FLAGS "${CMAKE_EXE_LINKER_FLAGS_RTNET_STATIC}")
install(TARGETS ebox_rt_s eepromtool_rt_s red_test_rt_s simple_test_rt_s slaveinfo_rt_s firm_update_rt_s
DESTINATION bin)
endif()
endif()