Add exports to cmake

husarion · Jan 13, 2025 · 09199bc · 09199bc
1 parent 3d47255
commit 09199bc
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Showing 10 changed files with 54 additions and 56 deletions.
diff --git a/husarion_ugv_battery/CMakeLists.txt b/husarion_ugv_battery/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10.2)
 project(husarion_ugv_battery)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -174,4 +174,6 @@ if(BUILD_TESTING)
 
 endif()
 
+ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+
 ament_package()
diff --git a/husarion_ugv_diagnostics/CMakeLists.txt b/husarion_ugv_diagnostics/CMakeLists.txt
@@ -12,7 +12,7 @@ else()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -80,4 +80,6 @@ if(BUILD_TESTING)
 
 endif()
 
+ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+
 ament_package()
diff --git a/husarion_ugv_gazebo/CMakeLists.txt b/husarion_ugv_gazebo/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10.2)
 project(husarion_ugv_gazebo)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -60,22 +60,13 @@ target_link_libraries(LEDStrip ignition-gazebo6 ignition-msgs8 ignition-plugin1
                       ignition-transport11)
 
 install(
-  TARGETS estop_system
+  TARGETS estop_system EStop LEDStrip
+  EXPORT export_${PROJECT_NAME}
   RUNTIME DESTINATION bin
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib)
 
-install(
-  TARGETS EStop
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
-
-install(
-  TARGETS LEDStrip
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})
 
@@ -84,10 +75,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_include_directories(include)
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/setup_envs.sh.in")
+
+ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 
 pluginlib_export_plugin_description_file(ign_ros2_control plugins.xml)
 
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/setup_envs.sh.in")
-
 ament_package()
diff --git a/husarion_ugv_hardware_interfaces/CMakeLists.txt b/husarion_ugv_hardware_interfaces/CMakeLists.txt
@@ -12,7 +12,7 @@ else()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -75,15 +75,15 @@ target_link_libraries(${PROJECT_NAME} PkgConfig::LIBLELY_COAPP
 target_compile_definitions(
   ${PROJECT_NAME} PRIVATE "HUSARION_UGV_HARDWARE_INTERFACES_BUILDING_DLL")
 
-pluginlib_export_plugin_description_file(hardware_interface
-                                         husarion_ugv_hardware_interfaces.xml)
-
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} phidgets_spatial_parameters
+  EXPORT export_${PROJECT_NAME}
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib)
 
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
@@ -342,8 +342,11 @@ if(BUILD_TESTING)
 
 endif()
 
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+
+pluginlib_export_plugin_description_file(hardware_interface
+                                         husarion_ugv_hardware_interfaces.xml)
 
 ament_package()
diff --git a/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_driver.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_driver.cpp
@@ -137,9 +137,9 @@ void GPIODriver::ChangePinDirection(const GPIOPin pin, const gpiod::line::direct
 
   auto line_config = gpiod::line_config();
 
-  for (const auto & gpio_info : gpio_info_storage_) {
-    gpiod::line_settings settings = GenerateLineSettings(gpio_info);
-    line_config.add_line_settings(gpio_info.offset, settings);
+  for (const auto & info : gpio_info_storage_) {
+    gpiod::line_settings settings = GenerateLineSettings(info);
+    line_config.add_line_settings(info.offset, settings);
   }
 
   line_request_->reconfigure_lines(line_config);

diff --git a/husarion_ugv_lights/CMakeLists.txt b/husarion_ugv_lights/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10.2)
 project(husarion_ugv_lights)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -25,8 +25,6 @@ endforeach()
 
 include_directories(include)
 
-pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)
-
 add_library(animation_plugins SHARED src/animation/image_animation.cpp
                                      src/animation/charging_animation.cpp)
 ament_target_dependencies(animation_plugins husarion_ugv_utils pluginlib)
@@ -75,27 +73,20 @@ rclcpp_components_register_node(
   lights_controller_node_component PLUGIN
   "husarion_ugv_lights::LightsControllerNode" EXECUTABLE lights_controller_node)
 
-ament_export_targets(export_lights_driver_node_component)
 install(
-  TARGETS lights_driver_node_component lights_driver_parameters
-  EXPORT export_lights_driver_node_component
+  TARGETS animation_plugins lights_driver_node_component
+          lights_driver_parameters lights_controller_node_component
+          lights_controller_parameters
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
-ament_export_targets(export_lights_controller_node_component)
-install(
-  TARGETS lights_controller_node_component lights_controller_parameters
-  EXPORT export_lights_controller_node_component
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-install(TARGETS animation_plugins LIBRARY DESTINATION lib)
-
 install(DIRECTORY animations config launch test
         DESTINATION share/${PROJECT_NAME})
 
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_gmock REQUIRED)
@@ -242,7 +233,10 @@ if(BUILD_TESTING)
 
 endif()
 
-ament_export_include_directories(include)
-ament_export_libraries(animation_plugins)
+ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+
+pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)
 
 ament_package()
diff --git a/husarion_ugv_lights/src/lights_driver_node.cpp b/husarion_ugv_lights/src/lights_driver_node.cpp
@@ -213,8 +213,8 @@ void LightsDriverNode::FrameCB(
   } else if (msg->height != 1) {
     message = "Incorrect image height " + std::to_string(msg->height);
   } else if (
-    msg->width !=
-    (std::uint32_t)(panel_name == "channel_1" ? channel_1_num_led_ : channel_2_num_led_)) {
+    msg->width != static_cast<std::uint32_t>(
+                    panel_name == "channel_1" ? channel_1_num_led_ : channel_2_num_led_)) {
     message = "Incorrect image width " + std::to_string(msg->width);
   }
 

diff --git a/husarion_ugv_manager/CMakeLists.txt b/husarion_ugv_manager/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 project(husarion_ugv_manager)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -116,7 +116,8 @@ install(TARGETS safety_manager_node lights_manager_node
 install(DIRECTORY behavior_trees config launch
         DESTINATION share/${PROJECT_NAME})
 
-install(DIRECTORY include/ DESTINATION include/)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
 install(DIRECTORY test/ DESTINATION include/${PROJECT_NAME}/test/)
 
 if(BUILD_TESTING)
@@ -304,5 +305,7 @@ if(BUILD_TESTING)
                         safety_manager_parameters)
 endif()
 
-ament_export_include_directories(include)
+ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+ament_export_include_directories(include/${PROJECT_NAME})
+
 ament_package()
diff --git a/husarion_ugv_msgs/CMakeLists.txt b/husarion_ugv_msgs/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10.2)
 project(husarion_ugv_msgs)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 find_package(ament_cmake REQUIRED)

diff --git a/husarion_ugv_utils/CMakeLists.txt b/husarion_ugv_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10.2)
 project(husarion_ugv_utils)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wold-style-cast)
 endif()
 
 set(PACKAGE_DEPENDENCIES
@@ -18,7 +18,7 @@ foreach(PACKAGE IN ITEMS ${PACKAGE_DEPENDENCIES})
   find_package(${PACKAGE} REQUIRED)
 endforeach()
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
@@ -73,8 +73,9 @@ if(BUILD_TESTING)
   target_link_libraries(${PROJECT_NAME}_test_yaml_utils yaml-cpp)
 endif()
 
-ament_export_include_directories(include)
-ament_export_dependencies(realtime_tools)
+ament_export_dependencies(${PACKAGE_DEPENDENCIES})
+ament_export_include_directories(include/${PROJECT_NAME})
+
 ament_python_install_package(${PROJECT_NAME})
 
 ament_package()