109 lines
3.4 KiB
CMake
109 lines
3.4 KiB
CMake
# SPDX-License-Identifier: Apache-2.0
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if(CONFIG_MICROROS)
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set(MICROROS_DIR ${ZEPHYR_CURRENT_MODULE_DIR})
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if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
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set(submake "$(MAKE)")
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else()
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set(submake "make")
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endif()
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# micro-ROS library
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zephyr_get_include_directories_for_lang_as_string( C includes)
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zephyr_get_system_include_directories_for_lang_as_string(C system_includes)
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zephyr_get_compile_definitions_for_lang_as_string( C definitions)
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zephyr_get_compile_options_for_lang_as_string( C options)
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zephyr_get_include_directories_for_lang_as_string( CXX includes_cxx)
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zephyr_get_system_include_directories_for_lang_as_string(CXX system_includes_cxx)
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zephyr_get_compile_definitions_for_lang_as_string( CXX definitions_cxx)
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zephyr_get_compile_options_for_lang_as_string( CXX options_cxx)
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set(external_project_cflags
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"${includes} ${definitions} ${options} ${system_includes}"
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)
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set(external_project_cxxflags
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"${includes_cxx} ${definitions_cxx} ${options_cxx} ${system_includes_cxx}"
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)
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include(ExternalProject)
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externalproject_add(libmicroros_project
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PREFIX ${CMAKE_BINARY_DIR}/libmicroros-prefix
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SOURCE_DIR ${MICROROS_DIR}
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BINARY_DIR ${MICROROS_DIR}
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CONFIGURE_COMMAND ""
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BUILD_COMMAND
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${submake} -f libmicroros.mk
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X_CFLAGS=${external_project_cflags}
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X_CXXFLAGS=${external_project_cxxflags}
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X_CC=${CMAKE_C_COMPILER}
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X_AR=${CMAKE_AR}
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X_RANLIB=${CMAKE_RANLIB}
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X_CXX=${CMAKE_CXX_COMPILER}
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COMPONENT_PATH=${MICROROS_DIR}
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ZEPHYR_BASE=${ZEPHYR_BASE}
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PROJECT_BINARY_DIR=${PROJECT_BINARY_DIR}
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INSTALL_COMMAND ""
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BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a
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)
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zephyr_link_libraries(${MICROROS_DIR}/libmicroros.a)
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zephyr_interface_library_named(microros)
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add_dependencies(microros libmicroros_project)
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target_include_directories(microros INTERFACE ${MICROROS_DIR}/include)
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execute_process(
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COMMAND
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make -f libmicroros.mk get_package_names
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COMPONENT_PATH=${MICROROS_DIR}
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WORKING_DIRECTORY
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${MICROROS_DIR}
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OUTPUT_VARIABLE
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INCLUDE_ROS2_PACKAGES
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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foreach(pkg ${INCLUDE_ROS2_PACKAGES})
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target_include_directories(microros INTERFACE ${MICROROS_DIR}/include/${pkg})
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endforeach()
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# micro-ROS transport library
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if(CONFIG_MICROROS_TRANSPORT_FDCAN)
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set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/fdcan)
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elseif(CONFIG_MICROROS_TRANSPORT_SERIAL)
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set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/serial)
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elseif(CONFIG_MICROROS_TRANSPORT_SERIAL_USB)
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set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/serial-usb)
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elseif(CONFIG_MICROROS_TRANSPORT_UDP)
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set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/udp)
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else()
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message(FATAL_ERROR Please set a micro-ROS transport)
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endif()
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zephyr_library_named(microros_transports)
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zephyr_include_directories(${MICROROS_DIR}/include)
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zephyr_include_directories(${MICROROS_TRANSPORT_DIR})
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zephyr_library_sources(
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${MICROROS_TRANSPORT_DIR}/microros_transports.c
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)
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add_dependencies(microros microros_transports)
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add_dependencies(microros_transports libmicroros_project)
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# Cleaning
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set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
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${MICROROS_DIR}/include
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${MICROROS_DIR}/configured_colcon.meta
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${MICROROS_DIR}/zephyr_toolchain.cmake
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)
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endif()
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