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Modernize cmake #68

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merged 13 commits into from
Nov 5, 2024
Merged

Modernize cmake #68

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128e293
Update cmake_minimum_required version to 3.22 (as with Ubuntu 22.04)
orzechow Nov 1, 2024
a26edf0
Make sure cmake --build reruns configuration on file glob changes
orzechow Nov 1, 2024
e2ddc4b
Remove unused file glob from top-level CMakeLists.txt
orzechow Nov 1, 2024
d43ac3d
Move gtest CMake configs into test/CMakeLists.txt
orzechow Nov 1, 2024
23e4747
Set CMake project and package version from version file
orzechow Nov 4, 2024
f7da540
Cleanup CMakes C++ setup
orzechow Nov 4, 2024
abcff71
Only build unit test if top this is the main app and support CTest
orzechow Nov 4, 2024
b946da7
Support multiple install targets (prep for GUI target)
orzechow Nov 4, 2024
84575b0
Define docker stages, especially for development without preinstalled…
orzechow Nov 4, 2024
769c851
Suggest building with multiple threads
orzechow Nov 4, 2024
30e444b
Bump version to v0.0.2
orzechow Nov 4, 2024
b991fc8
Print CMake warning when tests are built, but gtest not found
orzechow Nov 5, 2024
bbd8ddc
Apply review suggestions by @ll-nick
orzechow Nov 5, 2024
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114 changes: 66 additions & 48 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,33 +1,68 @@
cmake_minimum_required(VERSION 3.5.1)
project(arbitration_graphs)
cmake_minimum_required(VERSION 3.22)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
######################
## Project settings ##
######################

# Read the project/package version from ./version file
file(READ "${CMAKE_CURRENT_SOURCE_DIR}/version" ver)
string(REGEX MATCH "VERSION=v([0-9\.]*)" _ ${ver})
set(PACKAGE_VERSION ${CMAKE_MATCH_1})

# Setup project
project(arbitration_graphs
VERSION ${PACKAGE_VERSION}
DESCRIPTION "Hierarchical behavior models for complex decision-making and behavior generation in robotics"
LANGUAGES CXX
)

# Select project features
set(BUILD_TESTS "FALSE" CACHE STRING "Compile the project with all unit tests")


###############
## C++ setup ##
###############

# Only do these if this is the main project, and not if it is included through add_subdirectory
if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
# Require C++17
set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Let's ensure -std=c++xx instead of -std=g++xx
set(CMAKE_CXX_EXTENSIONS OFF)

# Let's nicely support folders in IDEs
set_property(GLOBAL PROPERTY USE_FOLDERS ON)

# Allow clangd and others to properly understand this C++ project
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

# Testing only available if this is the main project
# Note this needs to be done in the main CMakeLists
# since it calls enable_testing, which must be in the
# main CMakeLists.
include(CTest)
endif()


###################
## Find packages ##
###################

list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

find_package(Glog)

find_package(Glog REQUIRED)
find_package(util_caching REQUIRED)

find_package(Yaml-cpp REQUIRED)


############################
## Read source code files ##
############################
file(GLOB_RECURSE PROJECT_HEADER_FILES_INC "include/${PROJECT_NAME}/*.h" "include/${PROJECT_NAME}/*.hpp")


###########
## Build ##
###########

# Declare a cpp library
add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME} INTERFACE
Expand All @@ -39,15 +74,17 @@ target_link_libraries(${PROJECT_NAME} INTERFACE
util_caching
${YAML_CPP_LIBRARIES}
)
set(INSTALL_TARGETS ${PROJECT_NAME})


###################
## Cmake Package ##
###################

include(CMakePackageConfigHelpers)
write_basic_package_version_file(
"${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
VERSION 0.1
VERSION ${PACKAGE_VERSION}
COMPATIBILITY AnyNewerVersion
)
include(CMakePackageConfigHelpers)
Expand All @@ -59,11 +96,22 @@ configure_package_config_file(


#############
## Install ##
## Testing ##
#############

# Testing only available if this is the main project
# Emergency override ARBITRATION_GRAPHS_CMAKE_BUILD_TESTING provided as well
if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR ARBITRATION_GRAPHS_CMAKE_BUILD_TESTING)
AND BUILD_TESTS)
add_subdirectory(test)
endif()


#############
## Install ##
#############

install(TARGETS ${PROJECT_NAME}
install(TARGETS ${INSTALL_TARGETS}
EXPORT ${PROJECT_NAME}Targets
LIBRARY DESTINATION lib COMPONENT Runtime
ARCHIVE DESTINATION lib COMPONENT Development
Expand All @@ -75,34 +123,4 @@ install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
install(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
"${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
DESTINATION lib/cmake/${PROJECT_NAME})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION include)


#############
## Testing ##
#############
find_package(GTest)

if(GTEST_FOUND)
if(BUILD_TESTS)
file(GLOB_RECURSE _tests "test/*.cpp" "test/*.cc")

foreach(_test ${_tests})
get_filename_component(_test_name ${_test} NAME_WE)
# make sure we add only one -test to the target
string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})

message(STATUS
"Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
)

add_executable(${TEST_TARGET_NAME} ${_test})

target_link_libraries(${TEST_TARGET_NAME} PUBLIC
${GTEST_BOTH_LIBRARIES} pthread
${PROJECT_NAME}
)
endforeach()
endif()
endif()
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION include)
23 changes: 15 additions & 8 deletions Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
FROM ubuntu:22.04
FROM ubuntu:22.04 as base
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ARG DEBIAN_FRONTEND=noninteractive

Expand All @@ -23,21 +23,28 @@ RUN git clone https://github.com/KIT-MRT/util_caching.git /tmp/util_caching && \
rm -rf /tmp/util_caching



FROM base AS devel

RUN useradd --create-home --uid 1000 blinky
USER blinky

WORKDIR /home/blinky/



FROM base as install
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# Install arbitration_graphs
COPY CMakeLists.txt /tmp/arbitration_graphs/
COPY cmake /tmp/arbitration_graphs/cmake
COPY include /tmp/arbitration_graphs/include
COPY test /tmp/arbitration_graphs/test
COPY version /tmp/arbitration_graphs/version

RUN mkdir /tmp/arbitration_graphs/build && \
cd /tmp/arbitration_graphs/build && \
cmake .. && \
cmake --build . && \
cmake --install . && \
rm -rf /tmp/arbitration_graphs

RUN useradd --create-home --uid 1000 blinky
USER blinky

WORKDIR /home/blinky/

rm -rf /tmp/arbitration_graphs
6 changes: 3 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -138,12 +138,12 @@ In order to compile with tests define `BUILD_TESTS=true`
mkdir -p arbitration_graphs/build
cd arbitration_graphs/build
cmake -DBUILD_TESTS=true ..
cmake --build .
cmake --build . -j9
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Why 9 btw? :D

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@orzechow orzechow Nov 5, 2024 •
edited
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Kind of arbitrary, but at least more than one.

A very rough suggestion was once to use #threads + 1, nowadays 2 * #threads seems to also work for many. Anyhow, it's not too crazy to assume a modern dev has >8 threads available (4 cores with hyperthreading).

```

Run all unit tests:
Run all unit tests with CTest:

```bash
find -executable -type f -name '*-gtest-*' -exec {} \;
cmake --build . --target test
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```

2 changes: 1 addition & 1 deletion demo/.env
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
../.env
version
85 changes: 48 additions & 37 deletions demo/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,10 +1,45 @@
cmake_minimum_required(VERSION 3.5.1)
project(arbitration_graphs_pacman_demo)
cmake_minimum_required(VERSION 3.22)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
######################
## Project settings ##
######################

# Setup project
project(arbitration_graphs_pacman_demo
DESCRIPTION "Demo and tutorial project for teaching arbitration_graphs"
LANGUAGES CXX
)

# Select project features
set(BUILD_TESTS "FALSE" CACHE STRING "Compile the project with all unit tests")


###############
## C++ setup ##
###############

# Only do these if this is the main project, and not if it is included through add_subdirectory
if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
# Require C++17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Let's ensure -std=c++xx instead of -std=g++xx
set(CMAKE_CXX_EXTENSIONS OFF)

# Let's nicely support folders in IDEs
set_property(GLOBAL PROPERTY USE_FOLDERS ON)

# Allow clangd and others to properly understand this C++ project
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

# Testing only available if this is the main project
# Note this needs to be done in the main CMakeLists
# since it calls enable_testing, which must be in the
# main CMakeLists.
include(CTest)
endif()


###################
Expand All @@ -19,6 +54,7 @@ find_package(SDL2 REQUIRED)
find_package(util_caching REQUIRED)
find_package(Yaml-cpp REQUIRED)


###########
## Build ##
###########
Expand Down Expand Up @@ -63,39 +99,14 @@ target_link_libraries(${PROJECT_NAME}_exe PRIVATE
${YAML_CPP_LIBRARIES}
)


#############
## Testing ##
#############
find_package(GTest)

if(GTEST_FOUND)
if(BUILD_TESTS)
file(GLOB_RECURSE _tests "test/*.cpp" "test/*.cc")

foreach(_test ${_tests})
get_filename_component(_test_name ${_test} NAME_WE)
# make sure we add only one -test to the target
string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})

message(STATUS
"Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
)

add_executable(${TEST_TARGET_NAME} ${_test})

target_include_directories(${TEST_TARGET_NAME}
PRIVATE
include
${SDL2_INCLUDE_DIR}
)
target_link_libraries(${TEST_TARGET_NAME}
PRIVATE
${GTEST_BOTH_LIBRARIES} pthread
${PROJECT_NAME}
EnTT_Pacman
)
endforeach()
endif()
endif()

# Testing only available if this is the main project
# Emergency override ARBITRATION_GRAPHS_DEMO_CMAKE_BUILD_TESTING provided as well
if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR ARBITRATION_GRAPHS_DEMO_CMAKE_BUILD_TESTING)
AND BUILD_TESTS)
add_subdirectory(test)
endif()
2 changes: 2 additions & 0 deletions demo/Dockerfile
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Expand Up @@ -18,12 +18,14 @@ RUN git clone https://github.com/KIT-MRT/EnTT-Pacman.git --branch arbitration_gr
cmake --install . && \
rm -rf /tmp/EnTT-Pacman

RUN useradd --create-home --uid 1000 blinky
USER blinky

WORKDIR /home/blinky/demo

CMD [ "/bin/bash" ]


FROM tutorial AS demo

COPY --chown=blinky:blinky cmake /home/blinky/demo/cmake
Expand Down
37 changes: 37 additions & 0 deletions demo/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
###################
## Find packages ##
###################

find_package(GTest)


###########
## Build ##
###########

if(GTEST_FOUND)
file(GLOB_RECURSE _tests CONFIGURE_DEPENDS "*.cpp" "*.cc")

foreach(_test ${_tests})
get_filename_component(_test_name ${_test} NAME_WE)
# make sure we add only one -test to the target
string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})

message(STATUS
"Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
)

add_executable(${TEST_TARGET_NAME} ${_test})

target_link_libraries(${TEST_TARGET_NAME} PUBLIC
${GTEST_BOTH_LIBRARIES} pthread
${PROJECT_NAME}
)

add_test(NAME ${TEST_TARGET_NAME}
COMMAND ${TEST_TARGET_NAME}
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
endforeach()
endif()
1 change: 1 addition & 0 deletions demo/version
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
../version
3 changes: 3 additions & 0 deletions docker-compose.yaml
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Expand Up @@ -4,6 +4,9 @@ services:
build: .
env_file: .env
arbitration_graphs_devel:
build:
context: .
target: devel
extends:
service: arbitration_graphs
image: arbitration_graphs_devel
Expand Down
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