Merge pull request #115 from robotology/refactor/includes

Remove relative includes by using `target_include_directories` and `target_link_libraries`
robotology · Mar 11, 2024 · 85d7d8a · 85d7d8a
2 parents bb8ee3e + 2770b14
commit 85d7d8a
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Showing 39 changed files with 267 additions and 205 deletions.
diff --git a/plugins/basestate/BaseState.cc b/plugins/basestate/BaseState.cc
@@ -1,4 +1,5 @@
-#include "BaseStateDriver.cpp"
+#include <BaseStateDriver.cpp>
+
 #include <gz/plugin/Register.hh>
 #include <gz/sim/Joint.hh>
 #include <gz/sim/Link.hh>
@@ -8,7 +9,7 @@
 #include <gz/sim/Util.hh>
 #include <gz/sim/components/Sensor.hh>
 #include <gz/transport/Node.hh>
-#include <iostream>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 #include <yarp/os/LogStream.h>

diff --git a/plugins/basestate/BaseStateDriver.cpp b/plugins/basestate/BaseStateDriver.cpp
@@ -1,6 +1,8 @@
-#include "../../libraries/singleton-devices/Handler.hh"
-#include "singleton-basestate/BaseStateDataSingleton.hh"
+#include <BaseStateDataSingleton.hh>
+#include <Handler.hh>
+
 #include <mutex>
+
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IAnalogSensor.h>
 #include <yarp/dev/IPreciselyTimed.h>

diff --git a/plugins/basestate/CMakeLists.txt b/plugins/basestate/CMakeLists.txt
@@ -1,18 +1,22 @@
 
-add_subdirectory(singleton-basestate)
+add_subdirectory(singleton)
 
 add_library(gz-sim-yarp-basestate-system SHARED BaseState.cc BaseStateDriver.cpp)
+
+target_include_directories(gz-sim-yarp-basestate-system 
+    PUBLIC  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
 target_compile_features(gz-sim-yarp-basestate-system PRIVATE cxx_std_17)
 
 target_link_libraries(gz-sim-yarp-basestate-system
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
-    ${YARP_LIBRARIES}
+    YARP::YARP_dev
     YARP::YARP_os
     YARP::YARP_init
     gz-sim-yarp-handler
-    gz-sim-yarp-handler-basestate)
+    gz-sim-yarp-basestate-singleton)
 
 # Add install target
 install(TARGETS gz-sim-yarp-basestate-system)
diff --git a/plugins/basestate/singleton-basestate/CMakeLists.txt b/plugins/basestate/singleton-basestate/CMakeLists.txt
diff --git a/...leton-basestate/BaseStateDataSingleton.cc → ...state/singleton/BaseStateDataSingleton.cc b/...leton-basestate/BaseStateDataSingleton.cc → ...state/singleton/BaseStateDataSingleton.cc
@@ -1,4 +1,5 @@
-#include "BaseStateDataSingleton.hh"
+#include <BaseStateDataSingleton.hh>
+
 #include <yarp/os/Log.h>
 #include <yarp/os/LogStream.h>
 

diff --git a/...leton-basestate/BaseStateDataSingleton.hh → ...state/singleton/BaseStateDataSingleton.hh b/...leton-basestate/BaseStateDataSingleton.hh → ...state/singleton/BaseStateDataSingleton.hh
@@ -1,7 +1,9 @@
 #include <array>
-#include <gz/common/Event.hh>
 #include <mutex>
 #include <string>
+
+#include <gz/common/Event.hh>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 #include <yarp/os/Stamp.h>

diff --git a/plugins/basestate/singleton/CMakeLists.txt b/plugins/basestate/singleton/CMakeLists.txt
@@ -0,0 +1,17 @@
+
+add_library(gz-sim-yarp-basestate-singleton SHARED BaseStateDataSingleton.hh BaseStateDataSingleton.cc)
+
+target_include_directories(gz-sim-yarp-basestate-singleton 
+    PUBLIC  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
+target_compile_features(gz-sim-yarp-basestate-singleton PRIVATE cxx_std_17)
+
+target_link_libraries(gz-sim-yarp-basestate-singleton
+  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+  PRIVATE
+    YARP::YARP_dev
+    YARP::YARP_os
+    YARP::YARP_init)
+
+install(TARGETS gz-sim-yarp-basestate-singleton)
diff --git a/plugins/camera/CMakeLists.txt b/plugins/camera/CMakeLists.txt
@@ -1,19 +1,20 @@
-project(camera)
-
-add_subdirectory(singleton-camera)
+add_subdirectory(singleton)
 
 add_library(gz-sim-yarp-camera-system SHARED Camera.cc CameraDriver.cpp)
+
+target_include_directories(gz-sim-yarp-camera-system PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
 target_compile_features(gz-sim-yarp-camera-system PRIVATE cxx_std_17)
 
 target_link_libraries(gz-sim-yarp-camera-system
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
-    ${YARP_LIBRARIES}
+    YARP::YARP_dev
     YARP::YARP_os
     YARP::YARP_init
     gz-sim-yarp-handler
-    gz-sim-yarp-handler-camera)
+    gz-sim-yarp-camera-singleton)
 
 # Add install target
 install(TARGETS gz-sim-yarp-camera-system)
diff --git a/plugins/camera/Camera.cc b/plugins/camera/Camera.cc
@@ -1,4 +1,5 @@
-#include "CameraDriver.cpp"
+#include <CameraDriver.cpp>
+
 #include <gz/plugin/Register.hh>
 #include <gz/sim/Link.hh>
 #include <gz/sim/Model.hh>
@@ -10,6 +11,7 @@
 #include <gz/sim/components/ParentEntity.hh>
 #include <gz/sim/components/Sensor.hh>
 #include <gz/transport/Node.hh>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 #include <yarp/os/LogStream.h>
@@ -46,7 +48,7 @@ class Camera : public System,
         {
             m_cameraDriver.close();
         }
-        HandlerCamera::getHandler()->removeSensor(sensorScopedName);
+        CameraDataSingleton::getHandler()->removeSensor(sensorScopedName);
         yarp::os::Network::fini();
     }
 
@@ -119,7 +121,7 @@ class Camera : public System,
         }
 
         // Insert the pointer in the singleton handler for retriving it in the yarp driver
-        HandlerCamera::getHandler()->setSensor(&(this->cameraData));
+        CameraDataSingleton::getHandler()->setSensor(&(this->cameraData));
 
         driver_properties.put("device", "gazebo_camera");
         driver_properties.put("sensor_name", sensorName);
@@ -207,4 +209,4 @@ GZ_ADD_PLUGIN(gzyarp::Camera,
               gz::sim::System,
               gzyarp::Camera::ISystemConfigure,
               gzyarp::Camera::ISystemPreUpdate,
-              gzyarp::Camera::ISystemPostUpdate)
+              gzyarp::Camera::ISystemPostUpdate)
diff --git a/plugins/camera/CameraDriver.cpp b/plugins/camera/CameraDriver.cpp
@@ -1,6 +1,8 @@
-#include "../../libraries/singleton-devices/Handler.hh"
-#include "singleton-camera/Handler.hh"
+#include <CameraDataSingleton.hh>
+#include <Handler.hh>
+
 #include <mutex>
+
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/FrameGrabberInterfaces.h>
 #include <yarp/os/Log.h>
@@ -52,7 +54,7 @@ class yarp::dev::gzyarp::CameraDriver : public yarp::dev::DeviceDriver,
     virtual bool open(yarp::os::Searchable& config)
     {
         std::string sensorScopedName(config.find(YarpCameraScopedName.c_str()).asString().c_str());
-        m_sensorData = ::gzyarp::HandlerCamera::getHandler()->getSensor(sensorScopedName);
+        m_sensorData = ::gzyarp::CameraDataSingleton::getHandler()->getSensor(sensorScopedName);
 
         if (!m_sensorData)
         {

diff --git a/plugins/camera/singleton-camera/CMakeLists.txt b/plugins/camera/singleton-camera/CMakeLists.txt
diff --git a/plugins/camera/singleton/CMakeLists.txt b/plugins/camera/singleton/CMakeLists.txt
@@ -0,0 +1,16 @@
+add_library(gz-sim-yarp-camera-singleton SHARED CameraDataSingleton.hh CameraDataSingleton.cc)
+
+target_include_directories(gz-sim-yarp-camera-singleton PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
+target_compile_features(gz-sim-yarp-camera-singleton PRIVATE cxx_std_17)
+
+target_link_libraries(gz-sim-yarp-camera-singleton
+  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+  PRIVATE
+    YARP::YARP_dev
+    YARP::YARP_os
+    YARP::YARP_init)
+
+# Add install target
+install(TARGETS gz-sim-yarp-camera-singleton)
diff --git a/plugins/camera/singleton-camera/Handler.cc → ...s/camera/singleton/CameraDataSingleton.cc b/plugins/camera/singleton-camera/Handler.cc → ...s/camera/singleton/CameraDataSingleton.cc
@@ -1,24 +1,25 @@
-#include "Handler.hh"
+#include <CameraDataSingleton.hh>
+
 #include <yarp/os/Log.h>
 #include <yarp/os/LogStream.h>
 
 namespace gzyarp
 {
 
-HandlerCamera* HandlerCamera::getHandler()
+CameraDataSingleton* CameraDataSingleton::getHandler()
 {
     std::lock_guard<std::mutex> lock(mutex());
     if (!s_handle)
     {
-        s_handle = new HandlerCamera();
+        s_handle = new CameraDataSingleton();
         if (!s_handle)
             yError() << "Error while calling gzyarp::HandlerCamera constructor";
     }
 
     return s_handle;
 }
 
-bool HandlerCamera::setSensor(CameraData* _sensorDataPtr)
+bool CameraDataSingleton::setSensor(CameraData* _sensorDataPtr)
 {
     bool ret = false;
     std::string sensorScopedName = _sensorDataPtr->sensorScopedName;
@@ -45,7 +46,7 @@ bool HandlerCamera::setSensor(CameraData* _sensorDataPtr)
     return ret;
 }
 
-CameraData* HandlerCamera::getSensor(const std::string& sensorScopedName) const
+CameraData* CameraDataSingleton::getSensor(const std::string& sensorScopedName) const
 {
     CameraData* tmp;
 
@@ -61,7 +62,7 @@ CameraData* HandlerCamera::getSensor(const std::string& sensorScopedName) const
     return tmp;
 }
 
-void HandlerCamera::removeSensor(const std::string& sensorName)
+void CameraDataSingleton::removeSensor(const std::string& sensorName)
 {
     SensorsMap::iterator sensor = m_sensorsMap.find(sensorName);
     if (sensor != m_sensorsMap.end())
@@ -73,15 +74,15 @@ void HandlerCamera::removeSensor(const std::string& sensorName)
     }
 }
 
-HandlerCamera::HandlerCamera()
+CameraDataSingleton::CameraDataSingleton()
     : m_sensorsMap()
 {
     m_sensorsMap.clear();
 }
 
-HandlerCamera* HandlerCamera::s_handle = NULL;
+CameraDataSingleton* CameraDataSingleton::s_handle = NULL;
 
-std::mutex& HandlerCamera::mutex()
+std::mutex& CameraDataSingleton::mutex()
 {
     static std::mutex s_mutex;
     return s_mutex;

diff --git a/plugins/camera/singleton-camera/Handler.hh → ...s/camera/singleton/CameraDataSingleton.hh b/plugins/camera/singleton-camera/Handler.hh → ...s/camera/singleton/CameraDataSingleton.hh
@@ -1,6 +1,8 @@
-#include <gz/common/Event.hh>
 #include <mutex>
 #include <string>
+
+#include <gz/common/Event.hh>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 
@@ -18,10 +20,10 @@ struct CameraData
 namespace gzyarp
 {
 
-class HandlerCamera
+class CameraDataSingleton
 {
 public:
-    static HandlerCamera* getHandler();
+    static CameraDataSingleton* getHandler();
 
     bool setSensor(CameraData* _sensorDataPtr);
 
@@ -30,8 +32,8 @@ public:
     void removeSensor(const std::string& sensorName);
 
 private:
-    HandlerCamera();
-    static HandlerCamera* s_handle;
+    CameraDataSingleton();
+    static CameraDataSingleton* s_handle;
     static std::mutex& mutex();
     typedef std::map<std::string, CameraData*> SensorsMap;
     SensorsMap m_sensorsMap;

diff --git a/plugins/forcetorque/CMakeLists.txt b/plugins/forcetorque/CMakeLists.txt
@@ -1,19 +1,21 @@
-project(forcetorque)
-
-add_subdirectory(singleton-forcetorque)
+add_subdirectory(singleton)
 
 add_library(gz-sim-yarp-forcetorque-system SHARED ForceTorque.cc ForceTorqueDriver.cpp)
+
+target_include_directories(gz-sim-yarp-forcetorque-system
+    PUBLIC  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
 target_compile_features(gz-sim-yarp-forcetorque-system PRIVATE cxx_std_17)
 
 target_link_libraries(gz-sim-yarp-forcetorque-system
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
-    ${YARP_LIBRARIES}
+    YARP::YARP_dev
     YARP::YARP_os
     YARP::YARP_init
     gz-sim-yarp-handler
-    gz-sim-yarp-handler-forcetorque)
+    gz-sim-yarp-forcetorque-singleton)
 
 # Add install target
 install(TARGETS gz-sim-yarp-forcetorque-system)
diff --git a/plugins/forcetorque/ForceTorque.cc b/plugins/forcetorque/ForceTorque.cc
@@ -1,4 +1,5 @@
-#include "ForceTorqueDriver.cpp"
+#include <ForceTorqueDriver.cpp>
+
 #include <gz/plugin/Register.hh>
 #include <gz/sim/Joint.hh>
 #include <gz/sim/Model.hh>
@@ -7,8 +8,8 @@
 #include <gz/sim/Util.hh>
 #include <gz/sim/components/Sensor.hh>
 #include <gz/transport/Node.hh>
-#include <iostream>
 #include <sdf/ForceTorque.hh>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 #include <yarp/os/LogStream.h>
@@ -42,7 +43,7 @@ class ForceTorque : public System,
 
         if (m_forceTorqueDriver.isValid())
             m_forceTorqueDriver.close();
-        HandlerForceTorque::getHandler()->removeSensor(sensorScopedName);
+        ForceTorqueDataSingleton::getHandler()->removeSensor(sensorScopedName);
         yarp::os::Network::fini();
     }
 
@@ -112,7 +113,7 @@ class ForceTorque : public System,
         }
 
         // Insert the pointer in the singleton handler for retriving it in the yarp driver
-        HandlerForceTorque::getHandler()->setSensor(&(this->forceTorqueData));
+        ForceTorqueDataSingleton::getHandler()->setSensor(&(this->forceTorqueData));
 
         driver_properties.put("device", "gazebo_forcetorque");
         driver_properties.put("sensor_name", sensorName);