Merge pull request #262 from gavanderhoorn/rebased_export_compiler_flags

Rebased 190: export compiler flags

industrial_robot_client/CMakeLists.txt

@@ -8,10 +8,6 @@ find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs
 
 find_package(Boost REQUIRED COMPONENTS system thread)
 
-# The definition is copied from the CMakeList for the simple_message package.
-add_definitions(-DROS=1)           #build using ROS libraries
-add_definitions(-DLINUXSOCKETS=1)  #build using LINUX SOCKETS libraries
-
 set(SRC_FILES src/joint_relay_handler.cpp
               src/robot_status_relay_handler.cpp
               src/joint_trajectory_downloader.cpp
@@ -31,11 +27,12 @@ catkin_package(
       industrial_utils
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}_dummy
-    CFG_EXTRAS issue46_workaround.cmake
+    CFG_EXTRAS
+      issue46_workaround.cmake
+      platform_build_flags.cmake
 )
 
 
-
 include_directories(include
   ${catkin_INCLUDE_DIRS}
 )
@@ -70,9 +67,13 @@ install(TARGETS ${PROJECT_NAME}_dummy DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATI
 
 add_library(industrial_robot_client ${SRC_FILES})
 target_link_libraries(industrial_robot_client simple_message)
+target_compile_definitions(industrial_robot_client PUBLIC
+  ${simple_message_DEFINITIONS})
 
 add_library(industrial_robot_client_bswap ${SRC_FILES})
 target_link_libraries(industrial_robot_client_bswap simple_message_bswap)
+target_compile_definitions(industrial_robot_client_bswap PUBLIC
+  ${simple_message_bswap_DEFINITIONS})
 
 # The following executables(nodes) are for applications where the robot
 # controller and pc have the same byte order (i.e. byte swapping NOT
@@ -84,20 +85,26 @@ target_link_libraries(robot_state
   industrial_robot_client
   simple_message
   ${catkin_LIBRARIES})
+target_compile_definitions(robot_state PRIVATE
+  ${simple_message_DEFINITIONS})
 
 add_executable(motion_streaming_interface
   src/generic_joint_streamer_node.cpp)
 target_link_libraries(motion_streaming_interface 
   industrial_robot_client 
   simple_message
   ${catkin_LIBRARIES})
+target_compile_definitions(motion_streaming_interface PRIVATE
+  ${simple_message_DEFINITIONS})
 
 add_executable(motion_download_interface
   src/generic_joint_downloader_node.cpp)
 target_link_libraries(motion_download_interface 
   industrial_robot_client 
   simple_message
   ${catkin_LIBRARIES})
+target_compile_definitions(motion_download_interface PRIVATE
+  ${simple_message_DEFINITIONS})
 
 # The following executables(nodes) are for applications where the robot
 # controller and pc have different same byte order (i.e. byte swapping IS
@@ -109,20 +116,26 @@ target_link_libraries(robot_state_bswap
   industrial_robot_client_bswap 
   simple_message_bswap
   ${catkin_LIBRARIES})
+target_compile_definitions(robot_state_bswap PRIVATE
+  ${simple_message_bswap_DEFINITIONS})
 
 add_executable(motion_streaming_interface_bswap
   src/generic_joint_streamer_node.cpp)
 target_link_libraries(motion_streaming_interface_bswap 
   industrial_robot_client_bswap  
   simple_message_bswap
   ${catkin_LIBRARIES})
+target_compile_definitions(motion_streaming_interface_bswap PRIVATE
+  ${simple_message_bswap_DEFINITIONS})
 
 add_executable(motion_download_interface_bswap
   src/generic_joint_downloader_node.cpp)
 target_link_libraries(motion_download_interface_bswap 
   industrial_robot_client_bswap  
   simple_message_bswap
   ${catkin_LIBRARIES})
+target_compile_definitions(motion_download_interface_bswap PRIVATE
+  ${simple_message_bswap_DEFINITIONS})
 
 # The following executables(nodes) interface with the robot controller
 # at a higher level so there is no need to create two versions (one with
@@ -131,7 +144,7 @@ target_link_libraries(motion_download_interface_bswap
 add_executable(joint_trajectory_action 
   src/generic_joint_trajectory_action_node.cpp
   src/joint_trajectory_action.cpp)
-target_link_libraries(joint_trajectory_action 
+target_link_libraries(joint_trajectory_action PRIVATE
   industrial_robot_client ${catkin_LIBRARIES})
 
 ##########

industrial_robot_client/cmake/platform_build_flags.cmake.in

@@ -0,0 +1,7 @@
+
+# industrial_robot_client doesn't have anything to add, but we must re-export
+# the definitions from simple_message, so consumers of industrial_robot_client
+# also get them.
+
+set(industrial_robot_client_DEFINITIONS @simple_message_DEFINITIONS@)
+set(industrial_robot_client_bswap_DEFINITIONS @simple_message_bswap_DEFINITIONS@)

simple_message/CMakeLists.txt

@@ -8,13 +8,6 @@ find_package(catkin REQUIRED COMPONENTS roscpp industrial_msgs)
 set(ROS_BUILD_STATIC_LIBS true)
 set(ROS_BUILD_SHARED_LIBS false)
 
-# The simple_message library is designed to cross compile on Ubuntu
-# and various robot controllers.  This requires conditionally compiling
-# certain functions and headers.  The definition below enables compiling
-# for a ROS node.
-add_definitions(-DROS=1)           #build using ROS libraries
-add_definitions(-DLINUXSOCKETS=1)  #use linux sockets for communication
-
 set(SRC_FILES src/byte_array.cpp
 	src/simple_message.cpp
 	src/smpl_msg_connection.cpp
@@ -48,30 +41,36 @@ set(SRC_FILES src/byte_array.cpp
 
 set(UTEST_SRC_FILES test/utest.cpp test/utest_message.cpp)
 
-# The simple message make file builds two libraries: simple_message and
-# simple_message_byte_swapping.
+# The simple message make file builds three libraries: simple_message,
+# simple_message_bswap and simple_message_float64.
 #
 # simple_message - is the default library.  This library should be used
 # when the target for the simple message is the same endian (i.e. both
 # big-endian or little-endian).  Intel based machines are little endian
 #
-# simple_message_byte_swapping - is an alternative library that can be used
+# simple_message_bswap - is an alternative library that can be used
 # when the target for simple message is a DIFFERENT endian AND when the target
 # target cannot perform byte swapping (as is the case for some industrial
 # controllers).  This library performs byte swapping at the lowest load/unload
 # levels.
-
+#
+# simple_message_float64 - another alternative which uses 8 byte floats instead
+# of 4 byte floats (ie: double precision vs single precision).
+# This variant changes the shared_float typedef everywhere to be 8 byte floats.
+#
 # NOTE: The libraries generated this package are not included in the catkin_package
 # macro because libraries must be explicitly linked in projects that depend on this
 # package.  If this is not done (and these libraries were exported), then multiple
-# library definitions (normal - simple_message and byteswapped - simple_message_bswap)
-# are both included (this is bad).
+# library definitions (normal - simple_message, byteswapped - simple_message_bswap
+# and simple_message_float64) are all included (this is bad).
 
 catkin_package(
     CATKIN_DEPENDS roscpp industrial_msgs
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}_dummy
-    CFG_EXTRAS issue46_workaround.cmake
+    CFG_EXTRAS
+      issue46_workaround.cmake
+      platform_build_flags.cmake
 )
 
 
@@ -98,37 +97,47 @@ install(TARGETS ${PROJECT_NAME}_dummy DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATI
 
 # DEFAULT LIBRARY (SAME ENDIAN)
 add_library(simple_message ${SRC_FILES})
+# NOTE: keep these in-sync with the lists in 'cmake/platform_build_flags.cmake'.
+# Yes, we could have used get_target_property(..) and then configure_file(..)
+# (or Catkin's equivalent), but there is a low probably these will ever change
+# again, so for now, manually managing it all is an OK trade-off
+target_compile_definitions(simple_message PUBLIC
+  SIMPLE_MESSAGE_USE_ROS SIMPLE_MESSAGE_LINUX)
 target_link_libraries(simple_message ${catkin_LIBRARIES})
 add_dependencies(simple_message ${industrial_msgs_EXPORTED_TARGETS})
 
 # ALTERNATIVE LIBRARY (DIFFERENT ENDIAN)
 add_library(simple_message_bswap ${SRC_FILES})
-set_target_properties(simple_message_bswap PROPERTIES COMPILE_DEFINITIONS "BYTE_SWAPPING")
+# NOTE: keep these in-sync with the lists in 'cmake/platform_build_flags.cmake'
+target_compile_definitions(simple_message_bswap PUBLIC
+  SIMPLE_MESSAGE_USE_ROS SIMPLE_MESSAGE_LINUX BYTE_SWAPPING)
 target_link_libraries(simple_message_bswap ${catkin_LIBRARIES})
 add_dependencies(simple_message_bswap ${industrial_msgs_EXPORTED_TARGETS})
 
 # ALTERNATIVE LIBRARY (64-bit floats)
 add_library(simple_message_float64 ${SRC_FILES})
-set_target_properties(simple_message_float64 PROPERTIES COMPILE_DEFINITIONS "FLOAT64")
+# NOTE: keep these in-sync with the lists in 'cmake/platform_build_flags.cmake'
+target_compile_definitions(simple_message_float64 PUBLIC
+  SIMPLE_MESSAGE_USE_ROS SIMPLE_MESSAGE_LINUX FLOAT64)
 target_link_libraries(simple_message_float64 ${catkin_LIBRARIES})
 add_dependencies(simple_message_float64 ${industrial_msgs_EXPORTED_TARGETS})
 
 if(CATKIN_ENABLE_TESTING)
 
     catkin_add_gtest(utest ${UTEST_SRC_FILES})
-    set_target_properties(utest PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=11000")
+    target_compile_definitions(utest PRIVATE TEST_PORT_BASE=11000)
     target_link_libraries(utest simple_message)
 
     catkin_add_gtest(utest_byte_swapping ${UTEST_SRC_FILES})
-    set_target_properties(utest_byte_swapping PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=12000")
+    target_compile_definitions(utest_byte_swapping PRIVATE TEST_PORT_BASE=12000)
     target_link_libraries(utest_byte_swapping simple_message_bswap)
 
     catkin_add_gtest(utest_float64 ${UTEST_SRC_FILES})
-    set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=13000;FLOAT64")
+    target_compile_definitions(utest_float64 PRIVATE TEST_PORT_BASE=13000 FLOAT64)
     target_link_libraries(utest_float64 simple_message_float64)
 
     catkin_add_gtest(utest_udp ${UTEST_SRC_FILES})
-    set_target_properties(utest_udp PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=15000;UDP_TEST")
+    target_compile_definitions(utest_udp PRIVATE TEST_PORT_BASE=15000 UDP_TEST)
     target_link_libraries(utest_udp simple_message)
 
 endif()

simple_message/cmake/platform_build_flags.cmake

@@ -0,0 +1,17 @@
+# The simple_message library is designed to cross compile on Ubuntu
+# and various robot controllers. This requires conditionally compiling
+# certain functions and headers. The default flags in this file enable
+# compiling for a ROS node. This file is also exported to dependent packages
+# via the catkin_package(..) commmand.
+
+# Note: these are the same set of defines passed to target_compile_definitions(..)
+# in the simple_message/CMakeLists.txt. In order to keep things simple and
+# deterministic, they are replicated here.
+
+# with plain CMake, we'd use target_compile_definitions(..) and then
+# target_link_libraries(..) with EXPORT(..)-ed targets, but that's not possible
+# right now with Catkin, so we use this work-around.
+
+set(simple_message_DEFINITIONS         SIMPLE_MESSAGE_USE_ROS;SIMPLE_MESSAGE_LINUX)
+set(simple_message_bswap_DEFINITIONS   SIMPLE_MESSAGE_USE_ROS;SIMPLE_MESSAGE_LINUX;BYTE_SWAPPING)
+set(simple_message_float64_DEFINITIONS SIMPLE_MESSAGE_USE_ROS;SIMPLE_MESSAGE_LINUX;FLOAT64)

simple_message/include/simple_message/log_wrapper.h

@@ -32,11 +32,11 @@
 #ifndef LOG_WRAPPER_H_
 #define LOG_WRAPPER_H_
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 #include "ros/ros.h"
 #endif
 
-#ifdef MOTOPLUS
+#ifdef SIMPLE_MESSAGE_MOTOPLUS
 #include "motoPlus.h"
 #endif
 
@@ -55,7 +55,7 @@ namespace log_wrapper
 
 
 // Define ROS if this library will execute under ROS
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 
 // The LOG_COMM redirects to debug in ROS because ROS has
 // debug filtering tools that allow the communications messages

simple_message/include/simple_message/robot_status.h

@@ -60,7 +60,7 @@ enum RobotMode
   MANUAL = 1, AUTO = 2,
 };
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 int toROSMsgEnum(RobotModes::RobotMode mode);
 #endif
 
@@ -85,7 +85,7 @@ enum TriState
   TS_FALSE = 0,   TS_OFF = 0,  TS_DISABLED = 0,  TS_LOW = 0
 };
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 int toROSMsgEnum(TriStates::TriState state);
 #endif
 

simple_message/include/simple_message/socket/simple_socket.h

@@ -42,7 +42,7 @@
 #include "smpl_msg_connection.h"
 #endif
 
-#ifdef LINUXSOCKETS
+#ifdef SIMPLE_MESSAGE_LINUX
 
 #include "sys/socket.h"
 #include "arpa/inet.h"
@@ -73,7 +73,7 @@
 
 #endif
 
-#ifdef MOTOPLUS
+#ifdef SIMPLE_MESSAGE_MOTOPLUS
 
 #include "motoPlus.h"
 

simple_message/include/simple_message/socket/tcp_socket.h

@@ -40,15 +40,15 @@
 #include "shared_types.h"
 #endif
 
-#ifdef LINUXSOCKETS
+#ifdef SIMPLE_MESSAGE_LINUX
 #include "sys/socket.h"
 #include "netdb.h"
 #include "arpa/inet.h"
 #include "string.h"
 #include "unistd.h"
 #endif
 
-#ifdef MOTOPLUS
+#ifdef SIMPLE_MESSAGE_MOTOPLUS
 #include "motoPlus.h"
 #endif
 

simple_message/include/simple_message/socket/udp_socket.h

@@ -42,15 +42,15 @@
 #include "smpl_msg_connection.h"
 #endif
 
-#ifdef LINUXSOCKETS
+#ifdef SIMPLE_MESSAGE_LINUX
 #include "sys/socket.h"
 #include "arpa/inet.h"
 #include "string.h"
 #include "netdb.h"
 #include "unistd.h"
 #endif
 
-#ifdef MOTOPLUS
+#ifdef SIMPLE_MESSAGE_MOTOPLUS
 #include "motoPlus.h"
 #endif
 

simple_message/src/message_manager.cpp

@@ -38,7 +38,7 @@
 #include "simple_message.h"
 #endif
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 #include "ros/ros.h"
 #else
 #include "unistd.h"
@@ -171,7 +171,7 @@ void MessageManager::spinOnce()
 int ms_per_clock;
 void mySleep(int sec)
 {
-#ifdef MOTOPLUS
+#ifdef SIMPLE_MESSAGE_MOTOPLUS
   if (ms_per_clock <= 0)
     ms_per_clock = mpGetRtc();
 
@@ -184,7 +184,7 @@ void mySleep(int sec)
 void MessageManager::spin()
 {
   LOG_INFO("Entering message manager spin loop");
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
   while (ros::ok())
 #else
   while (true)

simple_message/src/robot_status.cpp

@@ -38,7 +38,7 @@
 #include "log_wrapper.h"
 #endif
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 // Files below used to translate between ROS messages enums and
 // enums defined in this file
 #include "industrial_msgs/RobotMode.h"
@@ -55,7 +55,7 @@ namespace robot_status
 namespace RobotModes
 {
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 
 int toROSMsgEnum(RobotModes::RobotMode mode)
 {
@@ -83,7 +83,7 @@ int toROSMsgEnum(RobotModes::RobotMode mode)
 namespace TriStates
 {
 
-#ifdef ROS
+#ifdef SIMPLE_MESSAGE_USE_ROS
 
 int toROSMsgEnum(TriStates::TriState state)
 {

simple_message/src/simple_message.cpp

@@ -37,7 +37,7 @@
 #include "log_wrapper.h"
 #endif
 
-#ifdef MOTOPLUS
+#ifdef SIMPLE_MESSAGE_MOTOPLUS
 #include "motoPlus.h"
 #endif