Fix: make hephaestus build statically (#159)

# Description Few fixes to make hephaestus build statically. In details: * Properly set options for external dependencies * Add missing link libraries * Add option to disable install of third party dependency. * This is useful when building statically to avoid exposing 3rd party dependency. Other minor changes: * Avoid installing google test if tests are not enabled * Fix compilation with GCC --------- Co-authored-by: Lorenz Hruby <[email protected]>
olympus-robotics · Aug 30, 2024 · 76d596a · 76d596a
1 parent 793115b
commit 76d596a
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diff --git a/cmake/05_modules.cmake b/cmake/05_modules.cmake
@@ -120,7 +120,6 @@ macro(configure_modules)
   get_property(_enabled_modules_list GLOBAL PROPERTY ENABLED_MODULES)
 
   # Add each marked module into the build
-  message("\n\n${_enabled_modules_list}\n\n")
   foreach(_module IN LISTS _enabled_modules_list)
     message(VERBOSE "Adding subdirectory ${MODULE_${_module}_PATH} for module ${_module}")
     add_subdirectory(${MODULE_${_module}_PATH})
@@ -141,7 +140,10 @@ macro(configure_modules)
   configure_file(${CMAKE_TEMPLATES_DIR}/doxyfile.in ${CMAKE_BINARY_DIR}/doxyfile @ONLY)
 
   # Define installation rules for module targets
-  install_modules()
+  option(DISABLE_MODULES_INSTALL "Disable installtion of modules, this is usefull when building statically" OFF)
+  if(NOT DISABLE_MODULES_INSTALL)
+    install_modules()
+  endif()
 endmacro()
 
 # ==================================================================================================
@@ -563,30 +565,32 @@ endmacro()
 
 # ==================================================================================================
 # Setup tests target
+if(BUILD_TESTING)
+  FetchContent_Declare(
+    googletest URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+  )
+  # For Windows: Prevent overriding the parent project's compiler/linker settings
+  set(gtest_force_shared_crt
+      ON
+      CACHE BOOL "" FORCE
+  )
+  FetchContent_MakeAvailable(googletest)
+  FetchContent_GetProperties(googletest)
+  if(NOT googletest_POPULATED)
+    FetchContent_Populate(googletest)
+    add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
+  endif()
 
-FetchContent_Declare(
-  googletest URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-)
-# For Windows: Prevent overriding the parent project's compiler/linker settings
-set(gtest_force_shared_crt
-    ON
-    CACHE BOOL "" FORCE
-)
-FetchContent_MakeAvailable(googletest)
-FetchContent_GetProperties(googletest)
-if(NOT googletest_POPULATED)
-  FetchContent_Populate(googletest)
-  add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
+  # use leaner set of compiler warnings for sources we have no control over
+  set_target_properties(gtest PROPERTIES COMPILE_OPTIONS "${THIRD_PARTY_COMPILER_WARNINGS}")
+  set_target_properties(gtest PROPERTIES CXX_CLANG_TIDY "")
+  set_target_properties(gtest_main PROPERTIES CXX_CLANG_TIDY "")
+  set_target_properties(gmock PROPERTIES COMPILE_OPTIONS "${THIRD_PARTY_COMPILER_WARNINGS}")
+  set_target_properties(gmock PROPERTIES CXX_CLANG_TIDY "")
+  set_target_properties(gmock_main PROPERTIES CXX_CLANG_TIDY "")
+else()
+  message(STATUS "Testing is disabled")
 endif()
-
-# use leaner set of compiler warnings for sources we have no control over
-set_target_properties(gtest PROPERTIES COMPILE_OPTIONS "${THIRD_PARTY_COMPILER_WARNINGS}")
-set_target_properties(gtest PROPERTIES CXX_CLANG_TIDY "")
-set_target_properties(gtest_main PROPERTIES CXX_CLANG_TIDY "")
-set_target_properties(gmock PROPERTIES COMPILE_OPTIONS "${THIRD_PARTY_COMPILER_WARNINGS}")
-set_target_properties(gmock PROPERTIES CXX_CLANG_TIDY "")
-set_target_properties(gmock_main PROPERTIES CXX_CLANG_TIDY "")
-
 # ==================================================================================================
 # Adds a custom target to group all test programs built on call to `make tests`
 set(TESTS_BUILD_TARGET tests_build)
@@ -610,20 +614,30 @@ add_custom_target(
 add_dependencies(${CHECK_TARGET} ${TESTS_BUILD_TARGET}) # `check` depends on `tests` target
 
 # ==================================================================================================
+# ~~~
 # macro: define_module_test
 #
-# Description: Macro to define a 'test' program Note: - A test program belongs to the enclosing module - A module can
-# have multiple tests - Executables are not installed on call to `make install`
-#
-# Parameters: SOURCES     : (list) Source files to compile [PUBLIC_INCLUDE_PATHS] : (list, optional) Publicly included
-# directories. See cmake documentation for 'PUBLIC' keyword in `target_include_directories` [PRIVATE_INCLUDE_PATHS] :
-# (list, optional) Privately included directories. See cmake documentation for 'PRIVATE' keyword in
-# `target_include_directories` [SYSTEM_PUBLIC_INCLUDE_PATHS] : (list, optional) Publicly included system directories on
-# some platforms. See 'SYSTEM' keyword in `target_include_directories` [SYSTEM_PRIVATE_INCLUDE_PATHS] : (list, optional)
-# Privately included system directories on some platforms. See 'SYSTEM' keyword in `target_include_directories`
-# [PUBLIC_LINK_LIBS] : (list, optional) Public link dependencies. See 'PUBLIC' keyword in `target_link_libraries`
-# [PRIVATE_LINK_LIBS]: (list, optional) Private link dependencies. See 'PRIVATE' keyword in `target_link_libraries`
+# Description: Macro to define a 'test' program
+# Note:
+# - A test program belongs to the enclosing module
+# - A module can have multiple tests
+# - Examples are not installed on call to `make install`
 #
+# Parameters:
+# SOURCES     : (list) Source files to compile
+# [PUBLIC_INCLUDE_PATHS] : (list, optional) Publicly included directories.
+#     See cmake documentation for 'PUBLIC' keyword in `target_include_directories`
+# [PRIVATE_INCLUDE_PATHS] : (list, optional) Privately included directories.
+#     See cmake documentation for 'PRIVATE' keyword in `target_include_directories`
+# [SYSTEM_PUBLIC_INCLUDE_PATHS] : (list, optional) Publicly included system directories on some platforms.
+#     See 'SYSTEM' keyword in `target_include_directories`
+# [SYSTEM_PRIVATE_INCLUDE_PATHS] : (list, optional) Privately included system directories on some platforms.
+#     See 'SYSTEM' keyword in `target_include_directories`
+# [PUBLIC_LINK_LIBS] : (list, optional) Public link dependencies.
+#     See 'PUBLIC' keyword in `target_link_libraries`
+# [PRIVATE_LINK_LIBS]: (list, optional) Private link dependencies.
+#     See 'PRIVATE' keyword in `target_link_libraries`
+# ~~~
 include(GoogleTest)
 macro(define_module_test)
   set(flags "")
@@ -632,6 +646,9 @@ macro(define_module_test)
 
   include(CMakeParseArguments)
   cmake_parse_arguments(TARGET_ARG "${flags}" "${single_opts}" "${multi_opts}" ${ARGN})
+  if(NOT BUILD_TESTING)
+    return()
+  endif()
 
   if(TARGET_ARG_UNPARSED_ARGUMENTS)
     message(FATAL_ERROR "Unparsed arguments: ${TARGET_ARG_UNPARSED_ARGUMENTS}")
@@ -680,10 +697,15 @@ macro(define_module_test)
 endmacro()
 
 # ==================================================================================================
-# (for internal use) Create installation rules for library and executable targets in enabled modules Description:
-# Installs CMake config files to support calling find_package() in downstream projects. The following files are
-# configured and installed in <installdir>/lib/cmake/<project>_<module>: - <project>_<module>-config.cmake -
-# <project>_<module>-config-version.cmake - <project>_<module>-targets.cmake
+# ~~~
+# (for internal use) Create installation rules for library and executable targets in enabled modules
+# Description:
+# Installs CMake config files to support calling find_package() in downstream projects.
+# The following files are configured and installed in <installdir>/lib/cmake/<project>_<module>:
+# - <project>_<module>-config.cmake
+# - <project>_<module>-config-version.cmake
+# - <project>_<module>-targets.cmake
+# ~~~
 function(install_modules)
   get_property(_enabled_modules_list GLOBAL PROPERTY ENABLED_MODULES)
   foreach(_module IN LISTS _enabled_modules_list)

diff --git a/cmake/06_external_dependencies.cmake b/cmake/06_external_dependencies.cmake
@@ -64,11 +64,16 @@ macro(build_external_dependencies)
   endif()
 
   list(PREPEND CMAKE_PREFIX_PATH ${EP_DEPLOY_DIR}/)
-  install(
-    DIRECTORY ${EP_DEPLOY_DIR}/
-    DESTINATION ${CMAKE_INSTALL_PREFIX}
-    USE_SOURCE_PERMISSIONS
-  )
+
+  option(INSTALL_EXTERNAL_DEPENDENCIES "Install external dependencies" ON)
+  if(INSTALL_EXTERNAL_DEPENDENCIES)
+    install(
+      DIRECTORY ${EP_DEPLOY_DIR}/
+      DESTINATION ${CMAKE_INSTALL_PREFIX}
+      USE_SOURCE_PERMISSIONS
+    )
+  endif()
+
   if(CMAKE_CROSSCOMPILING)
     list(APPEND CMAKE_FIND_ROOT_PATH ${EP_DEPLOY_DIR})
   endif()

diff --git a/cmake/build.cmake b/cmake/build.cmake
@@ -26,6 +26,8 @@ enumerate_modules(ROOT_PATH ${PROJECT_SOURCE_DIR}/modules)
 build_external_dependencies(FOLDER ${PROJECT_SOURCE_DIR}/external)
 
 # -------------------------------------------------------------------------------------------------
-# Configure modules enabled with -DBUILD_MODULES="semi-colon;separated;list". - Special value "all" will build all
-# modules found
+# ~~~
+# Configure modules enabled with -DBUILD_MODULES="semi-colon;separated;list".
+# - Special value "all" will build all modules found
+# ~~~
 configure_modules()
diff --git a/cmake/external.cmake b/cmake/external.cmake
@@ -21,6 +21,7 @@ set(EP_CMAKE_EXTRA_ARGS
     -DCMAKE_CXX_COMPILER_LAUNCHER=${CMAKE_CXX_COMPILER_LAUNCHER}
     -DCMAKE_C_COMPILER_LAUNCHER=${CMAKE_C_COMPILER_LAUNCHER}
     -DCMAKE_CXX_STANDARD=${CMAKE_CXX_STANDARD}
+    -DBUILD_TESTING=OFF
 )
 list(PREPEND CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
 

diff --git a/external/CMakeLists.txt b/external/CMakeLists.txt
@@ -39,11 +39,14 @@ endif()
 # --------------------------------------------------------------------------------------------------
 # zenoh
 
+set(ZENOHC_CMAKE_ARGS -DZENOHC_CARGO_CHANNEL=+stable -DZENOHC_BUILD_WITH_SHARED_MEMORY=TRUE)
+if(NOT BUILD_SHARED_LIBS)
+  list(APPEND ZENOHC_CMAKE_ARGS "-DZENOHC_LIB_STATIC=TRUE" "-DZENOHC_INSTALL_STATIC_LIBRARY=TRUE")
+endif()
 # NOTE: There is a bug in the current release, so for now we are pointing to our fix. set(ZENOH_VERSION "1.0.0.6")
 set(ZENOH_VERSION "5a82ecfd6154adf30ff96efe9b7838018134a528") # from zenohcxx dev/1.0.0
 add_cmake_dependency(
-  NAME zenohc URL https://github.com/eclipse-zenoh/zenoh-c/archive/${ZENOH_VERSION}.zip
-  CMAKE_ARGS -DZENOHC_CARGO_CHANNEL=+stable
+  NAME zenohc URL https://github.com/eclipse-zenoh/zenoh-c/archive/${ZENOH_VERSION}.zip CMAKE_ARGS ${ZENOHC_CMAKE_ARGS}
 )
 
 # set(ZENOHCXX_VERSION ${ZENOH_VERSION})

diff --git a/modules/ipc/CMakeLists.txt b/modules/ipc/CMakeLists.txt
@@ -56,7 +56,9 @@ define_module_library(
   NAME ipc
   PUBLIC_LINK_LIBS
     absl::base
+    absl::raw_hash_set
     absl::status
+    absl::statusor
     absl::log
     hephaestus::concurrency
     hephaestus::containers

diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/subscriber.h b/modules/ipc/include/hephaestus/ipc/zenoh/subscriber.h
@@ -34,7 +34,7 @@ class Subscriber {
   void callback(const ::zenoh::Sample& sample);
 
 private:
-  using Message = std::pair<MessageMetadata, std::vector<const std::byte>>;
+  using Message = std::pair<MessageMetadata, std::vector<std::byte>>;
 
   SessionPtr session_;
   TopicConfig topic_config_;

diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/utils.h b/modules/ipc/include/hephaestus/ipc/zenoh/utils.h
@@ -20,11 +20,11 @@ static constexpr auto TEXT_PLAIN_ENCODING = "text/plain";
 static constexpr auto PUBLISHER_ATTACHMENT_MESSAGE_COUNTER_KEY = "0";
 static constexpr auto PUBLISHER_ATTACHMENT_MESSAGE_SESSION_ID_KEY = "1";
 
-[[nodiscard]] static inline auto toByteVector(const ::zenoh::Bytes& bytes) -> std::vector<const std::byte> {
+[[nodiscard]] static inline auto toByteVector(const ::zenoh::Bytes& bytes) -> std::vector<std::byte> {
   auto reader = bytes.reader();
-  std::vector<const std::byte> vec(bytes.size());
+  std::vector<std::byte> vec(bytes.size());
   // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast,cppcoreguidelines-pro-type-const-cast)
-  reader.read(reinterpret_cast<uint8_t*>(const_cast<std::byte*>(vec.data())), vec.size());
+  reader.read(reinterpret_cast<uint8_t*>(vec.data()), vec.size());
   return vec;
 }
 
@@ -86,15 +86,21 @@ inline auto toString(const std::vector<std::string>& vec) -> std::string {
   return str;
 }
 
-inline auto toChrono(uint64_t ts) -> std::chrono::nanoseconds {
-  const auto seconds = std::chrono::seconds{ static_cast<std::uint32_t>(ts >> 32U) };
-  const auto fraction = std::chrono::nanoseconds{ static_cast<std::uint32_t>(ts & 0xFFFFFFFF) };
-
-  return seconds + fraction;
+inline auto toChrono(uint64_t timestamp) -> std::chrono::nanoseconds {
+  // For details see https://zenoh.io/docs/manual/abstractions/#timestamp
+  const auto seconds = std::chrono::seconds{ static_cast<std::uint32_t>(timestamp >> 32U) };
+  static constexpr auto FRACTION_MASK = 0xFFFFFFF0;
+  auto fraction = static_cast<uint32_t>(timestamp & FRACTION_MASK);  //
+  // Convert fraction to nanoseconds
+  // The fraction is in units of 2^-32 seconds, so we multiply by 10^9 / 2^32
+  auto nanoseconds =
+      std::chrono::nanoseconds{ static_cast<uint64_t>(fraction) * 1'000'000'000 / 0x100000000 };  // NOLINT
+
+  return seconds + nanoseconds;
 }
 
-inline auto toChrono(const ::zenoh::Timestamp& ts) -> std::chrono::nanoseconds {
-  return toChrono(ts.get_time());
+inline auto toChrono(const ::zenoh::Timestamp& timestamp) -> std::chrono::nanoseconds {
+  return toChrono(timestamp.get_time());
 }
 
 [[nodiscard]] auto createZenohConfig(const Config& config) -> ::zenoh::Config;

diff --git a/modules/serdes/CMakeLists.txt b/modules/serdes/CMakeLists.txt
@@ -11,6 +11,7 @@ declare_module(
 find_package(absl REQUIRED)
 find_package(magic_enum REQUIRED)
 find_package(Protobuf REQUIRED)
+find_package(utf8_range REQUIRED)
 find_package(range-v3 REQUIRED)
 
 # library sources
@@ -36,8 +37,16 @@ set(SOURCES
 # library target
 define_module_library(
   NAME serdes
-  PUBLIC_LINK_LIBS absl::log_internal_check_op absl::status hephaestus::utils magic_enum::magic_enum
-                   protobuf::libprotobuf range-v3::range-v3
+  PUBLIC_LINK_LIBS
+    absl::log_internal_check_op
+    absl::raw_hash_set
+    absl::status
+    absl::statusor
+    hephaestus::utils
+    magic_enum::magic_enum
+    protobuf::libprotobuf
+    range-v3::range-v3
+    utf8_range::utf8_validity
   PRIVATE_LINK_LIBS ""
   SOURCES ${SOURCES}
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>