1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
|
@[if DEVELSPACE]@
# bin and template dir variables in develspace
set(GENCPP_BIN "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/gen_cpp.py")
set(GENCPP_TEMPLATE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
@[else]@
# bin and template dir variables in installspace
set(GENCPP_BIN "/usr/lib/gencpp/gen_cpp.py")
set(GENCPP_TEMPLATE_DIR "${gencpp_DIR}/..")
@[end if]@
# Generate .msg->.h for cpp
# The generated .h files should be added ALL_GEN_OUTPUT_FILES_cpp
macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
file(MAKE_DIRECTORY ${ARG_GEN_OUTPUT_DIR})
#Create input and output filenames
get_filename_component(MSG_NAME ${ARG_MSG} NAME)
get_filename_component(MSG_SHORT_NAME ${ARG_MSG} NAME_WE)
set(MSG_GENERATED_NAME ${MSG_SHORT_NAME}.h)
set(GEN_OUTPUT_FILE ${ARG_GEN_OUTPUT_DIR}/${MSG_GENERATED_NAME})
# check if a user-provided header file exists
if(EXISTS "${PROJECT_SOURCE_DIR}/include/${ARG_PKG}/${MSG_SHORT_NAME}.h")
message(STATUS "${ARG_PKG}: Found user-provided header '${PROJECT_SOURCE_DIR}/include/${ARG_PKG}/${MSG_SHORT_NAME}.h' for message '${ARG_PKG}/${MSG_SHORT_NAME}'. Skipping generation...")
# Do nothing. The header will be installed by the user.
else()
# check if a user-provided plugin header file exists
if(EXISTS "${PROJECT_SOURCE_DIR}/include/${ARG_PKG}/plugin/${MSG_SHORT_NAME}.h")
message(STATUS "${ARG_PKG}: Found user-provided plugin header '${PROJECT_SOURCE_DIR}/include/${ARG_PKG}/plugin/${MSG_SHORT_NAME}.h' for message '${ARG_PKG}/${MSG_SHORT_NAME}'.")
# Add a file dependency to enforce regeneration if the plugin header was added after initial cmake invocation.
# Even with --force-cmake the generator would otherwise not run if the .msg file did not change.
set(MSG_PLUGIN "${PROJECT_SOURCE_DIR}/include/${ARG_PKG}/plugin/${MSG_SHORT_NAME}.h")
else()
set(MSG_PLUGIN)
endif()
assert(CATKIN_ENV)
add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
DEPENDS ${GENCPP_BIN} ${ARG_MSG} ${ARG_MSG_DEPS} ${MSG_PLUGIN} "${GENCPP_TEMPLATE_DIR}/msg.h.template" ${ARGN}
COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENCPP_BIN} ${ARG_MSG}
${ARG_IFLAGS}
-p ${ARG_PKG}
-o ${ARG_GEN_OUTPUT_DIR}
-e ${GENCPP_TEMPLATE_DIR}
COMMENT "Generating C++ code from ${ARG_PKG}/${MSG_NAME}"
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
)
list(APPEND ALL_GEN_OUTPUT_FILES_cpp ${GEN_OUTPUT_FILE})
endif()
gencpp_append_include_dirs()
endmacro()
#gencpp uses the same program to generate srv and msg files, so call the same macro
macro(_generate_srv_cpp ARG_PKG ARG_SRV ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
_generate_msg_cpp(${ARG_PKG} ${ARG_SRV} "${ARG_IFLAGS}" "${ARG_MSG_DEPS}" ${ARG_GEN_OUTPUT_DIR} "${GENCPP_TEMPLATE_DIR}/srv.h.template")
endmacro()
macro(_generate_module_cpp)
# the macros, they do nothing
endmacro()
set(gencpp_INSTALL_DIR include)
macro(gencpp_append_include_dirs)
if(NOT gencpp_APPENDED_INCLUDE_DIRS)
# make sure we can find generated messages and that they overlay all other includes
include_directories(BEFORE ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR})
# pass the include directory to catkin_package()
list(APPEND ${PROJECT_NAME}_INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR})
set(gencpp_APPENDED_INCLUDE_DIRS TRUE)
endif()
endmacro()
|
