cmake_minimum_required(VERSION 3.5)

project(rcljava)

find_package(ament_cmake REQUIRED)

find_package(ament_cmake_export_jars REQUIRED)

find_package(rcl REQUIRED)

find_package(rcljava_common REQUIRED)

find_package(rmw REQUIRED)

find_package(rmw_implementation_cmake REQUIRED)

find_package(builtin_interfaces REQUIRED)

include(CrossCompilingExtra)

if(CMAKE_CROSSCOMPILING)

find_host_package(Java COMPONENTS Development REQUIRED)

else()

find_package(Java COMPONENTS Development REQUIRED)

endif()

if(NOT ANDROID)

find_package(JNI REQUIRED)

endif()

include(UseJava)

include(JavaExtra)

set(CMAKE_JAVA_COMPILE_FLAGS "-source" "1.6" "-target" "1.6")

if(NOT WIN32)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra")

endif()

include_directories(include)

function(set_properties _targetname _build_type)

set_target_properties(${_targetname} PROPERTIES

PREFIX ""

LIBRARY_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"

RUNTIME_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"

)

endfunction()

# Only build the library if a C typesupport exists

get_rmw_typesupport(typesupport_impls "rmw_implementation" LANGUAGE "c")

if(typesupport_impls STREQUAL "")

message(STATUS "Skipping rcljava because no C typesupport library was found.")

return()

endif()

set(${PROJECT_NAME}_jni_sources

"src/main/cpp/org_ros2_rcljava_RCLJava.cpp"

"src/main/cpp/org_ros2_rcljava_Time.cpp"

"src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp"

"src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"

"src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"

"src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"

"src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"

"src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp"

"src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp"

)

foreach(_jni_source ${${PROJECT_NAME}_jni_sources})

get_filename_component(_target_name "${_jni_source}" NAME_WE)

string_camel_case_to_lower_case_underscore("${_target_name}" _target_name)

add_library(

${_target_name}

SHARED ${_jni_source}

)

set_properties("${target_name}" "")

if(WIN32)

set_properties("${target_name}" "_DEBUG")

set_properties("${target_name}" "_MINSIZEREL")

set_properties("${target_name}" "_RELEASE")

set_properties("${target_name}" "_RELWITHDEBINFO")

endif()

ament_target_dependencies(${_target_name}

"rcl"

"rcljava_common"

"builtin_interfaces"

)

target_include_directories(${_target_name}

PUBLIC

${JNI_INCLUDE_DIRS}

)

ament_export_libraries(${_target_name})

install(TARGETS ${_target_name}

ARCHIVE DESTINATION lib

LIBRARY DESTINATION lib

)

endforeach()

set(${PROJECT_NAME}_sources

"src/main/java/org/ros2/rcljava/RCLJava.java"

"src/main/java/org/ros2/rcljava/Time.java"

"src/main/java/org/ros2/rcljava/client/ClientImpl.java"

"src/main/java/org/ros2/rcljava/client/Client.java"

"src/main/java/org/ros2/rcljava/concurrent/Callback.java"

"src/main/java/org/ros2/rcljava/concurrent/RCLFuture.java"

"src/main/java/org/ros2/rcljava/consumers/BiConsumer.java"

"src/main/java/org/ros2/rcljava/consumers/Consumer.java"

"src/main/java/org/ros2/rcljava/consumers/TriConsumer.java"

"src/main/java/org/ros2/rcljava/executors/AnyExecutable.java"

"src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"

"src/main/java/org/ros2/rcljava/executors/Executor.java"

"src/main/java/org/ros2/rcljava/executors/MultiThreadedExecutor.java"

"src/main/java/org/ros2/rcljava/executors/SingleThreadedExecutor.java"

"src/main/java/org/ros2/rcljava/node/AbstractComposableNode.java"

"src/main/java/org/ros2/rcljava/node/ComposableNode.java"

"src/main/java/org/ros2/rcljava/node/NodeImpl.java"

"src/main/java/org/ros2/rcljava/node/Node.java"

"src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java"

"src/main/java/org/ros2/rcljava/publisher/Publisher.java"

"src/main/java/org/ros2/rcljava/qos/policies/Durability.java"

"src/main/java/org/ros2/rcljava/qos/policies/History.java"

"src/main/java/org/ros2/rcljava/qos/policies/QoSPolicy.java"

"src/main/java/org/ros2/rcljava/qos/policies/Reliability.java"

"src/main/java/org/ros2/rcljava/qos/QoSProfile.java"

"src/main/java/org/ros2/rcljava/service/RMWRequestId.java"

"src/main/java/org/ros2/rcljava/service/ServiceImpl.java"

"src/main/java/org/ros2/rcljava/service/Service.java"

"src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java"

"src/main/java/org/ros2/rcljava/subscription/Subscription.java"

"src/main/java/org/ros2/rcljava/time/ClockType.java"

"src/main/java/org/ros2/rcljava/timer/WallTimer.java"

"src/main/java/org/ros2/rcljava/timer/WallTimerImpl.java"

)

add_jar("${PROJECT_NAME}_jar"

${${PROJECT_NAME}_sources}

OUTPUT_NAME

${PROJECT_NAME}

INCLUDE_JARS

${rcljava_common_JARS}

${builtin_interfaces_JARS}

)

install_jar("${PROJECT_NAME}_jar" "share/${PROJECT_NAME}/java")

ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar")

if(BUILD_TESTING)

find_package(ament_lint_auto REQUIRED)

find_package(std_msgs REQUIRED)

ament_lint_auto_find_test_dependencies()

set(${PROJECT_NAME}_message_files

"msg/BoundedArrayNested.msg"

"msg/BoundedArrayPrimitives.msg"

"msg/Builtins.msg"

"msg/DynamicArrayNested.msg"

"msg/DynamicArrayPrimitives.msg"

"msg/Empty.msg"

"msg/FieldsWithSameType.msg"

"msg/Nested.msg"

"msg/Primitives.msg"

"msg/StaticArrayNested.msg"

"msg/StaticArrayPrimitives.msg"

"msg/UInt32.msg"

)

set(${PROJECT_NAME}_service_files

"srv/AddTwoInts.srv"

)

rosidl_generate_interfaces(${PROJECT_NAME}

${${PROJECT_NAME}_message_files}

${${PROJECT_NAME}_service_files}

DEPENDENCIES builtin_interfaces

SKIP_INSTALL

)

get_property(_${PROJECT_NAME}_jar_file

TARGET "${PROJECT_NAME}_jar"

PROPERTY "JAR_FILE")

get_property(_${PROJECT_NAME}_messages_jar_file

TARGET "${PROJECT_NAME}_messages_jar"

PROPERTY "JAR_FILE")

set(${PROJECT_NAME}_test_sources

"src/test/java/org/ros2/rcljava/RCLJavaTest.java"

"src/test/java/org/ros2/rcljava/TimeTest.java"

"src/test/java/org/ros2/rcljava/client/ClientTest.java"

"src/test/java/org/ros2/rcljava/node/NodeTest.java"

"src/test/java/org/ros2/rcljava/publisher/PublisherTest.java"

"src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java"

"src/test/java/org/ros2/rcljava/timer/TimerTest.java"

)

set(${PROJECT_NAME}_testsuites

"org.ros2.rcljava.RCLJavaTest"

"org.ros2.rcljava.TimeTest"

"org.ros2.rcljava.client.ClientTest"

"org.ros2.rcljava.node.NodeTest"

"org.ros2.rcljava.publisher.PublisherTest"

"org.ros2.rcljava.subscription.SubscriptionTest"

"org.ros2.rcljava.timer.TimerTest"

)

set(_deps_library_paths "")

foreach(_dep_lib ${rcljava_test_msgs_LIBRARIES})

get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)

list(APPEND _deps_library_paths ${_dep_dir})

endforeach()

foreach(_dep_lib ${std_msgs_LIBRARIES})

get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)

list(APPEND _deps_library_paths ${_dep_dir})

endforeach()

foreach(_dep_lib ${builtin_interfaces_LIBRARIES})

get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)

list(APPEND _deps_library_paths ${_dep_dir})

endforeach()

list(APPEND _deps_library_paths ${CMAKE_CURRENT_BINARY_DIR})

list(APPEND _deps_library_paths ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rcljava/msg/)

list(APPEND _deps_library_paths ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rcljava/srv/)

foreach(testsuite ${${PROJECT_NAME}_testsuites})

add_junit_tests("${PROJECT_NAME}_tests_${testsuite}"

"${${PROJECT_NAME}_test_sources}"

TESTS

"${testsuite}"

INCLUDE_JARS

"${rcljava_common_JARS}"

"${rcljava_test_msgs_JARS}"

"${std_msgs_JARS}"

"${builtin_interfaces_JARS}"

"${_${PROJECT_NAME}_jar_file}"

"${_${PROJECT_NAME}_messages_jar_file}"

LIBRARY_PATHS

"${_deps_library_paths}"

)

add_dependencies("${PROJECT_NAME}_tests_${testsuite}" "${PROJECT_NAME}_messages_jar")

endforeach()

endif()

ament_package()