Fix CMakeLists.txt and the format of one cpp file to make all tests pass.

yguel · yguel · commit b90c92158b81 · 2024-06-06T17:27:56.000+02:00
diff --git a/ethercat_generic_plugins/ethercat_generic_cia402_drive/CMakeLists.txt b/ethercat_generic_plugins/ethercat_generic_cia402_drive/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.8)
 project(ethercat_generic_cia402_drive)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -12,19 +18,24 @@ find_package(ethercat_interface REQUIRED)
 find_package(ethercat_generic_slave REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 file(GLOB_RECURSE PLUGINS_SRC src/*.cpp)
-add_library(ethercat_generic_cia402_drive ${PLUGINS_SRC})
-target_compile_features(ethercat_generic_cia402_drive PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-target_include_directories(ethercat_generic_cia402_drive PUBLIC
+add_library(${PROJECT_NAME} ${PLUGINS_SRC})
+target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
+target_link_libraries(${PROJECT_NAME} yaml-cpp)
+
+
 ament_target_dependencies(
-  ethercat_generic_cia402_drive
+  ${PROJECT_NAME}
   ethercat_interface
   ethercat_generic_slave
   pluginlib
   yaml_cpp_vendor
+  yaml-cpp
 )
 
 pluginlib_export_plugin_description_file(ethercat_interface ethercat_plugins.xml)
@@ -35,7 +46,7 @@ install(
 )
 
 install(
-  TARGETS ethercat_generic_cia402_drive
+  TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -55,9 +66,8 @@ if(BUILD_TESTING)
     test/test_load_ec_modules.cpp
   )
   target_include_directories(test_load_generic_plugins PRIVATE include)
-  ament_target_dependencies(test_load_generic_plugins
-    pluginlib
-    ethercat_interface
+  target_link_libraries(test_load_generic_plugins
+    ${PROJECT_NAME}
   )
 
   # Test Generic EtherCAT CIA402 Drive Plugin
@@ -67,20 +77,15 @@ if(BUILD_TESTING)
   )
   target_include_directories(test_generic_ec_cia402_drive PRIVATE include)
   target_link_libraries(test_generic_ec_cia402_drive
-    ethercat_generic_cia402_drive
-  )
-  ament_target_dependencies(test_generic_ec_cia402_drive
-    pluginlib
-    ethercat_interface
-    ethercat_generic_slave
+    ${PROJECT_NAME}
   )
 endif()
 
 ament_export_include_directories(
   include
 )
 ament_export_libraries(
-  ethercat_generic_cia402_drive
+  ${PROJECT_NAME}
 )
 ament_export_targets(
   export_${PROJECT_NAME}
diff --git a/ethercat_generic_plugins/ethercat_generic_slave/CMakeLists.txt b/ethercat_generic_plugins/ethercat_generic_slave/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.8)
 project(ethercat_generic_slave)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -11,18 +17,23 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(ethercat_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 file(GLOB_RECURSE PLUGINS_SRC src/*.cpp)
-add_library(ethercat_generic_slave ${PLUGINS_SRC})
-target_compile_features(ethercat_generic_slave PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-target_include_directories(ethercat_generic_slave PUBLIC
+add_library(${PROJECT_NAME} ${PLUGINS_SRC})
+target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 ament_target_dependencies(
-  ethercat_generic_slave
+  ${PROJECT_NAME}
   ethercat_interface
   pluginlib
   yaml_cpp_vendor
+  yaml-cpp
+)
+target_link_libraries(${PROJECT_NAME}
+  yaml-cpp
 )
 
 pluginlib_export_plugin_description_file(ethercat_interface ethercat_plugins.xml)
@@ -33,7 +44,7 @@ install(
 )
 
 install(
-  TARGETS ethercat_generic_slave
+  TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -42,8 +53,6 @@ install(
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  find_package(pluginlib REQUIRED)
-  find_package(ethercat_interface REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
   # Test Load EtherCAT modules
@@ -52,9 +61,8 @@ if(BUILD_TESTING)
     test/test_load_ec_modules.cpp
   )
   target_include_directories(test_load_generic_plugins PRIVATE include)
-  ament_target_dependencies(test_load_generic_plugins
-    pluginlib
-    ethercat_interface
+  target_link_libraries(test_load_generic_plugins
+    ${PROJECT_NAME}
   )
 
   # Test Generic EtherCAT Slave Plugin
@@ -64,19 +72,15 @@ if(BUILD_TESTING)
   )
   target_include_directories(test_generic_ec_slave PRIVATE include)
   target_link_libraries(test_generic_ec_slave
-    ethercat_generic_slave
-  )
-  ament_target_dependencies(test_generic_ec_slave
-    pluginlib
-    ethercat_interface
+    ${PROJECT_NAME}
   )
 endif()
 
 ament_export_include_directories(
   include
 )
 ament_export_libraries(
-  ethercat_generic_slave
+  ${PROJECT_NAME}
 )
 ament_export_targets(
   export_${PROJECT_NAME}
diff --git a/ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp b/ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp
@@ -68,16 +68,20 @@ void GenericEcSlave::setup_syncs()
   if (sm_configs_.size() == 0) {
     syncs_.push_back({0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE});
     syncs_.push_back({1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE});
-    syncs_.push_back({2, EC_DIR_OUTPUT, (unsigned int)(rpdos_.size()), rpdos_.data(), EC_WD_ENABLE});
-    syncs_.push_back({3, EC_DIR_INPUT, (unsigned int)(tpdos_.size()), tpdos_.data(), EC_WD_DISABLE});
+    syncs_.push_back({2, EC_DIR_OUTPUT, (unsigned int)(rpdos_.size()), rpdos_.data(),
+        EC_WD_ENABLE});
+    syncs_.push_back({3, EC_DIR_INPUT, (unsigned int)(tpdos_.size()), tpdos_.data(),
+        EC_WD_DISABLE});
   } else {
     for (auto & sm : sm_configs_) {
       if (sm.pdo_name == "null") {
         syncs_.push_back({sm.index, sm.type, 0, NULL, sm.watchdog});
       } else if (sm.pdo_name == "rpdo") {
-        syncs_.push_back({sm.index, sm.type, (unsigned int)(rpdos_.size()), rpdos_.data(), sm.watchdog});
+        syncs_.push_back({sm.index, sm.type, (unsigned int)(rpdos_.size()), rpdos_.data(),
+            sm.watchdog});
       } else if (sm.pdo_name == "tpdo") {
-        syncs_.push_back({sm.index, sm.type, (unsigned int)(tpdos_.size()), tpdos_.data(), sm.watchdog});
+        syncs_.push_back({sm.index, sm.type, (unsigned int)(tpdos_.size()), tpdos_.data(),
+            sm.watchdog});
       }
     }
   }
diff --git a/ethercat_generic_plugins/ethercat_generic_slave/test/test_load_ec_modules.cpp b/ethercat_generic_plugins/ethercat_generic_slave/test/test_load_ec_modules.cpp
@@ -20,7 +20,7 @@
 
 TEST(TestLoadGenericEcSlave, load_ec_module)
 {
-  pluginlib::ClassLoader<ethercat_interface::EcSlave> ec_loader_{
-    "ethercat_interface", "ethercat_interface::EcSlave"};
+  pluginlib::ClassLoader<ethercat_interface::EcSlave> ec_loader_(
+    "ethercat_interface", "ethercat_interface::EcSlave");
   ASSERT_NO_THROW(ec_loader_.createSharedInstance("ethercat_generic_plugins/GenericEcSlave"));
 }
diff --git a/ethercat_interface/CMakeLists.txt b/ethercat_interface/CMakeLists.txt
@@ -1,6 +1,13 @@
 cmake_minimum_required(VERSION 3.8)
 project(ethercat_interface)
 
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -53,7 +60,10 @@ install(
 if(BUILD_TESTING)
   # find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+
   find_package(yaml_cpp_vendor REQUIRED)
+  find_package(yaml-cpp REQUIRED)
+
   ament_lint_auto_find_test_dependencies()
 
   # Test PdoChannelManager
@@ -62,9 +72,10 @@ if(BUILD_TESTING)
     test/test_ec_pdo_channel_manager.cpp
   )
   target_include_directories(test_ec_pdo_channel_manager PRIVATE include ${ETHERLAB_DIR}/include)
-  ament_target_dependencies(test_ec_pdo_channel_manager
-    yaml_cpp_vendor
-  )
+
+  target_link_libraries(test_ec_pdo_channel_manager
+    ${PROJECT_NAME}
+    yaml-cpp)
 endif()
 
 ## EXPORTS
diff --git a/ethercat_manager/CMakeLists.txt b/ethercat_manager/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(ethercat_manager)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(ethercat_msgs REQUIRED)
diff --git a/ethercat_msgs/CMakeLists.txt b/ethercat_msgs/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.8)
 project(ethercat_msgs)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

Original file line number	Diff line number	Diff line change
`@@ -20,7 +20,7 @@`
`20`	`20`
`21`	`21`	`TEST(TestLoadGenericEcSlave, load_ec_module)`
`22`	`22`	`{`
`23`		`- pluginlib::ClassLoader<ethercat_interface::EcSlave> ec_loader_{`
`24`		`- "ethercat_interface", "ethercat_interface::EcSlave"};`
	`23`	`+ pluginlib::ClassLoader<ethercat_interface::EcSlave> ec_loader_(`
	`24`	`+ "ethercat_interface", "ethercat_interface::EcSlave");`
`25`	`25`	`ASSERT_NO_THROW(ec_loader_.createSharedInstance("ethercat_generic_plugins/GenericEcSlave"));`
`26`	`26`	`}`