Overlaid patches from 'patch'
This commit is contained in:
Vladimir Ermakov
252
CMakeLists.txt
252
CMakeLists.txt
@@ -1,87 +1,185 @@
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cmake_minimum_required(VERSION 3.13)
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cmake_minimum_required (VERSION 3.5)
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project (mavlink NONE)
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project(mavlink)
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# Note: patched version for installation as ROS 3-rd party library
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# Provides C-headers and C++11
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find_package(Python COMPONENTS Interpreter REQUIRED)
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# We automatically install the pip dependencies locally below.
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# Therefore, we check whether pip is available here.
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execute_process(
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COMMAND ${Python_EXECUTABLE} -m pip -V
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RESULT_VARIABLE EXIT_CODE
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OUTPUT_QUIET
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)
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if (NOT ${EXIT_CODE} EQUAL 0)
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message(FATAL_ERROR "Python pip not found, pip is required")
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endif()
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if (NOT MAVLINK_DIALECT)
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set(MAVLINK_DIALECT common)
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endif()
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message(STATUS "MAVLink dialect: ${MAVLINK_DIALECT}")
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if (NOT MAVLINK_VERSION)
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set(MAVLINK_VERSION 2.0)
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endif()
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message(STATUS "MAVLink version: ${MAVLINK_VERSION}")
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set(EXAMPLE_HEADER ${CMAKE_CURRENT_BINARY_DIR}/include/mavlink/${MAVLINK_DIALECT}/mavlink.h)
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add_custom_command(OUTPUT ${EXAMPLE_HEADER}
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COMMAND ${Python_EXECUTABLE}
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-m pip install -r pymavlink/requirements.txt --upgrade -t ${CMAKE_CURRENT_BINARY_DIR}/pip-dependencies/
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COMMAND ${CMAKE_COMMAND} -E env "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}/pip-dependencies/" ${Python_EXECUTABLE}
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-m pymavlink.tools.mavgen
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--lang=C
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--wire-protocol=${MAVLINK_VERSION}
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--output ${CMAKE_CURRENT_BINARY_DIR}/include/mavlink/
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message_definitions/v1.0/${MAVLINK_DIALECT}.xml
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DEPENDS message_definitions/v1.0/${MAVLINK_DIALECT}.xml
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COMMENT "Generating C headers")
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# Unfortunately, the dependencies don't work for INTERFACE libraries.
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# The only way I could make it work is to add ALL which means it
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# will do the file generation every time even when nothing has changed.
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add_custom_target(generate_c_headers
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ALL
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DEPENDS ${EXAMPLE_HEADER})
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add_library(mavlink INTERFACE)
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add_dependencies(mavlink generate_c_headers)
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# settings
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set(PROJECT_VERSION_MAJOR "1")
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set(PROJECT_VERSION_MINOR "0")
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set(PROJECT_VERSION_PATCH "9")
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set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
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set(PROJECT_CONTACT_EMAIL http://groups.google.com/group/mavlink)
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set(PROJECT_CONTACT_VENDOR mavlink)
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include(GNUInstallDirs)
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target_include_directories(mavlink
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INTERFACE
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
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)
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# hack from urdfdom: by default this would be 'lib/x86_64-linux-gnu'
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set(CMAKE_INSTALL_LIBDIR lib)
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install(TARGETS mavlink
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EXPORT MAVLinkTargets
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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)
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if (DEFINED ENV{ROS_PYTHON_VERSION})
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set(Py_VERSION $ENV{ROS_PYTHON_VERSION})
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else()
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message(WARNING "ENV ROS_PYTHON_VERSION is not set. Use default: 3")
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set(Py_VERSION "3")
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endif()
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install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/include/mavlink"
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DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
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FILES_MATCHING PATTERN "*.h"
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)
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if (NOT CMAKE_VERSION VERSION_LESS "3.12")
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find_package(Python${Py_VERSION} COMPONENTS Interpreter)
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set(Python_EXECUTABLE "${Python${Py_VERSION}_EXECUTABLE}")
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else()
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# find libraries with cmake modules
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find_package(PythonInterp ${Py_VERSION} REQUIRED)
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set(Python_EXECUTABLE "${PYTHON_EXECUTABLE}")
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endif()
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install(EXPORT MAVLinkTargets
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FILE MAVLinkTargets.cmake
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NAMESPACE MAVLink::
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/MAVLink
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)
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message(STATUS "Python ${Py_VERSION} iterpretator: ${Python_EXECUTABLE}")
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# For the build tree
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configure_file(MAVLinkConfig.cmake.in
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"${PROJECT_BINARY_DIR}/MAVLinkConfig.cmake" @ONLY)
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# For the install tree
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configure_file(MAVLinkConfig.cmake.in
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"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/MAVLinkConfig.cmake" @ONLY)
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# Try to read package version from package.xml
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if(EXISTS ${CMAKE_SOURCE_DIR}/package.xml)
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file(WRITE ${CMAKE_BINARY_DIR}/package_version.py
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"import re, sys\n"
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"from xml.etree import ElementTree as ET\n"
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"doc = ET.parse('${CMAKE_SOURCE_DIR}/package.xml')\n"
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"ver = doc.find('version').text\n"
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"if re.match('\\d+\\.\\d+\\.\\d+', ver):\n"
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" sys.stdout.write(ver)\n"
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"else:\n"
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" sys.stderr.write('Version format error.\\n')\n"
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" sys.exit(1)\n"
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)
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install(FILES
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"${PROJECT_BINARY_DIR}/${CMAKE_FILES_DIRECTORY}/MAVLinkConfig.cmake"
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/MAVLink
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)
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execute_process(
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COMMAND ${Python_EXECUTABLE} ${CMAKE_BINARY_DIR}/package_version.py
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OUTPUT_VARIABLE XML_VERSION
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RESULT_VARIABLE XML_RESULT
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)
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string(STRIP "${XML_VERSION}" XML_VERSION)
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if(NOT ${XML_RESULT})
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set(PROJECT_VERSION ${XML_VERSION})
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message(STATUS "Package version: ${PROJECT_VERSION}")
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else()
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message(WARNING "Package version: package.xml parse error, default used: ${PROJECT_VERSION}")
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endif()
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endif()
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# config files
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configure_file(config.h.in config.h)
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install(FILES ${CMAKE_BINARY_DIR}/config.h DESTINATION include/${PROJECT_NAME} COMPONENT Dev)
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# mavlink generation
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set(mavgen_path ${CMAKE_SOURCE_DIR}/pymavlink/tools/mavgen.py)
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set(common_xml_path ${CMAKE_SOURCE_DIR}/message_definitions/v1.0/common.xml)
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macro(generateMavlink_v10 definitions)
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foreach(definitionAbsPath ${definitions})
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get_filename_component(definition ${definitionAbsPath} NAME_WE)
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message(STATUS "processing v1.0: ${definitionAbsPath}")
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add_custom_command(
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OUTPUT include/v1.0/${definition}/${definition}.h
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COMMAND /usr/bin/env PYTHONPATH="${CMAKE_SOURCE_DIR}:$ENV{PYTHONPATH}"
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${Python_EXECUTABLE} ${mavgen_path} --lang=C --wire-protocol=1.0
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--output=include/v1.0 ${definitionAbsPath}
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DEPENDS ${definitionAbsPath} ${common_xml_path} ${mavgen_path}
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)
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add_custom_target(${definition}.xml-v1.0
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ALL DEPENDS include/v1.0/${definition}/${definition}.h
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)
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endforeach()
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endmacro()
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macro(generateMavlink_v20 definitions)
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foreach(definitionAbsPath ${definitions})
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get_filename_component(definition ${definitionAbsPath} NAME_WE)
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message(STATUS "processing v2.0: ${definitionAbsPath}")
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# mavgen C++ also do C gen
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add_custom_command(
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OUTPUT ${definition}-v2.0-cxx-stamp
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#OUTPUT include/v2.0/${definition}/${definition}.hpp
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COMMAND /usr/bin/env PYTHONPATH="${CMAKE_SOURCE_DIR}:$ENV{PYTHONPATH}"
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${Python_EXECUTABLE} ${mavgen_path} --lang=C++11 --wire-protocol=2.0
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--output=include/v2.0 ${definitionAbsPath}
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COMMAND touch ${definition}-v2.0-cxx-stamp
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DEPENDS ${definitionAbsPath} ${common_xml_path} ${mavgen_path}
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)
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add_custom_target(${definition}.xml-v2.0
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ALL DEPENDS
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${definition}-v2.0-cxx-stamp
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#include/v2.0/${definition}/${definition}.hpp
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)
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endforeach()
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# XXX NOTE: that is workaround v2.0 mavgen bug:
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# when it generate other dialect than common.xml
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# resulting common.h/.hpp does not have extended enums like MAV_CMD
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#
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# So we use stamp file to force run of mavgen and add all other xml to common.xml dependencies.
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foreach(definitionAbsPath ${definitions})
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get_filename_component(definition ${definitionAbsPath} NAME_WE)
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add_dependencies(common.xml-v2.0 ${definition}.xml-v2.0)
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endforeach()
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endmacro()
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# build v1.0
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file(GLOB V10DEFINITIONS ${CMAKE_SOURCE_DIR}/message_definitions/v1.0/*.xml)
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# do not generate testing dialects
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foreach(definition minimal test python_array_test)
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list(REMOVE_ITEM V10DEFINITIONS "${CMAKE_SOURCE_DIR}/message_definitions/v1.0/${definition}.xml")
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endforeach()
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list(SORT V10DEFINITIONS)
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generateMavlink_v10("${V10DEFINITIONS}")
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# build v2.0 if it is supported. for now it uses same definitions as v1.0
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if(EXISTS "${CMAKE_SOURCE_DIR}/pymavlink/generator/C/include_v2.0")
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set(V20DEFINITIONS "${V10DEFINITIONS}")
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generateMavlink_v20("${V20DEFINITIONS}")
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endif()
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# build pymavlink
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# NOTE: pymavlink removed from mavlink package on @tridge request.
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# use `rosdep install python-pymavlink` to solve that dependency.
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#add_subdirectory(pymavlink)
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# install files
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install(DIRECTORY ${CMAKE_BINARY_DIR}/include/ DESTINATION include/${PROJECT_NAME} COMPONENT Dev FILES_MATCHING PATTERN "*.h*")
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install(DIRECTORY ${CMAKE_BINARY_DIR}/src/ DESTINATION share/${PROJECT_NAME} COMPONENT Dev FILES_MATCHING PATTERN "*.c*")
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install(DIRECTORY ${CMAKE_SOURCE_DIR}/share/${PROJECT_NAME} DESTINATION share COMPONENT Dev FILES_MATCHING PATTERN "*.c*")
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# thanks for urdfdom project
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set(PKG_NAME ${PROJECT_NAME})
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set(PKG2_NAME "${PROJECT_NAME}2")
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set(PKG_VERSION ${PROJECT_VERSION})
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set(PKG_DESC "MAVLink micro air vehicle marshalling / communication library")
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set(PKG_LIBRARIES )
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set(PKG_DEPENDS )
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set(PKG_MAVLINK_DEFINITIONS "${V10DEFINITIONS}")
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set(PKG2_MAVLINK_DEFINITIONS "${V20DEFINITIONS}")
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foreach(def ${V10DEFINITIONS})
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get_filename_component(dialect "${def}" NAME_WE)
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list(APPEND PKG_MAVLINK_DIALECTS ${dialect})
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endforeach()
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foreach(def ${V20DEFINITIONS})
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get_filename_component(dialect "${def}" NAME_WE)
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list(APPEND PKG2_MAVLINK_DIALECTS ${dialect})
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endforeach()
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configure_file(config.cmake.in ${PROJECT_NAME}-config.cmake @ONLY)
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install(FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
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DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake/ COMPONENT cmake)
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configure_file(pc.in ${PROJECT_NAME}.pc @ONLY)
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install(FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
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# add file extensions and set resource files
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configure_file("COPYING" "COPYING.txt" COPYONLY)
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install(FILES ${PROJECT_BINARY_DIR}/COPYING.txt
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DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/ COMPONENT license)
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install(FILES ${CMAKE_SOURCE_DIR}/package.xml
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DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/ COMPONENT catkin)
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# vim:sw=4 ts=4 expandtab:
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39
config.cmake.in
Normal file
39
config.cmake.in
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@@ -0,0 +1,39 @@
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# Force case-sensitive search
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string(COMPARE EQUAL "@PKG_NAME@" "${CMAKE_FIND_PACKAGE_NAME}" case_sensitive_match)
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if (NOT case_sensitive_match)
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if (NOT ${CMAKE_FIND_PACKAGE_NAME}_FIND_QUIETLY)
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message(AUTHOR_WARNING "got '${CMAKE_FIND_PACKAGE_NAME}', use case-sensitive find_package(@PKG_NAME@) instead")
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endif()
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set(${CMAKE_FIND_PACKAGE_NAME}_FOUND false)
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return()
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endif()
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if (@PKG_NAME@_CONFIG_INCLUDED)
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return()
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endif()
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set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
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get_filename_component(include "${@PKG_NAME@_DIR}/../../../include" ABSOLUTE)
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set(@PKG_NAME@_INCLUDE_DIRS ${include})
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set(@PKG_NAME@_DIALECTS @PKG_MAVLINK_DIALECTS@)
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set(@PKG2_NAME@_DIALECTS @PKG2_MAVLINK_DIALECTS@)
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foreach(lib @PKG_LIBRARIES@)
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set(onelib "${lib}-NOTFOUND")
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find_library(onelib ${lib}
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PATHS "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
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NO_DEFAULT_PATH
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)
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if(NOT onelib)
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message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
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endif()
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list(APPEND @PKG_NAME@_LIBRARIES ${onelib})
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endforeach()
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foreach(dep @PKG_DEPENDS@)
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if(NOT ${dep}_FOUND)
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find_package(${dep})
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endif()
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list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
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list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
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endforeach()
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1
config.h.in
Normal file
1
config.h.in
Normal file
@@ -0,0 +1 @@
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#define MAVLINK_VERSION "${PROJECT_VERSION}"
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39
package.xml
Normal file
39
package.xml
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@@ -0,0 +1,39 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>mavlink</name>
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<version>2025.9.9</version>
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<description>MAVLink message marshaling library.
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This package provides C-headers and C++11 library
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for both 1.0 and 2.0 versions of protocol.
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For pymavlink use separate install via rosdep (python-pymavlink).
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</description>
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<maintainer email="vooon341@gmail.com">Vladimir Ermakov</maintainer>
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<url type="website">https://mavlink.io/en/</url>
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<url type="repository">https://github.com/mavlink/mavlink.git</url>
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<url type="bugtracker">https://github.com/mavlink/mavlink/issues</url>
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<author>Lorenz Meier</author>
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<license>LGPLv3</license>
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<buildtool_depend>cmake</buildtool_depend>
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<build_depend condition="$ROS_PYTHON_VERSION == 2">python</build_depend>
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<build_depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</build_depend>
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<build_depend condition="$ROS_PYTHON_VERSION == 2">python-future</build_depend>
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<build_depend condition="$ROS_PYTHON_VERSION == 3">python3-dev</build_depend>
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<build_depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</build_depend>
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<build_depend condition="$ROS_PYTHON_VERSION == 3">python3-future</build_depend>
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<exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
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<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
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<buildtool_depend condition="$ROS_VERSION == 2">ros_environment</buildtool_depend>
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<export>
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<build_type>cmake</build_type>
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</export>
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</package>
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Reference in New Issue
Block a user