export targets (#403)

* wip export targets Signed-off-by: Karsten Knese <[email protected]> * correct include dirs Signed-off-by: Karsten Knese <[email protected]> * relative include paths for vendor packages Signed-off-by: Karsten Knese <[email protected]> * cleanup rosbag2_test_common Signed-off-by: Karsten Knese <[email protected]> * cleanup shared_queues_vendor package Signed-off-by: Karsten Knese <[email protected]> * cleanup sqlite3 vendor package Signed-off-by: Karsten Knese <[email protected]> * cleanup zstd_vendor package Signed-off-by: Karsten Knese <[email protected]> * cleanup rosbag2_compression Signed-off-by: Karsten Knese <[email protected]> * touchups for isolated build Signed-off-by: Knese Karsten <[email protected]> * export typesupport Signed-off-by: Karsten Knese <[email protected]> * organize included dependencies Signed-off-by: Karsten Knese <[email protected]> * unknown import target for sqlite3 Signed-off-by: Karsten Knese <[email protected]> * try debugging windows Signed-off-by: Karsten Knese <[email protected]> * remove fatal error warning Signed-off-by: Karsten Knese <[email protected]> * limit amount of change Signed-off-by: Karsten Knese <[email protected]> * use CMAKE_INSTALL_PREFIX Signed-off-by: Karsten Knese <[email protected]> * fatal_error only when required Signed-off-by: Karsten Knese <[email protected]>
ros2 · May 20, 2020 · ead6f74 · ead6f74
1 parent f32a63c
commit ead6f74
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Showing 10 changed files with 128 additions and 55 deletions.
diff --git a/rosbag2_compression/CMakeLists.txt b/rosbag2_compression/CMakeLists.txt
@@ -26,6 +26,7 @@ find_package(rcutils REQUIRED)
 find_package(rosbag2_cpp)
 find_package(rosbag2_storage REQUIRED)
 find_package(zstd_vendor REQUIRED)
+find_package(zstd REQUIRED)
 
 add_library(${PROJECT_NAME}_zstd
   SHARED
@@ -34,13 +35,12 @@ add_library(${PROJECT_NAME}_zstd
 target_include_directories(${PROJECT_NAME}_zstd
   PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${zstd_vendor_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME}_zstd ${zstd_vendor_LIBRARIES})
+  $<INSTALL_INTERFACE:include>)
 ament_target_dependencies(${PROJECT_NAME}_zstd
   rcpputils
   rcutils
-  rosbag2_storage)
+  rosbag2_storage
+  zstd)
 # Causes the visibility macros to use dllexport rather than dllimport.
 # This is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME}_zstd
@@ -70,21 +70,17 @@ install(
   DESTINATION include)
 
 install(
-  TARGETS ${PROJECT_NAME}_zstd
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_zstd
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME}_zstd)
-ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(rosbag2_storage rcutils zstd_vendor)
+ament_export_libraries(${PROJECT_NAME} ${PROJECT_NAME}_zstd)
+ament_export_targets(export_${PROJECT_NAME})
+# order matters here, first vendor, then zstd
+ament_export_dependencies(rcpputils rcutils rosbag2_cpp rosbag2_storage zstd_vendor zstd)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)

diff --git a/rosbag2_cpp/CMakeLists.txt b/rosbag2_cpp/CMakeLists.txt
@@ -64,8 +64,8 @@ ament_target_dependencies(${PROJECT_NAME}
   rosbag2_storage
   rosidl_runtime_c
   rosidl_runtime_cpp
-  rosidl_typesupport_introspection_cpp
   rosidl_typesupport_cpp
+  rosidl_typesupport_introspection_cpp
 )
 
 target_include_directories(${PROJECT_NAME}
@@ -87,16 +87,19 @@ install(
 
 install(
   TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME})
 ament_export_dependencies(pluginlib
   rosbag2_storage
   rosidl_runtime_c
   rosidl_runtime_cpp
+  rosidl_typesupport_cpp
   rosidl_typesupport_introspection_cpp
 )
 

diff --git a/rosbag2_storage/CMakeLists.txt b/rosbag2_storage/CMakeLists.txt
@@ -27,33 +27,38 @@ find_package(rcutils REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
 add_library(
-  rosbag2_storage
+  ${PROJECT_NAME}
   SHARED
   src/rosbag2_storage/metadata_io.cpp
   src/rosbag2_storage/ros_helper.cpp
   src/rosbag2_storage/storage_factory.cpp
   src/rosbag2_storage/base_io_interface.cpp)
-target_include_directories(rosbag2_storage PUBLIC include)
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 ament_target_dependencies(
-  rosbag2_storage
+  ${PROJECT_NAME}
   pluginlib
   rcpputils
   rcutils
   yaml_cpp_vendor)
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(rosbag2_storage PRIVATE "ROSBAG2_STORAGE_BUILDING_DLL")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ROSBAG2_STORAGE_BUILDING_DLL")
 
 # prevent pluginlib from using boost
-target_compile_definitions(rosbag2_storage PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
 install(
   DIRECTORY include/
   DESTINATION include)
 
 install(
-  TARGETS rosbag2_storage
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
@@ -64,6 +69,7 @@ install(
 
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME})
 ament_export_dependencies(pluginlib yaml_cpp_vendor)
 
 if(BUILD_TESTING)
@@ -78,7 +84,7 @@ if(BUILD_TESTING)
     SHARED
     test/rosbag2_storage/test_plugin.cpp
     test/rosbag2_storage/test_read_only_plugin.cpp)
-  target_link_libraries(test_plugin rosbag2_storage)
+  target_link_libraries(test_plugin ${PROJECT_NAME})
   install(
     TARGETS test_plugin
     ARCHIVE DESTINATION lib
@@ -90,21 +96,21 @@ if(BUILD_TESTING)
     test/rosbag2_storage/test_storage_factory.cpp)
   if(TARGET test_storage_factory)
     target_include_directories(test_storage_factory PRIVATE include)
-    target_link_libraries(test_storage_factory rosbag2_storage)
+    target_link_libraries(test_storage_factory ${PROJECT_NAME})
   endif()
 
   ament_add_gmock(test_ros_helper
     test/rosbag2_storage/test_ros_helper.cpp)
   if(TARGET test_ros_helper)
     target_include_directories(test_ros_helper PRIVATE include)
-    target_link_libraries(test_ros_helper rosbag2_storage)
+    target_link_libraries(test_ros_helper ${PROJECT_NAME})
   endif()
 
   ament_add_gmock(test_metadata_serialization
     test/rosbag2_storage/test_metadata_serialization.cpp)
   if(TARGET test_metadata_serialization)
     target_include_directories(test_metadata_serialization PRIVATE include)
-    target_link_libraries(test_metadata_serialization rosbag2_storage)
+    target_link_libraries(test_metadata_serialization ${PROJECT_NAME})
     ament_target_dependencies(test_metadata_serialization rosbag2_test_common)
   endif()
 endif()

diff --git a/rosbag2_test_common/CMakeLists.txt b/rosbag2_test_common/CMakeLists.txt
@@ -28,8 +28,11 @@ add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_link_libraries(${PROJECT_NAME} INTERFACE rclcpp rcutils)
+ament_target_dependencies(${PROJECT_NAME} INTERFACE rclcpp rcutils)
 
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME})
 install(
   DIRECTORY include/
   DESTINATION include)
@@ -42,4 +45,5 @@ endif()
 ament_export_dependencies(rclcpp rcutils)
 
 ament_export_include_directories(include)
+ament_export_targets(export_${PROJECT_NAME})
 ament_package()
diff --git a/rosbag2_tests/CMakeLists.txt b/rosbag2_tests/CMakeLists.txt
@@ -28,21 +28,21 @@ find_package(ament_index_cpp REQUIRED)
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_lint_auto REQUIRED)
-  find_package(rclcpp REQUIRED)
-  find_package(rcpputils REQUIRED)
-  find_package(rmw_fastrtps_cpp QUIET)
-  find_package(rosbag2_compression REQUIRED)
-  find_package(rosbag2_cpp REQUIRED)
-  find_package(rosbag2_storage REQUIRED)
-  find_package(rosbag2_storage_default_plugins REQUIRED)
-  find_package(rosbag2_test_common REQUIRED)
-  find_package(std_msgs REQUIRED)
-  find_package(test_msgs REQUIRED)
-
   ament_lint_auto_find_test_dependencies()
 
+  find_package(rmw_fastrtps_cpp QUIET)
   # disable tests that depends on rosbag2_converter_default_plugins at runtime
   if(rmw_fastrtps_cpp_FOUND)
+    find_package(rclcpp REQUIRED)
+    find_package(rcpputils REQUIRED)
+    find_package(rosbag2_compression REQUIRED)
+    find_package(rosbag2_cpp REQUIRED)
+    find_package(rosbag2_storage REQUIRED)
+    find_package(rosbag2_storage_default_plugins REQUIRED)
+    find_package(rosbag2_test_common REQUIRED)
+    find_package(std_msgs REQUIRED)
+    find_package(test_msgs REQUIRED)
+
     ament_add_gmock(test_rosbag2_record_end_to_end
       test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp
       WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

diff --git a/shared_queues_vendor/CMakeLists.txt b/shared_queues_vendor/CMakeLists.txt
@@ -5,8 +5,9 @@ find_package(ament_cmake REQUIRED)
 
 include(ExternalProject)
 # Single producer single consumer queue by moodycamel - header only, don't build, install
-ExternalProject_Add(singleproducerconsumer
-  DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/single
+ExternalProject_Add(ext-singleproducerconsumer
+  PREFIX singleproducerconsumer
+  DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download
   URL https://github.com/cameron314/readerwriterqueue/archive/ef7dfbf553288064347d51b8ac335f1ca489032a.zip
   URL_MD5 64c673dd381b8fae9254053ad7b2be4d
   TIMEOUT 60
@@ -17,8 +18,9 @@ ExternalProject_Add(singleproducerconsumer
   )
 
 # Concurrent and blocking concurrent queue by moodycamel - header only, don't build, install
-ExternalProject_Add(concurrentqueue
-  DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/multiple
+ExternalProject_Add(ext-concurrentqueue
+  PREFIX concurrentqueue
+  DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download
   URL https://github.com/cameron314/concurrentqueue/archive/8f65a8734d77c3cc00d74c0532efca872931d3ce.zip
   URL_MD5 71a0d932cc89150c2ade85f0d9cac9dc
   TIMEOUT 60
@@ -28,16 +30,28 @@ ExternalProject_Add(concurrentqueue
   INSTALL_COMMAND ""
   )
 
+add_library(singleproducerconsumer INTERFACE)
+target_include_directories(singleproducerconsumer INTERFACE $<INSTALL_INTERFACE:include/moodycamel>)
+
+add_library(concurrentqueue INTERFACE)
+target_include_directories(concurrentqueue INTERFACE $<INSTALL_INTERFACE:include/moodycamel>)
+
+install(
+  TARGETS singleproducerconsumer concurrentqueue
+  EXPORT export_${PROJECT_NAME}
+  INCLUDES DESTINATION include
+)
+
 # Install headers
 install(
   FILES
-  "${CMAKE_CURRENT_BINARY_DIR}/singleproducerconsumer-prefix/src/singleproducerconsumer/atomicops.h"
-  "${CMAKE_CURRENT_BINARY_DIR}/singleproducerconsumer-prefix/src/singleproducerconsumer/readerwriterqueue.h"
-  "${CMAKE_CURRENT_BINARY_DIR}/concurrentqueue-prefix/src/concurrentqueue/concurrentqueue.h"
-  "${CMAKE_CURRENT_BINARY_DIR}/concurrentqueue-prefix/src/concurrentqueue/blockingconcurrentqueue.h"
+  "${CMAKE_CURRENT_BINARY_DIR}/singleproducerconsumer/src/ext-singleproducerconsumer/atomicops.h"
+  "${CMAKE_CURRENT_BINARY_DIR}/singleproducerconsumer/src/ext-singleproducerconsumer/readerwriterqueue.h"
+  "${CMAKE_CURRENT_BINARY_DIR}/concurrentqueue/src/ext-concurrentqueue/concurrentqueue.h"
+  "${CMAKE_CURRENT_BINARY_DIR}/concurrentqueue/src/ext-concurrentqueue/blockingconcurrentqueue.h"
   DESTINATION ${CMAKE_INSTALL_PREFIX}/include/moodycamel
 )
 
 ament_export_include_directories(include)
-
-ament_package()
+ament_export_targets(export_${PROJECT_NAME})
+ament_package()
diff --git a/sqlite3_vendor/cmake/Modules/FindSQLite3.cmake b/sqlite3_vendor/cmake/Modules/FindSQLite3.cmake
@@ -43,10 +43,11 @@
 
 # First attempt to find Config-file package
 find_package(SQLite3 CONFIG QUIET)
-
-if (NOT SQLite3_FOUND)
-
-
+if (SQLite3_FOUND)
+    message("Found SQLite3 from installed package in ${SQLite3_DIR}")
+    # https://cmake.org/cmake/help/latest/module/FindSQLite3.html
+    list(APPEND SQLite3_TARGETS SQLite::SQLite3)
+else()
     # Get package location hint from environment variable (if any)
     if(NOT SQLite3_ROOT_DIR AND DEFINED ENV{SQLite3_ROOT_DIR})
         set(SQLite3_ROOT_DIR "$ENV{SQLite3_ROOT_DIR}" CACHE PATH
@@ -74,11 +75,16 @@ if (NOT SQLite3_FOUND)
     find_package_handle_standard_args(SQLite3 DEFAULT_MSG SQLite3_LIBRARY
             SQLite3_INCLUDE_DIR)
 
-    set(SQLite3_FOUND ${SQLITE3_FOUND}) # Enforce case-correctness: Set appropriately cased variable...
+    set(SQLite3_FOUND ${SQLite3_FOUND}) # Enforce case-correctness: Set appropriately cased variable...
     unset(SQLITE3_FOUND) # ...and unset uppercase variable generated by find_package_handle_standard_args
 
     if(SQLite3_FOUND)
         set(SQLite3_INCLUDE_DIRS ${SQLite3_INCLUDE_DIR})
         set(SQLite3_LIBRARIES ${SQLite3_LIBRARY})
+
+        add_library(SQLite::SQLite3 UNKNOWN IMPORTED)
+        set_property(TARGET SQLite::SQLite3 PROPERTY IMPORTED_LOCATION ${SQLite3_LIBRARY})
+        set_property(TARGET SQLite::SQLite3 PROPERTY INCLUDE_DIRECTORIES ${SQLite3_INCLUDE_DIR})
+        list(APPEND SQLite3_TARGETS SQLite::SQLite3)
     endif()
 endif()
diff --git a/zstd_vendor/CMakeLists.txt b/zstd_vendor/CMakeLists.txt
@@ -36,6 +36,9 @@ macro(build_zstd)
     SOURCE_SUBDIR build/cmake
     CMAKE_ARGS
       -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
+      -DZSTD_BUILD_STATIC=OFF
+      -DZSTD_BUILD_SHARED=ON
+      -DZSTD_BUILD_PROGRAMS=OFF
       ${extra_cmake_args})
 
   install(
@@ -49,7 +52,6 @@ else()
   message(STATUS "Found Zstd, skipping build.")
 endif()
 
-ament_export_libraries(zstd)
-ament_export_include_directories(include)
+install(DIRECTORY cmake DESTINATION share/${PROJECT_NAME})
 
-ament_package()
+ament_package(CONFIG_EXTRAS zstd_vendor-extras.cmake)
diff --git a/zstd_vendor/cmake/Modules/Findzstd.cmake b/zstd_vendor/cmake/Modules/Findzstd.cmake
@@ -0,0 +1,41 @@
+# Get package location hint from environment variable (if any)
+if(NOT zstd_ROOT_DIR AND DEFINED ENV{zstd_ROOT_DIR})
+    set(zstd_ROOT_DIR "$ENV{zstd_ROOT_DIR}" CACHE PATH
+            "zstd base directory location (optional, used for nonstandard installation paths)")
+endif()
+
+# Search path for nonstandard package locations
+if(zstd_ROOT_DIR)
+    set(zstd_INCLUDE_PATH PATHS "${zstd_ROOT_DIR}/include" NO_DEFAULT_PATH)
+    set(zstd_LIBRARY_PATH PATHS "${zstd_ROOT_DIR}/lib"     NO_DEFAULT_PATH)
+else()
+    set(zstd_INCLUDE_PATH "")
+    set(zstd_LIBRARY_PATH "")
+endif()
+
+# Find headers and libraries
+find_path(zstd_INCLUDE_DIR NAMES zstd.h PATH_SUFFIXES "zstd" ${zstd_INCLUDE_PATH})
+find_library(zstd_LIBRARY  NAMES zstd   PATH_SUFFIXES "zstd" ${zstd_LIBRARY_PATH})
+
+mark_as_advanced(zstd_INCLUDE_DIR zstd_LIBRARY)
+
+# Output variables generation
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(zstd DEFAULT_MSG zstd_LIBRARY zstd_INCLUDE_DIR)
+
+set(zstd_FOUND ${ZSTD_FOUND}) # Enforce case-correctness: Set appropriately cased variable...
+unset(ZSTD_FOUND) # ...and unset uppercase variable generated by find_package_handle_standard_args
+
+if(zstd_FOUND)
+    set(zstd_INCLUDE_DIRS ${zstd_INCLUDE_DIR})
+    set(zstd_LIBRARIES ${zstd_LIBRARY})
+
+    if(NOT TARGET zstd::zstd)
+        add_library(zstd::zstd UNKNOWN IMPORTED)
+        set_property(TARGET zstd::zstd PROPERTY IMPORTED_LOCATION ${zstd_LIBRARY})
+        set_property(TARGET zstd::zstd PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${zstd_INCLUDE_DIR})
+    endif()
+    list(APPEND zstd_TARGETS zstd::zstd)
+elseif(zstd_FIND_REQUIRED)
+    message(FATAL_ERROR "Unable to find zstd")
+endif()
diff --git a/zstd_vendor/zstd_vendor-extras.cmake b/zstd_vendor/zstd_vendor-extras.cmake
@@ -0,0 +1 @@
+list(INSERT CMAKE_MODULE_PATH 0 "${zstd_vendor_DIR}/Modules")
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		list(INSERT CMAKE_MODULE_PATH 0 "${zstd_vendor_DIR}/Modules")