MicroROS/CMakeLists.txt at main · Isla-jq/MicroROS · GitHub

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cmake_minimum_required(VERSION 3.22)

#
# This file is generated only once,
# and is not re-generated if converter is called multiple times.
#
# User is free to modify the file as much as necessary
#

# Setup compiler settings
set(CMAKE_C_STANDARD 17)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_C_EXTENSIONS ON)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Define the build type
if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
endif()

# Set the project name
set(CMAKE_PROJECT_NAME MicroROS)

# Include toolchain file
include("cmake/gcc-arm-none-eabi.cmake")

# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)

# Enable CMake support for ASM and C languages
enable_language(C CXX ASM)

# Core project settings
project(${CMAKE_PROJECT_NAME})
message("Build type: " ${CMAKE_BUILD_TYPE})

# Create an executable object type
add_executable(${CMAKE_PROJECT_NAME}
    # ${CMAKE_SOURCE_DIR}/Core/Src/microros_transports.cpp
    ${CMAKE_SOURCE_DIR}/Core/Src/microros_allocators.c
    ${CMAKE_SOURCE_DIR}/Core/Src/microros_time.c
    ${CMAKE_SOURCE_DIR}/Core/Src/custom_memory_manager.c)

# Add STM32CubeMX generated sources
add_subdirectory(cmake/stm32cubemx)

# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined library search paths
)

# Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user sources here
)

# Add include paths
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/std_msgs/include/std_msgs
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/action_msgs/include/action_msgs
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/geometry_msgs/include/geometry_msgs
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/sensor_msgs/include/sensor_msgs/include
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/builtin_interfaces/include/builtin_interfaces
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rcl/include/rcl
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rclc/include
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rcutils/include/rcutils
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/microcdr/include/microcdr
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/microxrcedds_client/include/microxrcedds_client
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rmw/include/rmw
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/type_description_interfaces/include/type_description_interfaces
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rosidl_runtime_c/include/rosidl_runtime_c
    ${CMAKE_SOURCE_DIR}/Middlewares/microros
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/service_msgs/include/service_msgs
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rosidl_typesupport_interface/include/rosidl_typesupport_interface
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rosidl_dynamic_typesupport/include/rosidl_dynamic_typesupport
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rcl_action/include/rcl_action
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/unique_identifier_msgs/include/unique_identifier_msgs
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/rmw_microxrcedds/include
    ${CMAKE_SOURCE_DIR}/Middlewares/microros/include/microcdr/include
    )

# Add project symbols (macros)
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
    STM32HAL
)

# Add linked libraries
target_link_libraries(${CMAKE_PROJECT_NAME}
    stm32cubemx
    ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/microros/lib/libmicroros.a
    # Add user defined libraries
)
add_custom_command(TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
    COMMAND ${CMAKE_OBJCOPY} -O ihex $<TARGET_FILE:${CMAKE_PROJECT_NAME}> ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}.hex
    COMMENT "Generating HEX file"
)