From 55b2c224554adf458df0289e90030c09851bab4d Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Fri, 21 Jun 2019 15:28:18 +0200 Subject: [PATCH 1/6] Add top-level CMakeLists.txt, configure script and Makefile --- .gitignore | 2 + CMakeLists.txt | 207 +++++++++++++++++++++++++++++++++++++++++++++++++ Makefile | 16 ++++ README.md | 76 ++++++++++++++++++ configure | 59 ++++++++++++++ 5 files changed, 360 insertions(+) create mode 100644 .gitignore create mode 100644 CMakeLists.txt create mode 100644 Makefile create mode 100644 README.md create mode 100755 configure diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..dc28c5a --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +build/ +install/ diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..8726ab0 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,207 @@ +## +## Top-level CMakeLists.txt to build and install the whole Orocos Toolchain +## + +cmake_minimum_required(VERSION 2.8) + +# capture CMake arguments specified at the command-line +# (taken from https://stackoverflow.com/a/48555098) + +# MUST be done before call to 'project' +get_cmake_property(vars CACHE_VARIABLES) +foreach(var ${vars}) + if(NOT var MATCHES "^(CMAKE_INSTALL_PREFIX|CMAKE_BUILD_TYPE|GIT_BASE_URL|GIT_TAG|OROCOS_TARGET|BUILD_STATIC|ENABLE_CORBA|CORBA_IMPLEMENTATION)$") + get_property(currentHelpString CACHE "${var}" PROPERTY HELPSTRING) + if("${currentHelpString}" MATCHES "No help, variable specified on the command line." OR "${currentHelpString}" STREQUAL "") + #message("${var} = [${${var}}] -- ${currentHelpString}") # uncomment to see the variables being processed + list(APPEND CL_ARGS "-D${var}=${${var}}") + endif() + endif() +endforeach() + +project(orocos_toolchain) + +###################### +# Build-time options # +###################### + +# get absolute CMAKE_INSTALL_PREFIX +if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT) + set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_SOURCE_DIR}/install") +endif() +set(CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}" CACHE PATH "Install path prefix, prepended onto install directories" FORCE) +message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}") + +# (copied from rtt/orocos-rtt.default.cmake) + +# +# Sets the CMAKE_BUILD_TYPE to Release by default. This is not a normal +# CMake flag which is not readable during configuration time. +if (NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose the type of build, options are: None(CMAKE_CXX_FLAGS or CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel." FORCE) +endif() + +# +# Set the target operating system. One of [lxrt gnulinux xenomai macosx win32] +# You may leave this as-is or force a certain target by removing the if... logic. +# +set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32 xenomai]") +set(OROCOS_TARGET_ENV $ENV{OROCOS_TARGET}) # MUST use helper variable, otherwise not picked up !!! +if( OROCOS_TARGET_ENV ) + set(OROCOS_TARGET ${OROCOS_TARGET_ENV} CACHE STRING "${DOC_STRING}" FORCE) + message(STATUS "Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}") +else() + if(NOT DEFINED OROCOS_TARGET ) + if(MSVC) + set(OROCOS_TARGET win32 CACHE STRING "${DOC_STRING}") + elseif(APPLE AND ${CMAKE_SYSTEM_NAME} MATCHES "Darwin") + set(OROCOS_TARGET macosx CACHE STRING "${DOC_STRING}") + else() + set(OROCOS_TARGET gnulinux CACHE STRING "${DOC_STRING}") + endif() + endif() + message(STATUS "No OROCOS_TARGET environment variable set. Using: ${OROCOS_TARGET}") +endif() + +# (copied from rtt/config/check_depend.cmake) + +# +# Build static libraries? +# +option(BUILD_STATIC "Build Orocos RTT as a static library." OFF) + +# +# CORBA +# +option(ENABLE_CORBA "Enable CORBA" OFF) +if(NOT CORBA_IMPLEMENTATION) + set(CORBA_IMPLEMENTATION "TAO" CACHE STRING "The implementation of CORBA to use (allowed values: TAO or OMNIORB )" ) +else() + set(CORBA_IMPLEMENTATION ${CORBA_IMPLEMENTATION} CACHE STRING "The implementation of CORBA to use (allowed values: TAO or OMNIORB )" ) +endif() + +############# +# Git magic # +############# + +if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git") + set(IS_GIT TRUE) +else() + set(IS_GIT FALSE) +endif() + +set(GIT_BASE_URL "https://github.com/orocos-toolchain/") +#set(GIT_TAG "" CACHE STRING "Git branch or tag to checkout in submodules. Default to current branch (update) or default branch (clone).") + +# Find current branch if this is a git tree and use it as a default. +if(IS_GIT) + execute_process( + COMMAND git --git-dir=${CMAKE_CURRENT_SOURCE_DIR}/.git symbolic-ref --short HEAD + OUTPUT_VARIABLE CURRENT_GIT_BRANCH + OUTPUT_STRIP_TRAILING_WHITESPACE + ERROR_QUIET + ) + if(CURRENT_GIT_BRANCH) + message(STATUS "Current orocos_toolchain branch: ${CURRENT_GIT_BRANCH}") + if(NOT DEFINED GIT_TAG) + set(GIT_TAG ${CURRENT_GIT_BRANCH}) # not cached! + endif() + endif() +endif() +if(GIT_TAG) + message(STATUS "Building branch or tag ${GIT_TAG} for all submodules.") +endif() + +################################# +# Build and install subprojects # +################################# + +include(ExternalProject) +function(build_external_project project) + cmake_parse_arguments(ARG "" "" "CMAKE_ARGS" ${ARGN}) + + set(${project}_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/${project}) + set(${project}_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${project}) + + if(IS_GIT) + # Use the submodules... + set(DOWNLOAD_AND_UPDATE_OPTIONS + DOWNLOAD_COMMAND + cd "${CMAKE_CURRENT_SOURCE_DIR}" && test -e ${project}/.git || git submodule update --init ${project} + ) + + # Specific branch/tag? + if(GIT_TAG) + list(APPEND DOWNLOAD_AND_UPDATE_OPTIONS + UPDATE_COMMAND + cd "${CMAKE_CURRENT_SOURCE_DIR}/${project}" && git checkout "${GIT_TAG}" + ) + endif() + + else() + # Clone from remote repository... + set(DOWNLOAD_AND_UPDATE_OPTIONS + GIT_REPOSITORY "${GIT_BASE_URL}${project}.git" + GIT_TAG "${GIT_TAG}" + ) + endif() + + # Set PKG_CONFIG_PATH to be used by subprojects + set(PKG_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH}") + + ExternalProject_Add(${project} + PREFIX ${project} + TMP_DIR "${CMAKE_CURRENT_BINARY_DIR}/tmp" + STAMP_DIR "${CMAKE_CURRENT_BINARY_DIR}/stamp" + DOWNLOAD_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${project}" + SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${project}" + BINARY_DIR "${${project}_BINARY_DIR}" + INSTALL_DIR "${CMAKE_INSTALL_PREFIX}" + + ${DOWNLOAD_AND_UPDATE_OPTIONS} + PATCH_COMMAND #nothing + BUILD_ALWAYS ON + + CMAKE_COMMAND + ${CMAKE_COMMAND} -E env "PKG_CONFIG_PATH=${PKG_CONFIG_PATH}" ${CMAKE_COMMAND} + + CMAKE_ARGS + -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} + -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} + -DOROCOS_TARGET=${OROCOS_TARGET} + ${ARG_CMAKE_ARGS} + + ${ARG_UNPARSED_ARGUMENTS} + ) +endfunction() + +build_external_project(log4cpp) +build_external_project(rtt + CMAKE_ARGS + -DENABLE_CORBA=${ENABLE_CORBA} + -DCORBA_IMPLEMENTATION=${CORBA_IMPLEMENTATION} + -DBUILD_STATIC=${BUILD_STATIC} +) +build_external_project(ocl + DEPENDS log4cpp rtt +) + +build_external_project(utilrb) +build_external_project(typelib + DEPENDS utilrb +) +build_external_project(rtt_typelib + DEPENDS typelib +) +build_external_project(orogen + DEPENDS rtt rtt_typelib utilrb +) + +####################################### +# Build orocos_toolchain meta package # +####################################### + +if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/orocos_toolchain) + add_subdirectory(orocos_toolchain) +endif() + diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..9b15f72 --- /dev/null +++ b/Makefile @@ -0,0 +1,16 @@ +.PHONY: all install +all: build/CMakeCache.txt + $(MAKE) -C build $@ + +build/CMakeCache.txt: configure + +configure: + ./configure +.PHONY: configure + +install: all +.PHONY: install + +.DEFAULT: build/CMakeCache.txt + $(MAKE) -C build $@ + diff --git a/README.md b/README.md new file mode 100644 index 0000000..f917198 --- /dev/null +++ b/README.md @@ -0,0 +1,76 @@ +# The Orocos Toolchain + +The Open RObot COntrol Software ([Orocos](http://www.orocos.org/)) Toolchain is a bundle of multiple packages, which need to be build and installed separately. + +- [Orocos Real-Time Toolkit (rtt)](https://github.com/orocos-toolchain/rtt) - a component framework that allows us to write real-time components in C++ +- [Orocos Log4cpp (log4cpp)](https://github.com/orocos-toolchain/log4cpp) - + a patched version of the [Log4cpp](http://log4cpp.sourceforge.net/) library for flexible logging to files, syslog, IDSA and other destinations +- [Orocos Component Library (ocl)](https://github.com/orocos-toolchain/ocl) - the necessary components to start an application and interact with it at run-time + +Futhermore the Orocos Toolchain comes with [oroGen](http://www.rock-robotics.org/stable/documentation/orogen/) and some of its dependencies, +a specification language and code generator for the Orocos Realtime Toolkit. Also check the installation instructions of the +[Rock - the Robot Construction Kit](http://www.rock-robotics.org/stable/index.html) project for further details. + +You might also want to have a look at the following sister projects, which are out of the scope of this manual: +- [Orocos Kinematics Dynamics Library (KDL)](http://www.orocos.org/kdl) - an application independent framework for modeling and computation of kinematic chains +- [Orocos Bayesian Filtering Library (BFL)](http://www.orocos.org/bfl) - an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule +- [Reduced Finite State Machine (rFSM)](https://orocos.github.io/rFSM/README.html) - a small and powerful statechart implementation in Lua + +## Documentation + +The latest documentation and API reference is currently available at https://orocos-toolchain.github.io/. + +## Get Started? + +### Install binary packages + +The Orocos project provides binary packages as part of the [ROS distribution](http://www.ros.org) for various platforms. +Check and follow the [ROS installation instructions](http://wiki.ros.org/ROS/Installation), then run +```sh +sudo apt-get install ros-${ROS_DISTRO}-orocos-toolchain +``` + +to install the Orocos Toolchain packages. + +As a ROS user, you might also be interested in the [rtt_ros_integration](http://wiki.ros.org/rtt_ros_integration) project: +```sh +sudo apt-get install ros-${ROS_DISTRO}-rtt-ros-integration +``` + +### Build the toolchain from source + +First, clone this repository and its submodules with the command +```sh +git clone https://github.com/orocos-toolchain/orocos_toolchain.git --recursive +``` + +If you already have a working copy, make sure that all submodules are up-to-date: +```sh +git submodule update --init --recursive +``` + +The next step is to configure the toolchain according to your needs: +```sh +./configure --prefix= [] +``` + +```sh +Usage: ./configure [] [] + +Available options: + + --prefix Installation prefix (-DCMAKE_INSTALL_PREFIX) + + --{en|dis}able-corba Enable/Disable CORBA transport plugin (-DENABLE_CORBA) + --omniorb Select CORBA implementation OmniORB + --tao Select CORBA implementation TAO +``` + +`configure` is nothing else than a simple wrapper around [CMake](https://cmake.org/). +Check `./configure --help` for the latest available options. + +Last but not least, build the toolchain by running +```sh +make install [-j] +``` + diff --git a/configure b/configure new file mode 100755 index 0000000..94afd84 --- /dev/null +++ b/configure @@ -0,0 +1,59 @@ +#!/bin/bash + +## +usage() { + cat <&2 +Usage: $0 [] [] + +Available options: + + --prefix Installation prefix (-DCMAKE_INSTALL_PREFIX) + + --{en|dis}able-corba Enable/Disable CORBA transport plugin (-DENABLE_CORBA) + --omniorb Select CORBA implementation OmniORB + --tao Select CORBA implementation TAO + +USAGE + exit 1 +} + +## Parse command line arguments +CMAKE_ARGS=() +while (( "$#" )); do + case "$1" in + --help|-h) + usage ;; + + --prefix=*) + # set as two separate options + prefix=${1#--prefix=} + shift + set -- --prefix "${prefix}" "$@" + ;; + + --prefix) + CMAKE_ARGS+=("-DCMAKE_INSTALL_PREFIX=$2") + shift 2 ;; + + --enable-corba) + CMAKE_ARGS+=("-DENABLE_CORBA=ON") + shift ;; + --disable-corba) + CMAKE_ARGS+=("-DENABLE_CORBA=OFF") + shift ;; + --omniorb) + CMAKE_ARGS+=("-DCORBA_IMPLEMENTATION=OMNIORB") + shift ;; + --tao) + CMAKE_ARGS+=("-DCORBA_IMPLEMENTATION=TAO") + shift ;; + + *) + CMAKE_ARGS+=("$1") + shift ;; + esac +done + +## Invoke cmake +mkdir -p build && cd build && cmake .. "${CMAKE_ARGS[@]}" + From 6a490e6ebce7348b6a55816e007cbb957f6936fe Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Thu, 25 Jul 2019 18:11:26 +0200 Subject: [PATCH 2/6] cmake: do not use the current orocos_toolchain branch as the default for submodules --- CMakeLists.txt | 19 ++----------------- 1 file changed, 2 insertions(+), 17 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8726ab0..b53a3e9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -91,23 +91,8 @@ else() endif() set(GIT_BASE_URL "https://github.com/orocos-toolchain/") -#set(GIT_TAG "" CACHE STRING "Git branch or tag to checkout in submodules. Default to current branch (update) or default branch (clone).") - -# Find current branch if this is a git tree and use it as a default. -if(IS_GIT) - execute_process( - COMMAND git --git-dir=${CMAKE_CURRENT_SOURCE_DIR}/.git symbolic-ref --short HEAD - OUTPUT_VARIABLE CURRENT_GIT_BRANCH - OUTPUT_STRIP_TRAILING_WHITESPACE - ERROR_QUIET - ) - if(CURRENT_GIT_BRANCH) - message(STATUS "Current orocos_toolchain branch: ${CURRENT_GIT_BRANCH}") - if(NOT DEFINED GIT_TAG) - set(GIT_TAG ${CURRENT_GIT_BRANCH}) # not cached! - endif() - endif() -endif() +set(GIT_TAG "" CACHE STRING "Git branch or tag to checkout in submodules. If empty, use the commits tracked by submodules or the default branches.") + if(GIT_TAG) message(STATUS "Building branch or tag ${GIT_TAG} for all submodules.") endif() From 57ca01997593cda8d3a009b27bbc9dd1b4d28e63 Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Thu, 25 Jul 2019 18:11:51 +0200 Subject: [PATCH 3/6] cmake: fixed missing project dependency rtt_typelib on rtt --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b53a3e9..f441413 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -176,7 +176,7 @@ build_external_project(typelib DEPENDS utilrb ) build_external_project(rtt_typelib - DEPENDS typelib + DEPENDS rtt typelib ) build_external_project(orogen DEPENDS rtt rtt_typelib utilrb From db2a81d507e46f195092e8f77d94ed5d25ecb509 Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Thu, 25 Jul 2019 18:12:19 +0200 Subject: [PATCH 4/6] orocos_toolchain: do not find_package(OROCOS-RTT) and copy OROCOS_TARGET detection snippet from rtt/orocos-rtt-config.cmake instead Finding package OROCOS-RTT before RTT has been installed must fail. --- orocos_toolchain/CMakeLists.txt | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) diff --git a/orocos_toolchain/CMakeLists.txt b/orocos_toolchain/CMakeLists.txt index d08741b..f07bccb 100644 --- a/orocos_toolchain/CMakeLists.txt +++ b/orocos_toolchain/CMakeLists.txt @@ -12,8 +12,23 @@ else() ) endif() -# need to find Orocos RTT to set OROCOS_TARGET and other cmake variables -find_package(OROCOS-RTT REQUIRED) +# Set the default target operating system, if unspecified +set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32 xenomai]") +set(OROCOS_TARGET_ENV $ENV{OROCOS_TARGET}) # MUST use helper variable, otherwise not picked up !!! +if(OROCOS_TARGET_ENV) + set(OROCOS_TARGET ${OROCOS_TARGET_ENV} CACHE STRING "${DOC_STRING}" FORCE) + message(STATUS "- Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}") +else() + if(NOT DEFINED OROCOS_TARGET) + if(MSVC) + set(OROCOS_TARGET win32 CACHE STRING "${DOC_STRING}") + elseif(APPLE AND CMAKE_SYSTEM_NAME MATCHES "Darwin") + set(OROCOS_TARGET macosx CACHE STRING "${DOC_STRING}") + else() + set(OROCOS_TARGET gnulinux CACHE STRING "${DOC_STRING}") + endif() + endif() +endif() set(OROCOS_SETUP_DESTINATION "etc/orocos" CACHE STRING "Destination folder for Orocos setup files (setup.sh, env.sh), relative to CMAKE_INSTALL_PREFIX") configure_file(../setup.sh ${CMAKE_CURRENT_BINARY_DIR}/setup.sh @ONLY) From 4e5145e2ce1fe2db54b9cd31344c27994f312ebc Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Thu, 25 Jul 2019 18:38:37 +0200 Subject: [PATCH 5/6] travis: add configuration file for Travis CI --- .travis.yml | 74 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 .travis.yml diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..2af8f7d --- /dev/null +++ b/.travis.yml @@ -0,0 +1,74 @@ +language: generic +cache: ccache + +addons: + apt: + packages: + - build-essential + - git + - cmake + - libboost-all-dev + - libxml-xpath-perl + - libboost-all-dev + - omniorb + - omniidl + - omniorb-nameserver + - libomniorb4-dev + - pkg-config + - clang-3.8 + +env: + global: + - BOOST_TEST_LOG_LEVEL=message + - CFLAGS="-Wall -Wextra -Wno-unused-parameter" + +matrix: + include: + - os: linux + dist: xenial + env: COMPILER=gcc CXXFLAGS="-std=c++03 -Wall -Wextra -Wno-unused-parameter" + - os: linux + dist: xenial + env: COMPILER=gcc CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter" + - os: linux + dist: xenial + env: COMPILER=clang-3.8 CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter" + - os: linux + dist: xenial + env: COMPILER=clang CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter" + - os: osx + osx_image: xcode10.1 + +branches: + only: + - master + - /^toolchain-[\d\.]+[\d]$/ + +before_install: + # Set C/C++ compiler + - | + if [[ "${COMPILER}" != "" ]]; then + export CC=${COMPILER} + if [[ "${COMPILER}" == "gcc"* ]]; then + export CXX=${COMPILER/gcc/g++} + elif [[ "${COMPILER}" == "clang"* ]]; then + export CXX=${COMPILER/clang/clang++} + fi + ${CC} --version + ${CXX} --version + fi + + # Install HomeBrew dependencies (macOS only) + - | + if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then + brew update + brew reinstall boost cmake ccache gnu-getopt readline omniorb + brew link --force gnu-getopt + brew link --force readline + export PATH="/use/local/opt/ccache/libexec:$PATH" + fi + +script: + # Build and install the Orocos Toolchain + - ./configure --enable-corba --omniorb + - make -j2 install From 36f89e58f97c97535f32769755a408b3a7cb0d5e Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Thu, 25 Jul 2019 22:25:56 +0200 Subject: [PATCH 6/6] travis: switch to -std=gnu++03 because log4cpp requires GNU extension va_copy --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 2af8f7d..77e3b29 100644 --- a/.travis.yml +++ b/.travis.yml @@ -26,7 +26,7 @@ matrix: include: - os: linux dist: xenial - env: COMPILER=gcc CXXFLAGS="-std=c++03 -Wall -Wextra -Wno-unused-parameter" + env: COMPILER=gcc CXXFLAGS="-std=gnu++03 -Wall -Wextra -Wno-unused-parameter" - os: linux dist: xenial env: COMPILER=gcc CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter"