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macro(generate_dynamic_reconfigure_options)
if(${PROJECT_NAME}_CATKIN_PACKAGE)
message(FATAL_ERROR "generate_dynamic_reconfigure_options() must be called before catkin_package() in project '${PROJECT_NAME}'")
endif()
# ensure that package destination variables are defined
catkin_destinations()
set(_autogen "")
foreach(_cfg ${ARGN})
# Construct the path to the .cfg file
set(_input ${_cfg})
if(NOT IS_ABSOLUTE ${_input})
set(_input ${PROJECT_SOURCE_DIR}/${_input})
endif()
# The .cfg file is its own generator.
set(gencfg_build_files
${dynamic_reconfigure_BASE_DIR}/templates/ConfigType.py.template
${dynamic_reconfigure_BASE_DIR}/templates/ConfigType.h.template
)
get_filename_component(_cfgonly ${_cfg} NAME_WE)
set(_output_cpp ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}/${_cfgonly}Config.h)
set(_output_py ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg/${_cfgonly}Config.py)
set(_output_dox ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config.dox)
set(_output_wikidoc ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config.wikidoc)
set(_output_usage ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config-usage.dox)
# we need to explicitly add the devel space to the PYTHONPATH
# since it might contain dynamic_reconfigure or Python code of the current package
set("_CUSTOM_PYTHONPATH_ENV")
if(EXISTS "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}")
if(WIN32)
configure_file(
"${dynamic_reconfigure_BASE_DIR}/cmake/setup_custom_pythonpath.bat.in"
"setup_custom_pythonpath.bat"
@ONLY
)
set("_CUSTOM_PYTHONPATH_ENV" "${CMAKE_CURRENT_BINARY_DIR}/setup_custom_pythonpath.bat")
else()
configure_file(
"${dynamic_reconfigure_BASE_DIR}/cmake/setup_custom_pythonpath.sh.in"
"setup_custom_pythonpath.sh"
@ONLY
)
set("_CUSTOM_PYTHONPATH_ENV" "${CMAKE_CURRENT_BINARY_DIR}/setup_custom_pythonpath.sh")
endif()
else()
# Package could have no ${CATKIN_GLOBAL_PYTHON_DESTINATION} if it doesn't call
# catkin_python_setup(), however we still need to use the correct Python.
set("_CUSTOM_PYTHONPATH_ENV" "${PYTHON_EXECUTABLE}")
endif()
assert(CATKIN_ENV)
set(_cmd
${CATKIN_ENV}
${_CUSTOM_PYTHONPATH_ENV}
${_input}
${dynamic_reconfigure_BASE_DIR}
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
)
#file(WRITE ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg/__init__.py)
add_custom_command(OUTPUT
${_output_cpp} ${_output_dox} ${_output_usage} ${_output_py} ${_output_wikidoc}
COMMAND ${_cmd}
DEPENDS ${_input} ${gencfg_build_files}
COMMENT "Generating dynamic reconfigure files from ${_cfg}: ${_output_cpp} ${_output_py}"
)
list(APPEND ${PROJECT_NAME}_generated
${_output_cpp} ${_output_py}
)
install(FILES ${_output_cpp}
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
endforeach(_cfg)
# gencfg target for hard dependency on dynamic_reconfigure generation
add_custom_target(${PROJECT_NAME}_gencfg ALL DEPENDS ${${PROJECT_NAME}_generated})
# register target for catkin_package(EXPORTED_TARGETS)
list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ${PROJECT_NAME}_gencfg)
dynreconf_called()
endmacro()
macro(dynreconf_called)
if(NOT dynamic_reconfigure_CALLED)
set(dynamic_reconfigure_CALLED TRUE)
# mark that generate_dynamic_reconfigure_options() was called in order to detect wrong order of calling with catkin_python_setup()
set(${PROJECT_NAME}_GENERATE_DYNAMIC_RECONFIGURE TRUE)
# check if catkin_python_setup() installs an __init__.py file for a package with the current project name
# in order to skip the installation of a generated __init__.py file
set(package_has_static_sources ${${PROJECT_NAME}_CATKIN_PYTHON_SETUP_HAS_PACKAGE_INIT})
# generate empty __init__ to make parent folder of msg/srv a python module
if(NOT EXISTS ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/__init__.py)
file(WRITE ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/__init__.py "")
endif()
if(NOT package_has_static_sources)
# install package __init__.py
install(
FILES ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/__init__.py
DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
)
endif()
# make sure we can find generated messages and that they overlay all other includes
# Use system to skip warnings from these includes
include_directories(BEFORE ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION})
# pass the include directory to catkin_package()
list(APPEND ${PROJECT_NAME}_INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION})
# ensure that the folder exists
file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION})
# generate cfg module __init__.py
if(NOT EXISTS ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg/__init__.py)
file(WRITE ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg/__init__.py "")
endif()
# compile python code before installing
find_package(PythonInterp REQUIRED)
install(CODE "execute_process(COMMAND \"${PYTHON_EXECUTABLE}\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg\")")
install(
DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg
DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
)
endif()
endmacro()
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