-
Notifications
You must be signed in to change notification settings - Fork 5
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
First empy shell of the ROS 2 controller
- Loading branch information
Maximilien Naveau
committed
Nov 4, 2024
1 parent
936a0cf
commit 7d0ce01
Showing
11 changed files
with
959 additions
and
26 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -32,4 +32,4 @@ repos: | |
| rev: v0.6.10 | ||
| hooks: | ||
| - id: cmake-format | ||
| - id: cmake-lint | ||
| # - id: cmake-lint | ||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,174 @@ | ||
| # Copyright 2022 PickNik Inc. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the PickNik Inc. nor the names of its contributors may | ||
| # be used to endorse or promote products derived from this software without | ||
| # specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
|
|
||
| function(sec_generate_parameter_library LIB_NAME TARGET_NAME YAML_FILE) | ||
| find_program(generate_parameter_library_cpp_BIN | ||
| NAMES "generate_parameter_library_cpp") | ||
| if(NOT generate_parameter_library_cpp_BIN) | ||
| message( | ||
| FATAL_ERROR | ||
| "sec_generate_parameter_library() variable 'generate_parameter_library_cpp_BIN' must not be empty" | ||
| ) | ||
| endif() | ||
|
|
||
| # Make the include directory | ||
| set(LIB_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}) | ||
| file(MAKE_DIRECTORY ${LIB_INCLUDE_DIR}) | ||
|
|
||
| # Optional 4rd parameter for the user defined validation header | ||
| if(${ARGC} EQUAL 4) | ||
| cmake_path(SET IN_VALIDATE_HEADER ${CMAKE_CURRENT_SOURCE_DIR}) | ||
| cmake_path(APPEND IN_VALIDATE_HEADER ${ARGV3}) | ||
|
|
||
| cmake_path(GET IN_VALIDATE_HEADER FILENAME VALIDATE_HEADER_FILENAME) | ||
| cmake_path(SET VALIDATE_HEADER ${LIB_INCLUDE_DIR}) | ||
| cmake_path(APPEND VALIDATE_HEADER ${VALIDATE_HEADER_FILENAME}) | ||
|
|
||
| # Copy the header file into the include directory | ||
| add_custom_command( | ||
| OUTPUT ${VALIDATE_HEADER} | ||
| COMMAND ${CMAKE_COMMAND} -E copy ${IN_VALIDATE_HEADER} ${VALIDATE_HEADER} | ||
| DEPENDS ${IN_VALIDATE_HEADER} | ||
| COMMENT | ||
| "Running `${CMAKE_COMMAND} -E copy ${IN_VALIDATE_HEADER} ${VALIDATE_HEADER}`" | ||
| VERBATIM) | ||
| endif() | ||
|
|
||
| # Set the yaml file parameter to be relative to the current source dir | ||
| set(YAML_FILE ${CMAKE_CURRENT_SOURCE_DIR}/${YAML_FILE}) | ||
|
|
||
| # Set the output parameter header file name | ||
| set(PARAM_HEADER_FILE ${LIB_INCLUDE_DIR}/${LIB_NAME}.hpp) | ||
|
|
||
| # Generate the header for the library | ||
| add_custom_command( | ||
| OUTPUT ${PARAM_HEADER_FILE} | ||
| COMMAND ${generate_parameter_library_cpp_BIN} ${PARAM_HEADER_FILE} | ||
| ${YAML_FILE} ${VALIDATE_HEADER_FILENAME} | ||
| DEPENDS ${YAML_FILE} ${VALIDATE_HEADER} | ||
| COMMENT | ||
| "Running `${generate_parameter_library_cpp_BIN} ${PARAM_HEADER_FILE} ${YAML_FILE} ${VALIDATE_HEADER_FILENAME}`" | ||
| VERBATIM) | ||
|
|
||
| # Create the library target | ||
| add_library(${TARGET_NAME} INTERFACE ${PARAM_HEADER_FILE} ${VALIDATE_HEADER}) | ||
| target_include_directories( | ||
| ${TARGET_NAME} | ||
| INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include/> | ||
| $<INSTALL_INTERFACE:include>) | ||
| set_target_properties(${TARGET_NAME} PROPERTIES LINKER_LANGUAGE CXX) | ||
| target_link_libraries( | ||
| ${TARGET_NAME} | ||
| INTERFACE fmt::fmt | ||
| parameter_traits::parameter_traits | ||
| rclcpp::rclcpp | ||
| rclcpp_lifecycle::rclcpp_lifecycle | ||
| rsl::rsl | ||
| tcb_span::tcb_span | ||
| tl_expected::tl_expected) | ||
| install(DIRECTORY ${LIB_INCLUDE_DIR} DESTINATION include) | ||
| endfunction() | ||
|
|
||
| # | ||
| # Generate parameters documentation | ||
| # | ||
| function(sec_generate_parameter_library_markdown TARGET_NAME YAML_FILE) | ||
| find_program(generate_parameter_library_markdown_BIN | ||
| NAMES "generate_parameter_library_markdown") | ||
| if(NOT generate_parameter_library_markdown_BIN) | ||
| message( | ||
| FATAL_ERROR | ||
| "sec_generate_parameter_library_markdown() variable 'generate_parameter_library_markdown_BIN' must not be empty" | ||
| ) | ||
| endif() | ||
|
|
||
| # Set the yaml file parameter to be relative to the current source dir | ||
| set(YAML_FILE ${CMAKE_CURRENT_SOURCE_DIR}/${YAML_FILE}) | ||
|
|
||
| # Set the output parameter header file name | ||
| get_filename_component(MARKDOWN_FILE ${YAML_FILE} NAME_WE) | ||
| set(MARKDOWN_FILE | ||
| ${CMAKE_CURRENT_BINARY_DIR}/doc/${MARKDOWN_FILE}/${MARKDOWN_FILE}.md) | ||
|
|
||
| # Generate the header for the library | ||
| add_custom_target( | ||
| ${TARGET_NAME} | ||
| BYPRODUCTS ${MARKDOWN_FILE} | ||
| COMMAND ${generate_parameter_library_markdown_BIN} --input_yaml ${YAML_FILE} | ||
| --output_markdown_file ${MARKDOWN_FILE} | ||
| SOURCES ${YAML_FILE} | ||
| COMMENT | ||
| "Running `${generate_parameter_library_markdown_BIN} --input_yaml ${YAML_FILE} --output_markdown_file ${MARKDOWN_FILE}`" | ||
| VERBATIM) | ||
| endfunction() | ||
|
|
||
| # create custom test function to pass yaml file into test main | ||
| function(sec_add_rostest_with_parameters_gtest TARGET SOURCES YAML_FILE) | ||
| add_executable(${TARGET} ${SOURCES}) | ||
| _ament_cmake_gtest_find_gtest() | ||
| target_include_directories(${TARGET} PUBLIC "${GTEST_INCLUDE_DIRS}") | ||
| target_link_libraries(${TARGET} ${GTEST_LIBRARIES}) | ||
| set(executable "$<TARGET_FILE:${TARGET}>") | ||
| set(result_file | ||
| "${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TARGET}.gtest.xml") | ||
| ament_add_test( | ||
| ${TARGET} | ||
| COMMAND | ||
| ${executable} | ||
| --ros-args | ||
| --params-file | ||
| ${YAML_FILE} | ||
| -- | ||
| --gtest_output=xml:${result_file} | ||
| OUTPUT_FILE | ||
| ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TARGET}.txt | ||
| RESULT_FILE | ||
| ${result_file}) | ||
| endfunction() | ||
|
|
||
| function(sec_add_rostest_with_parameters_gmock TARGET SOURCES YAML_FILE) | ||
| add_executable(${TARGET} ${SOURCES}) | ||
| _ament_cmake_gmock_find_gmock() | ||
| target_include_directories(${TARGET} PUBLIC "${GMOCK_INCLUDE_DIRS}") | ||
| target_link_libraries(${TARGET} ${GMOCK_LIBRARIES}) | ||
| set(executable "$<TARGET_FILE:${TARGET}>") | ||
| set(result_file | ||
| "${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TARGET}.gtest.xml") | ||
| ament_add_test( | ||
| ${TARGET} | ||
| COMMAND | ||
| ${executable} | ||
| --ros-args | ||
| --params-file | ||
| ${YAML_FILE} | ||
| -- | ||
| --gtest_output=xml:${result_file} | ||
| OUTPUT_FILE | ||
| ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TARGET}.txt | ||
| RESULT_FILE | ||
| ${result_file}) | ||
| endfunction() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.