CMake Boilerplate Scripts

This contains a collection of boilerplate CMake scripts and marcos.

Note: this package is not specific to ROS-Industrial and is usable with any package which uses CMake. The prefix was added to facilitate releasing this into different ROS distributions.

::: {.contents} Table of Contents :::

Create Debian Package (Linux) or NuGet Package (Windows)

The following process will generate a Debian or NuGet package leveraging CMake and CPack based on the OS.

The package should be located in the current directory.

` bash cd <workspace directory> catkin build -DRICB_PACKAGE=ON ./src/ros_industrial_cmake_boilerplate/.run-cpack`

Available Macros

Extract Package Metadata

This CMake macro will extract the package name and version from a package.xml file. It will create two cmake variable \${PREFIX_ARG}_extracted_name and \${PREFIX_ARG}_extracted_version.

extract_package_metadata(${PREFIX_ARG})

Clang Tidy

This CMake macro will add clang-tidy to a provided target.

• The clang-tidy documentation
• The list of clang-tidy checks

::: {.note} ::: {.admonition-title} Note :::

Each of the macros can take an ENABLE ON/OFF so they can easily be enabled by an external flag. If not provided it is automatically enabled. :::

Single Argument Keywords:

+-----------------------+-----------------------+-----------------------+ | Keyword | Type | Description | +=======================+=======================+=======================+ | ENABLE | > ON/OFF | Enable/Disable | | | | clang-tidy | +-----------------------+-----------------------+-----------------------+ | WARNINGS_AS_ERRORS | > ON/OFF | Treat warnings as | | | | errors. If | | | | ERROR_CHECKS is not | | | | provided, it will use | | | | CHECKS to treat as | | | | errors. | +-----------------------+-----------------------+-----------------------+ | HEADER_FILTER | > String | Default to \'.*\' if | | | | not provided. Regular | | | | expression matching | | | | the names of the | | | | headers to output | | | | diagnostics from. | +-----------------------+-----------------------+-----------------------+ | LINE_FILTER | > String | List of files with | | | | line ranges to filter | | | | the warnings. | +-----------------------+-----------------------+-----------------------+ | CHECKS | > String | Comma-separated list | | | | of globs with | | | | optional \'-\' | | | | prefix. Globs are | | | | processed in order of | | | | appearance in the | | | | list. Globs without | | | | the \'-\' prefix add | | | | checks with matching | | | | names to the set, | | | | globs with the \'-\' | | | | prefix remove checks | | | | with matching names | | | | from the set of | | | | enabled checks. This | | | | option\'s value is | | | | appended to the value | | | | of the \'Checks\' | | | | option in the | | | | .clang-tidy file, if | | | | any. | +-----------------------+-----------------------+-----------------------+ | CONFIG | > String | YAML/JSON format. If | | | | not provided, | | | | clang-tidy will | | | | attempt to find a | | | | file named | | | | .clang-tidy for each | | | | source file in its | | | | parent directories. | +-----------------------+-----------------------+-----------------------+ | ERROR_CHECKS | > String | Upgrades warnings to | | | | errors. Same format | | | | as \'CHECKS\'. This | | | | option\'s value is | | | | appended to the value | | | | of the | | | | \'WarningsAsErrors\' | | | | option in the | | | | .clang-tidy file, if | | | | any. | +-----------------------+-----------------------+-----------------------+

Multip Value Argument Keywords:

+-----------------------+-----------------------+-----------------------+ | Keyword | Type | Description | +=======================+=======================+=======================+ | ARGUMENTS | > String | This supports adding | | | | additional arguments | | | | to be passed to the | | | | clang-tidy. You could | | | | just use this if | | | | desired over the | | | | single keywords | | | | except for the ENABLE | | | | to pass all arguments | | | | to clang-tidy if | | | | desired. | +-----------------------+-----------------------+-----------------------+

This configures clang-tidy with default arguments where any violation will produce compiler warnings.

target_clang_tidy(${PACKAGE_NAME} CHECKS ${DEFAULT_CLANG_TIDY_CHECKS})

This configures clang-tidy with default arguments where any violation will produce compiler errors.

target_clang_tidy(${PACKAGE_NAME} CHECKS ${DEFAULT_CLANG_TIDY_CHECKS} WARNINGS_AS_ERRORS ON)

This configures clang-tidy with custom error checks which can be different from the warning checks where any violation will produce compiler errors.

target_clang_tidy(${PACKAGE_NAME} CHECKS ${DEFAULT_CLANG_TIDY_CHECKS} ERROR_CHECKS ${DEFAULT_CLANG_TIDY_CHECKS})

This configures clang-tidy with a header filter. If not provided it will default to \".*\".

target_clang_tidy(${PACKAGE_NAME} HEADER_FILTER ".*")

This configures clang-tidy with line filter as a JSON array of objects.

target_clang_tidy(${PACKAGE_NAME} LINE_FILTER "[{"name":"file1.cpp","lines":[[1,3],[5,7]]},{"name":"file2.h"}]")

This configures clang-tidy with config in YAML/JSON format.

target_clang_tidy(${PACKAGE_NAME} CONFIG ""{Checks: '*', CheckOptions: [{key: x, value: y}]}")

This configures clang-tidy to use a .clang-tidy file if no arguments are provided

target_clang_tidy(${PACKAGE_NAME})

This configures clang-tidy with arguments list.

target_clang_tidy(${PACKAGE_NAME} ARGUMENTS ${ARGN})

::: {.note} ::: {.admonition-title} Note :::

In some situations, you may want to disable clang-tidy which is explained here. :::

Include What You Use (IWYU)

This CMake macro will add IWYU to a given target

• Why Include What You Use?
• IWYU Documentation
• Exclude headers from check
• Avoid Common Issues

::: {.note} ::: {.admonition-title} Note :::

Each of the macros can take an ENABLE ON/OFF so they can easily be enabled by an external flag. If not provided it is automatically enabled. :::

target_include_what_you_use(${PACKAGE_NAME} ARGUMENTS ${ARGN})

This CMake macro will add IWYU to a given target with default arguments.

target_include_what_you_use(${PACKAGE_NAME} ARGUMENTS ${DEFAULT_IWYU_ARGS})

This CMake macro will add IWYU to all targets

include_what_you_use(ARGUMENTS ${ARGN})

This CMake macro will add IWYU to all targets with default arguments.

include_what_you_use(ARGUMENTS ${DEFAULT_IWYU_ARGS})

CppCheck

This CMake macro will add CppCheck to a given target

• CppCheck Wiki

::: {.note} ::: {.admonition-title} Note :::

Each of the macros can take an ENABLE ON/OFF so they can easily be enabled by the external flag. If not provided it is automatically enabled. :::

target_cppcheck(${PACKAGE_NAME} ARGUMENTS ${ARGN})

This CMake macro will add CppCheck to a given target with default arguments.

target_cppcheck(${PACKAGE_NAME} ARGUMENTS ${DEFAULT_CPPCHECK_ARGS})

This CMake macro will add CppCheck to all targets

cppcheck(ARGUMENTS ${ARGN})

This CMake macro will add CppCheck to all targets with default arguments.

cppcheck(ARGUMENTS ${DEFAULT_CPPCHECK_ARGS})

Configure (Pure CMake Package)

This CMake macro simplifies the CMake package configure and install by performing multiple operations

• It installs the provided targets
• It exports the provided targets under the provided namespace
• It installs the package.xml file
• It creates and installs the \${PROJECT_NAME}-config.cmake and \${PROJECT_NAME}-config-version.cmake

configure_package(NAMESPACE <PACKAGE_NAMESPACE> TARGETS <TARGET_NAME_A> <TARGET_NAME_B>)

Sub macros used in configure the package

The following macros are used by configure_package and can be used independently if needed

Install Targets

This will install along with export them to \${PROJECT_NAME}-targets

install_targets(TARGETS targetA targetb)

Install package.xml

This will install the package.xml file

install_pkgxml()

Generate CMake Config Files

This will generate and install CMake config files

# Install export targets with provided namespace
generate_package_config(EXPORT NAMSPACE namespace)

#Install export targets with no namespace
generate_package_config(EXPORT)

# Install CMake config files and not install export targets
generate_package_config() Install CMake config files and not install export targets

Install Ament Hooks

Allows Colcon to find non-Ament packages when using workspace underlays

install_ament_hooks()

Set Target CXX VERSION

This CMake macro simplifies setting the CXX version for the target

target_cxx_version(${PACKAGE_NAME} <INTERFACE|PRIVATE|PUBLIC> VERSION <CXX_VERSION>)

Example: Set the version to 14 and PUBLIC.

target_cxx_version(${PACKAGE_NAME} PUBLIC VERSION 14)

Find GTest (Pure CMake Package)

This CMake macro calls find_package(GTest REQUIRED) and checks for the GTest::GTest and GTest::Main targets. If the targets are missing it will create the targets using the CMake variables.

find_gtest()

Add Run Tests Target (Pure CMake Package)

This CMake macro adds a custom target that will run the tests after they are finished building. You may pass an optional argument true|false adding the ability to disable the running of tests as part of the build for CI which calls make test.

Add run test target (These will automatically run the test after build finishes)

add_run_tests_target(<TARGET_NAME>)

add_run_tests_target(<TARGET_NAME> true)

Add empty run test target

add_run_tests_target(<TARGET_NAME> false)

Add GTest Discover Tests (Pure CMake Package)

This CMake macro call the appropriate GTest function to add a test based on the CMake version

add_gtest_discover_tests(<TARGET_NAME>)

Add Run Benchmark Target

This CMake macro adds a custom target that will run the benchmarks after they are finished building.

Add run benchmark target (These will automatically run the benchmark after build finishes)

add_run_benchmark_target(<TARGET_NAME>)

add_run_benchmark_target(<TARGET_NAME> true)

Add empty run benchmark target

add_run_benchmark_target(<TARGET_NAME> false)

Code Coverage

These CMake macros add code coverage.

::: {.note} ::: {.admonition-title} Note :::

Must call initialize_code_coverage() after project() in the CMakeLists.txt. This is required for all examples below. :::

From this point, there are two primary methods for adding instrumentation to targets: 1. A blanket instrumentation by calling add_code_coverage(), where all targets in that directory and all subdirectories are automatically instrumented. 2. Per-target instrumentation by calling target_code_coverage(<TARGET_NAME>), where the target is given and thus only that target is instrumented. This applies to both libraries and executables.

To add coverage targets, such as calling make ccov to generate the actual coverage information for perusal or consumption, call target_code_coverage(<TARGET_NAME>) on an executable target.

::: {.note} ::: {.admonition-title} Note :::

Each of the macros can take an ENABLE ON/OFF so they can easily be enabled by an external flag. If not provided it is automatically enabled. :::

Example 1: All targets instrumented

In this case, the coverage information reported will be that of the theLib library target and theExe executable.

1a: Via global command

add_code_coverage() # Adds instrumentation to all targets
add_library(theLib lib.cpp)
add_executable(theExe main.cpp)
target_link_libraries(theExe PRIVATE theLib)
target_code_coverage(theExe) # As an executable target, adds the 'ccov-theExe' target (instrumentation already added via global anyways) for generating code coverage reports.

1b: Via target commands

add_library(theLib lib.cpp)
target_code_coverage(theLib) # As a library target, adds coverage instrumentation but no targets.
add_executable(theExe main.cpp)
target_link_libraries(theExe PRIVATE theLib)
target_code_coverage(theExe) # As an executable target, adds the 'ccov-theExe' target and instrumentation for generating code coverage reports.

Example 2: Target instrumented, but with regex pattern of files to be excluded from the report

add_executable(theExe main.cpp non_covered.cpp)
target_code_coverage(theExe EXCLUDE non_covered.cpp test/*) # As an executable target, the reports will exclude the non-covered.cpp file, and any files in a test/ folder.

Example 3: Target added to the \'ccov\' and \'ccov-all\' targets

add_code_coverage_all_targets(EXCLUDE test/*) # Adds the 'ccov-all' target set and sets it to exclude all files in test/ folders.
add_executable(theExe main.cpp non_covered.cpp)
target_code_coverage(theExe AUTO ALL EXCLUDE non_covered.cpp test/*) # As an executable target, adds to the 'ccov' and ccov-all' targets, and the reports will exclude the non-covered.cpp file, and any files in a test/ folder.

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