Merge branch 'cmake' into simulation-cmake
This commit is contained in:
commit
f9ad5f6562
6 changed files with 399 additions and 131 deletions
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@ -4,7 +4,6 @@ cmake-build-debug/
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futur/
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CMakeFiles/
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*.cmake
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CMakeCache.txt
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||||
|
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docs/
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||||
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@ -13,5 +12,3 @@ doc/
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workspace/
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dist/
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||||
not_for_students/
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||||
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||||
|
||||
|
|
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|||
62
software/raspberry/superviseur-robot/CMakeLists.txt
Normal file
62
software/raspberry/superviseur-robot/CMakeLists.txt
Normal file
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@ -0,0 +1,62 @@
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|||
cmake_minimum_required(VERSION 3.0)
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project(superviseur)
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# Import modules
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||||
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake-modules)
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||||
|
||||
# Compile libraries
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# Base64
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add_library(base64
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lib/base64/base64.cpp
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lib/base64/base64.h
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)
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target_include_directories(base64 PUBLIC lib/base64/base64.h)
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|
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# lib
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add_library(lib
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lib/camera.cpp
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lib/camera.h
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lib/commonitor.cpp
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lib/commonitor.h
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||||
lib/comrobot.cpp
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||||
lib/comrobot.h
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||||
lib/img.cpp
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||||
lib/img.h
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||||
lib/messages.cpp
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||||
lib/messages.h
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)
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target_include_directories(lib PUBLIC lib)
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target_link_libraries(lib base64)
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# Compile main executable
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add_executable(main main.cpp tasks.cpp tasks.h)
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target_link_libraries(main lib)
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|
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# OpenCV
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#set (OpenCV_DIR /path/to/opencv) # Optiona: hint for OpenCV root folder
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find_package(OpenCV REQUIRED)
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target_link_libraries(lib ${OpenCV_LIBS})
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||||
|
||||
# Raspicam_CV
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find_package(raspicam REQUIRED)
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target_link_libraries(lib ${raspicam_CV_LIBS})
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||||
|
||||
# Xenomai
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set(Xenomai_ROOT_DIR /usr/xenomai) # Optional: hint for Xenomai root folder
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set(Xenomai_libs POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY COBALT NATIVE) # List of Xenomai libraries to link
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|
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find_package(Xenomai 3.0 REQUIRED ${Xenomai_libs})
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if (Xenomai_FOUND)
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message(STATUS "Xenomai found with theses skins: ${Xenomai_SKINS}")
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else ()
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message(FATAL_ERROR "Xenomai not found")
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endif ()
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||||
|
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foreach (lib IN LISTS Xenomai_libs)
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message(STATUS ${Xenomai_${lib}_LDFLAGS})
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target_link_options(main PRIVATE ${Xenomai_${lib}_LDFLAGS})
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target_include_directories(main PRIVATE ${Xenomai_${lib}_INCLUDE_DIR})
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target_link_libraries(main ${Xenomai_${lib}_LIBRARY_DIRS} ${Xenomai_${lib}_LIBRARIES})
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set_target_properties(main PROPERTIES LINK_FLAGS ${Xenomai_${lib}_LDFLAGS})
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target_compile_definitions(main PRIVATE ${Xenomai_${lib}_DEFINITIONS})
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endforeach ()
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@ -1,128 +0,0 @@
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|||
#
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||||
# There exist several targets which are by default empty and which can be
|
||||
# used for execution of your targets. These targets are usually executed
|
||||
# before and after some main targets. They are:
|
||||
#
|
||||
# .build-pre: called before 'build' target
|
||||
# .build-post: called after 'build' target
|
||||
# .clean-pre: called before 'clean' target
|
||||
# .clean-post: called after 'clean' target
|
||||
# .clobber-pre: called before 'clobber' target
|
||||
# .clobber-post: called after 'clobber' target
|
||||
# .all-pre: called before 'all' target
|
||||
# .all-post: called after 'all' target
|
||||
# .help-pre: called before 'help' target
|
||||
# .help-post: called after 'help' target
|
||||
#
|
||||
# Targets beginning with '.' are not intended to be called on their own.
|
||||
#
|
||||
# Main targets can be executed directly, and they are:
|
||||
#
|
||||
# build build a specific configuration
|
||||
# clean remove built files from a configuration
|
||||
# clobber remove all built files
|
||||
# all build all configurations
|
||||
# help print help mesage
|
||||
#
|
||||
# Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
|
||||
# .help-impl are implemented in nbproject/makefile-impl.mk.
|
||||
#
|
||||
# Available make variables:
|
||||
#
|
||||
# CND_BASEDIR base directory for relative paths
|
||||
# CND_DISTDIR default top distribution directory (build artifacts)
|
||||
# CND_BUILDDIR default top build directory (object files, ...)
|
||||
# CONF name of current configuration
|
||||
# CND_PLATFORM_${CONF} platform name (current configuration)
|
||||
# CND_ARTIFACT_DIR_${CONF} directory of build artifact (current configuration)
|
||||
# CND_ARTIFACT_NAME_${CONF} name of build artifact (current configuration)
|
||||
# CND_ARTIFACT_PATH_${CONF} path to build artifact (current configuration)
|
||||
# CND_PACKAGE_DIR_${CONF} directory of package (current configuration)
|
||||
# CND_PACKAGE_NAME_${CONF} name of package (current configuration)
|
||||
# CND_PACKAGE_PATH_${CONF} path to package (current configuration)
|
||||
#
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||||
# NOCDDL
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||||
|
||||
|
||||
# Environment
|
||||
MKDIR=mkdir
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CP=cp
|
||||
CCADMIN=CCadmin
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||||
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||||
|
||||
# build
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||||
build: .build-post
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||||
|
||||
.build-pre:
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||||
# Add your pre 'build' code here...
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||||
|
||||
.build-post: .build-impl
|
||||
# Add your post 'build' code here...
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||||
|
||||
|
||||
# clean
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clean: .clean-post
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||||
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||||
.clean-pre:
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# Add your pre 'clean' code here...
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||||
|
||||
.clean-post: .clean-impl
|
||||
# Add your post 'clean' code here...
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||||
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||||
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||||
# clobber
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clobber: .clobber-post
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|
||||
.clobber-pre:
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||||
# Add your pre 'clobber' code here...
|
||||
|
||||
.clobber-post: .clobber-impl
|
||||
# Add your post 'clobber' code here...
|
||||
|
||||
|
||||
# all
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all: .all-post
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||||
|
||||
.all-pre:
|
||||
# Add your pre 'all' code here...
|
||||
|
||||
.all-post: .all-impl
|
||||
# Add your post 'all' code here...
|
||||
|
||||
|
||||
# build tests
|
||||
build-tests: .build-tests-post
|
||||
|
||||
.build-tests-pre:
|
||||
# Add your pre 'build-tests' code here...
|
||||
|
||||
.build-tests-post: .build-tests-impl
|
||||
# Add your post 'build-tests' code here...
|
||||
|
||||
|
||||
# run tests
|
||||
test: .test-post
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||||
|
||||
.test-pre: build-tests
|
||||
# Add your pre 'test' code here...
|
||||
|
||||
.test-post: .test-impl
|
||||
# Add your post 'test' code here...
|
||||
|
||||
|
||||
# help
|
||||
help: .help-post
|
||||
|
||||
.help-pre:
|
||||
# Add your pre 'help' code here...
|
||||
|
||||
.help-post: .help-impl
|
||||
# Add your post 'help' code here...
|
||||
|
||||
|
||||
|
||||
# include project implementation makefile
|
||||
include nbproject/Makefile-impl.mk
|
||||
|
||||
# include project make variables
|
||||
include nbproject/Makefile-variables.mk
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||||
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@ -0,0 +1,58 @@
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|||
############################################################
|
||||
# Returns the definitions and includes from a cflags output
|
||||
#
|
||||
# _list cflags var
|
||||
# _includes return var with the Includes
|
||||
# _definitions return var with the Definitions
|
||||
function(PARSE_CFLAGS _list _includes _definitions)
|
||||
|
||||
separate_arguments(${_list})
|
||||
foreach (_item ${${_list}})
|
||||
if ("${_item}" MATCHES "^-I")
|
||||
string(SUBSTRING ${_item} 2 -1 _item_t)
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||||
set(_includes_t ${_includes_t} ${_item_t})
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||||
else ("${_item}" MATCHES "^-I")
|
||||
set(_definitions_t ${_definitions_t} ${_item})
|
||||
endif ("${_item}" MATCHES "^-I")
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||||
endforeach (_item)
|
||||
|
||||
string(REPLACE ";" " " _definitions_k "${_definitions_t}")
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||||
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||||
set(${_includes} ${_includes_t} PARENT_SCOPE)
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||||
set(${_definitions} ${_definitions_k} PARENT_SCOPE)
|
||||
|
||||
#message(STATUS "Calling Macro ${${_list}} and returning ${_includes_k} and ${_definitions_k}")
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||||
endfunction(PARSE_CFLAGS)
|
||||
###############################################################################
|
||||
|
||||
|
||||
###############################################################################
|
||||
# Retrieve information from a ldflags output
|
||||
#
|
||||
# _list ldflags var
|
||||
# _libraries return var with the libraries
|
||||
# _ldflags return var with the ldflags value
|
||||
# _libdir return var with the libdir value
|
||||
function(PARSE_LDFLAGS _list _libraries _ldflags _libdir)
|
||||
|
||||
separate_arguments(${_list})
|
||||
foreach (_item ${${_list}})
|
||||
if ("${_item}" MATCHES "^-l")
|
||||
string(SUBSTRING ${_item} 2 -1 _item_t)
|
||||
set(_libraries_t ${_libraries_t} ${_item_t})
|
||||
elseif ("${_item}" MATCHES "^-L")
|
||||
set(_libdir_t ${_libdir_t} ${_item})
|
||||
else ("${_item}" MATCHES "^-L")
|
||||
set(_ldflags_t ${_ldflags_t} ${_item})
|
||||
endif ("${_item}" MATCHES "^-l")
|
||||
endforeach (_item ${${_list}})
|
||||
|
||||
string(REPLACE ";" " " _ldflags_k "${_ldflags_t}")
|
||||
string(REPLACE ";" " " _libdir_k "${_libdir_t}")
|
||||
|
||||
set(${_libraries} ${_libraries_t} PARENT_SCOPE)
|
||||
set(${_ldflags} ${_ldflags_k} PARENT_SCOPE)
|
||||
set(${_libdir} ${_libdir_k} PARENT_SCOPE)
|
||||
|
||||
#message(STATUS "Calling Macro ${${_list}} and returning ${_libraries_k} ${_ldflags_k} ${_libdir_k}")
|
||||
endfunction(PARSE_LDFLAGS)
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
# Find the kernel release
|
||||
execute_process(
|
||||
COMMAND uname -r
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||||
OUTPUT_VARIABLE KERNEL_RELEASE
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||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
|
||||
# Find the headers
|
||||
find_path(KERNELHEADERS_DIR
|
||||
include/linux/user.h
|
||||
PATHS /usr/src/linux-headers-${KERNEL_RELEASE}
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||||
)
|
||||
|
||||
message(STATUS "Kernel release: ${KERNEL_RELEASE}")
|
||||
message(STATUS "Kernel headers: ${KERNELHEADERS_DIR}")
|
||||
|
||||
if (KERNELHEADERS_DIR)
|
||||
set(KERNELHEADERS_INCLUDE_DIRS
|
||||
${KERNELHEADERS_DIR}/include
|
||||
${KERNELHEADERS_DIR}/arch/x86/include
|
||||
CACHE PATH "Kernel headers include dirs"
|
||||
)
|
||||
set(KERNELHEADERS_FOUND 1 CACHE STRING "Set to 1 if kernel headers were found")
|
||||
else (KERNELHEADERS_DIR)
|
||||
set(KERNELHEADERS_FOUND 0 CACHE STRING "Set to 1 if kernel headers were found")
|
||||
endif (KERNELHEADERS_DIR)
|
||||
|
||||
mark_as_advanced(KERNELHEADERS_FOUND)
|
||||
|
|
@ -0,0 +1,251 @@
|
|||
###############################################################################
|
||||
#
|
||||
# CMake script for finding the Xenomai Libraries and skins
|
||||
#
|
||||
# Copyright 2015-2018 Leopold Palomo-Avellaneda <leopold.palomo@upc.edu>
|
||||
# Copyright 2016-2018 Institute of Industrial and Control Engineering (IOC)
|
||||
# Universitat Politecnica de Catalunya
|
||||
# BarcelonaTech
|
||||
# Redistribution and use is allowed according to the terms of the 3-clause BSD
|
||||
# license.
|
||||
#
|
||||
#
|
||||
# Input variables:
|
||||
#
|
||||
# Cache variables (not intended to be used in CMakeLists.txt files)
|
||||
# Input variables:
|
||||
#
|
||||
# - ${Xenomai_ROOT_DIR} (optional): Used as a hint to find the Xenomai root dir
|
||||
# - $ENV{XENOMAI_ROOT_DIR} (optional): Used as a hint to find the Xenomai root dir
|
||||
#
|
||||
# Output Variables:
|
||||
#
|
||||
# - Xenomai_FOUND: Boolean that indicates if the package was found. Default is Native
|
||||
# - Xenomai_SKINS: List of the available skins.
|
||||
# The availabe skins are for 2.6: NATIVE POSIX PSOS RTDM UITRON VRTX VXWORKS
|
||||
# The availabe skins are for 3.x: POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY COBALT NATIVE
|
||||
# NATIVE for compatibility purpose
|
||||
# - Xenomai_*_FOUND variables below for individual skins.
|
||||
# - Xenomai_VERSION: major.minor.patch Xenomai version string
|
||||
# - Xenomai_XENO_CONFIG: Path to xeno-config program
|
||||
#
|
||||
# For each available skin, theses Var are set:
|
||||
# - Xenomai_${SKIN}_FOUND: Boolean that indicates if the skin was found
|
||||
# - Xenomai_${SKIN}_DEFINITIONS
|
||||
# - Xenomai_${SKIN}_INCLUDE_DIRS
|
||||
# - Xenomai_${SKIN}_LIBRARY_DIRS
|
||||
# - Xenomai_${SKIN}_LIBRARIES
|
||||
# - Xenomai_${SKIN}_LDFLAGS
|
||||
# - Xenomai_${SKIN}_DL_FLAGS # Direct Linker Flags
|
||||
# From Xenomai 3.0.2. If you want to build a shared library
|
||||
# - Xenomai_${SKIN}_LDFLAGS_LIBRARIES
|
||||
# - Xenomai_${SKIN}_DL_FLAGS_LIBRARIES
|
||||
#
|
||||
# Specific var for compatibility with Johns Hopkins University (JHU) FindXenomai
|
||||
#
|
||||
# - Individual library variables:
|
||||
# - Xenomai_LIBRARY_XENOMAI
|
||||
# - Xenomai_LIBRARY_NATIVE
|
||||
# - Xenomai_LIBRARY_PTHREAD_RT
|
||||
# - Xenomai_LIBRARY_RTDM
|
||||
# - Xenomai_LIBRARY_RTDK ( this will be empty, deprecated after Xenomai 2.6.0)
|
||||
#
|
||||
#
|
||||
#
|
||||
# Example usage:
|
||||
#
|
||||
# find_package(Xenomai 2.6.4 REQUIRED POSIX)
|
||||
# message(STATUS "Xenomai found with theses skins: ${Xenomai_SKINS}")
|
||||
# # You have some sources xeno-example ${XENO_EXAMPLE_SRC}
|
||||
#
|
||||
# include_directories(${Xenomai_POSIX_INCLUDE_DIR})
|
||||
# add_executable(demo_xeno ${XENO_EXAMPLE_SRC})
|
||||
# target_link_libraries(demo_xeno ${Xenomai_POSIX_LIBRARY_DIRS} ${Xenomai_POSIX_LIBRARIES})
|
||||
# set_target_properties(demo_xeno PROPERTIES
|
||||
# LINK_FLAGS ${Xenomai_POSIX_LDFLAGS})
|
||||
# target_compile_definitions(demo_xeno PUBLIC ${Xenomai_POSIX_DEFINITIONS})
|
||||
|
||||
|
||||
###############################################################################
|
||||
# Returns the definitions and includes from a cflags output
|
||||
#
|
||||
# _list cflags var
|
||||
# _includes return var with the Includes
|
||||
# _definitions return var with the Definitions
|
||||
function(PARSE_CFLAGS _list _includes _definitions)
|
||||
|
||||
separate_arguments(${_list})
|
||||
foreach (_item ${${_list}})
|
||||
if ("${_item}" MATCHES "^-I")
|
||||
string(SUBSTRING ${_item} 2 -1 _item_t)
|
||||
set(_includes_t ${_includes_t} ${_item_t})
|
||||
else ("${_item}" MATCHES "^-I")
|
||||
set(_definitions_t ${_definitions_t} ${_item})
|
||||
endif ("${_item}" MATCHES "^-I")
|
||||
endforeach (_item)
|
||||
|
||||
string(REPLACE ";" " " _definitions_k "${_definitions_t}")
|
||||
|
||||
set(${_includes} ${_includes_t} PARENT_SCOPE)
|
||||
set(${_definitions} ${_definitions_k} PARENT_SCOPE)
|
||||
|
||||
#message(STATUS "Calling Macro ${${_list}} and returning ${_includes_k} and ${_definitions_k}")
|
||||
endfunction(PARSE_CFLAGS)
|
||||
###############################################################################
|
||||
|
||||
|
||||
###############################################################################
|
||||
# Retrieve information from a ldflags output
|
||||
#
|
||||
# _list ldflags var
|
||||
# _libraries return var with the libraries
|
||||
# _ldflags return var with the ldflags value
|
||||
# _libdir return var with the libdir value
|
||||
# _dlflags return var with the direct output
|
||||
|
||||
function(PARSE_LDFLAGS _list _libraries _ldflags _libdir _dlflags)
|
||||
separate_arguments(${_list})
|
||||
foreach (_item ${${_list}})
|
||||
if ("${_item}" MATCHES "^-l")
|
||||
string(SUBSTRING ${_item} 2 -1 _item_t)
|
||||
set(_libraries_t ${_libraries_t} ${_item_t})
|
||||
elseif ("${_item}" MATCHES "^-L")
|
||||
set(_libdir_t ${_libdir_t} ${_item})
|
||||
else ("${_item}" MATCHES "^-L")
|
||||
set(_ldflags_t ${_ldflags_t} ${_item})
|
||||
endif ("${_item}" MATCHES "^-l")
|
||||
endforeach (_item ${${_list}})
|
||||
|
||||
string(REPLACE ";" " " _ldflags_k "${_ldflags_t}")
|
||||
string(REPLACE ";" " " _libdir_k "${_libdir_t}")
|
||||
string(REPLACE ";" " " _dlflags_t "${${_list}}")
|
||||
|
||||
set(${_libraries} ${_libraries_t} PARENT_SCOPE)
|
||||
set(${_ldflags} ${_ldflags_k} PARENT_SCOPE)
|
||||
set(${_libdir} ${_libdir_k} PARENT_SCOPE)
|
||||
set(${_dlflags} ${_dlflags_t} PARENT_SCOPE)
|
||||
|
||||
#message(STATUS "Calling Macro ${${_list}} and returning ${_libraries_k} ${_ldflags_k} ${_libdir_k}")
|
||||
endfunction(PARSE_LDFLAGS)
|
||||
###############################################################################
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
|
||||
if (Xenomai_FIND_COMPONENTS)
|
||||
# if components specified in find_package(), make sure each of those pieces were found
|
||||
set(_XENOMAI_FOUND_REQUIRED_VARS)
|
||||
foreach (component ${Xenomai_FIND_COMPONENTS})
|
||||
string(TOUPPER ${component} _COMPONENT)
|
||||
set(_XENOMAI_FOUND_REQUIRED_VARS ${_XENOMAI_FOUND_REQUIRED_VARS} Xenomai_${_COMPONENT}_INCLUDE_DIRS Xenomai_${_COMPONENT}_LIBRARIES)
|
||||
endforeach ()
|
||||
else ()
|
||||
# if no components specified, we'll make a default set of required variables to say Qt is found
|
||||
set(_XENOMAI_FOUND_REQUIRED_VARS Xenomai_XENO_CONFIG Xenomai_VERSION Xenomai_NATIVE_INCLUDE_DIRS Xenomai_NATIVE_LIBRARIES)
|
||||
endif ()
|
||||
|
||||
# Get hint from environment variable (if any)
|
||||
if (NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
|
||||
set(XENOMAI_ROOT_DIR $ENV{XENOMAI_ROOT_DIR} CACHE PATH "Xenomai base directory location (optional, used for nonstandard installation paths)" FORCE)
|
||||
mark_as_advanced(XENOMAI_ROOT_DIR)
|
||||
endif ()
|
||||
|
||||
if (DEFINED ENV{SDKTARGETSYSROOT} AND NOT DEFINED Xenomai_ROOT_DIR)
|
||||
message("Found $SDKTARGETSYSROOT = $ENV{SDKTARGETSYSROOT}, using as Xenomai_ROOT_DIR and settings DESTDIR")
|
||||
set(Xenomai_ROOT_DIR "$ENV{SDKTARGETSYSROOT}")
|
||||
SET(ENV{DESTDIR} $ENV{SDKTARGETSYSROOT})
|
||||
endif ()
|
||||
# set the search paths
|
||||
set(Xenomai_SEARCH_PATH /usr/local /usr $ENV{XENOMAI_ROOT_DIR} ${Xenomai_ROOT_DIR} ${Xenomai_ROOT_DIR}/usr/)
|
||||
|
||||
# searching kernel headers
|
||||
# Find kernel headers
|
||||
find_package(KernelHeaders)
|
||||
|
||||
find_path(Xenomai_KERNEL_INCLUDE_DIR version.h
|
||||
PATHS ${KERNELHEADERS_DIR}/include/xenomai/)
|
||||
|
||||
if (Xenomai_KERNEL_INCLUDE_DIR)
|
||||
message(STATUS "Xenomai Kernel Headers located in ${Xenomai_KERNEL_INCLUDE_DIR}")
|
||||
endif ()
|
||||
|
||||
|
||||
# Find xeno-config
|
||||
find_program(Xenomai_XENO_CONFIG NAMES xeno-config PATHS ${Xenomai_SEARCH_PATH}/bin NO_DEFAULT_PATH)
|
||||
|
||||
if (Xenomai_XENO_CONFIG)
|
||||
set(Xenomai_FOUND ${Xenomai_XENO_CONFIG})
|
||||
execute_process(COMMAND ${Xenomai_XENO_CONFIG} --version OUTPUT_VARIABLE Xenomai_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
message(STATUS "xeno-config is found. Xenomai should be ok and version found is ${Xenomai_VERSION}")
|
||||
|
||||
if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
|
||||
message(STATUS "xeno-config has the --auto-init-solib option")
|
||||
endif ()
|
||||
if (${Xenomai_VERSION} VERSION_LESS "3.0.0")
|
||||
set(SKINS native posix psos rtdm uitron vrtx vxworks)
|
||||
else (${Xenomai_VERSION} VERSION_LESS "3.0.0")
|
||||
set(SKINS posix vxworks psos alchemy rtdm smokey cobalt native)
|
||||
# From xeno-config manual
|
||||
# --native and --skin=native are accepted for backward compatibility purpose. They are stricly equivalent to passing --alchemy --compat.
|
||||
# Likewise, passing --rtdm or --skin=rtdm is stricly equivalent to passing --posix, enabling POSIX I/O routines to be wrapped to their
|
||||
# respective Xenomai implementation.
|
||||
endif ()
|
||||
|
||||
foreach (_skin ${SKINS})
|
||||
#message(STATUS "Processing skin ${_skin} ........")
|
||||
string(TOUPPER ${_skin} SKINU)
|
||||
|
||||
execute_process(COMMAND ${Xenomai_XENO_CONFIG} --skin "${_skin}" --cflags OUTPUT_VARIABLE XENO_${SKINU}_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
PARSE_CFLAGS("XENO_${SKINU}_CFLAGS" "Xenomai_${SKINU}_INCLUDE_DIRS" "Xenomai_${SKINU}_DEFINITIONS")
|
||||
#message(STATUS "Xenomai_${SKINU}_INCLUDE_DIRS = ${Xenomai_${SKINU}_INCLUDE_DIRS}")
|
||||
#message(STATUS "Xenomai_${SKINU}_DEFINITIONS = ${Xenomai_${SKINU}_DEFINITIONS}")
|
||||
|
||||
execute_process(COMMAND ${Xenomai_XENO_CONFIG} --skin ${_skin} --ldflags OUTPUT_VARIABLE XENO_${SKINU}_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
PARSE_LDFLAGS("XENO_${SKINU}_LDFLAGS" "Xenomai_${SKINU}_LIBRARIES" "Xenomai_${SKINU}_LDFLAGS" "Xenomai_${SKINU}_LIBRARY_DIRS" "Xenomai_${SKINU}_DL_FLAGS")
|
||||
#message(STATUS "Xenomai_${SKINU}_LIBRARIES = ${Xenomai_${SKINU}_LIBRARIES}")
|
||||
#message(STATUS "Xenomai_${SKINU}_DIRS = ${Xenomai_${SKINU}_LIBRARY_DIRS}")
|
||||
#message(STATUS "Xenomai_${SKINU}_LDFLAGS = ${Xenomai_${SKINU}_LDFLAGS}")
|
||||
|
||||
if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
|
||||
#message(STATUS "xeno-config has the --auto-init-solib option")
|
||||
execute_process(COMMAND ${Xenomai_XENO_CONFIG} --skin ${_skin} --auto-init-solib --ldflags OUTPUT_VARIABLE XENO_${SKINU}_LDFLAGS_LIBRARIES OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
PARSE_LDFLAGS("XENO_${SKINU}_LDFLAGS_LIBRARIES" "Xenomai_${SKINU}_LIBRARIES" "Xenomai_${SKINU}_LDFLAGS_LIBRARIES" "Xenomai_${SKINU}_LIBRARY_DIRS" "Xenomai_${SKINU}_DL_FLAGS_LIBRARIES")
|
||||
endif ()
|
||||
if (Xenomai_${SKINU}_LIBRARIES AND Xenomai_${SKINU}_INCLUDE_DIRS)
|
||||
set(Xenomai_${SKINU}_FOUND TRUE)
|
||||
set(Xenomai_SKINS ${Xenomai_SKINS} ${_skin})
|
||||
#message(STATUS "Xenomai ${_skin} skin found")
|
||||
set(Xenomai_${SKINU}_FOUND ${Xenomai_${SKINU}_FOUND} CACHE STRING "Xenomai ${SKINU} Found" FORCE)
|
||||
set(Xenomai_${SKINU}_DEFINITIONS ${Xenomai_${SKINU}_DEFINITIONS} CACHE STRING "Xenomai ${SKINU} skin definitions" FORCE)
|
||||
set(Xenomai_${SKINU}_INCLUDE_DIRS ${Xenomai_${SKINU}_INCLUDE_DIRS} CACHE STRING "Xenomai ${SKINU} include directories" FORCE)
|
||||
set(Xenomai_${SKINU}_LIBRARY_DIRS ${Xenomai_${SKINU}_LIBRARY_DIRS} CACHE STRING "Xenomai ${SKINU} library directories" FORCE)
|
||||
set(Xenomai_${SKINU}_LIBRARIES ${Xenomai_${SKINU}_LIBRARIES} CACHE STRING "Xenomai ${SKINU} libraries" FORCE)
|
||||
set(Xenomai_${SKINU}_LDFLAGS ${Xenomai_${SKINU}_LDFLAGS} CACHE STRING "Xenomai ${SKINU} ldflags" FORCE)
|
||||
set(Xenomai_${SKINU}_DL_FLAGS ${Xenomai_${SKINU}_DL_FLAGS} CACHE STRING "Xenomai ${SKINU} Direct linker flags" FORCE)
|
||||
if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
|
||||
set(Xenomai_${SKINU}_LDFLAGS_LIBRARIES ${Xenomai_${SKINU}_LDFLAGS_LIBRARIES} CACHE STRING "Xenomai ${SKINU} ldflags for libraries" FORCE)
|
||||
set(Xenomai_${SKINU}_DL_FLAGS_LIBRARIES ${Xenomai_${SKINU}_DL_FLAGS_LIBRARIES} CACHE STRING "Xenomai ${SKINU} Direct linker flags for libraries" FORCE)
|
||||
endif ()
|
||||
endif ()
|
||||
endforeach (_skin ${SKINS})
|
||||
set(Xenomai_KERNEL_INCLUDE_DIR ${Xenomai_KERNEL_INCLUDE_DIR} CACHE STRING "Xenomai Kernel Headers directory " FORCE)
|
||||
|
||||
find_library(Xenomai_LIBRARY_NATIVE native ${Xenomai_ROOT_DIR}/lib)
|
||||
find_library(Xenomai_LIBRARY_XENOMAI xenomai ${Xenomai_ROOT_DIR}/lib)
|
||||
find_library(Xenomai_LIBRARY_PTHREAD_RT pthread_rt ${Xenomai_ROOT_DIR}/lib)
|
||||
find_library(Xenomai_LIBRARY_RTDM rtdm ${Xenomai_ROOT_DIR}/lib)
|
||||
|
||||
# In 2.6.0 RTDK was merged into the main xenomai library
|
||||
if (Xenomai_VERSION VERSION_GREATER 2.6.0)
|
||||
set(Xenomai_LIBRARY_RTDK_FOUND ${Xenomai_LIBRARY_XENOMAI_FOUND})
|
||||
set(Xenomai_LIBRARY_RTDK ${Xenomai_LIBRARY_XENOMAI})
|
||||
else ()
|
||||
find_library(Xenomai_LIBRARY_RTDK rtdk ${Xenomai_ROOT_DIR}/lib)
|
||||
endif ()
|
||||
|
||||
find_package_handle_standard_args(Xenomai REQUIRED_VARS ${_XENOMAI_FOUND_REQUIRED_VARS}
|
||||
VERSION_VAR Xenomai_VERSION
|
||||
HANDLE_COMPONENTS)
|
||||
else (Xenomai_XENO_CONFIG)
|
||||
message(FATAL_ERROR "This program needs xeno-config")
|
||||
endif ()
|
||||
|
||||
Loading…
Reference in a new issue