cyclonedds-src 1.0.1

Eclipse CycloneDDS C library source for building from source
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136

cmake_minimum_required(VERSION 3.25.0)

# Uncomment for (gdbserver) debugging
if(BOARD MATCHES "qemu_.*")
  list(APPEND QEMU_EXTRA_FLAGS -serial tcp:127.0.0.1:5678,server)
endif()

find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(dds_examples)

include(ExternalProject)
include(CMakePrintHelpers)

set(BUILD_DDSPERF_PING 0 CACHE BOOL "Build the CycloneDDS DDSPerf tool (ping mode)")
set(BUILD_DDSPERF_PONG 0 CACHE BOOL "Build the CycloneDDS DDSPerf tool (pong mode)")
set(BUILD_ROUNDTRIP_PING 0 CACHE BOOL "Build the CycloneDDS Roundtrip Ping example")
set(BUILD_ROUNDTRIP_PONG 0 CACHE BOOL "Build the CycloneDDS Roundtrip Pong example")
set(BUILD_THROUGHPUT_PUB 0 CACHE BOOL "Build the CycloneDDS Throughput Publisher example")
set(BUILD_THROUGHPUT_SUB 0 CACHE BOOL "Build the CycloneDDS Throughput Subscriber example")
set(BUILD_HELLOWORLD_PUB 0 CACHE BOOL "Build the CycloneDDS Hello World Publisher example")
set(BUILD_HELLOWORLD_SUB 0 CACHE BOOL "Build the CycloneDDS Hello World Subscriber example")

function(GENERATE_CDDS_CONF XML_FILE OUTPUT_FILE)
  message("Generate static CycloneDDS config (${XML_FILE} -> ${OUTPUT_FILE})")

  # Strip one-line comments, newlines, whitespace
  #file(READ ${XML_FILE} xmlout)
  #string(REGEX REPLACE "<!--[^\r\n]*-->" "" xmlout ${xmlout})
  #string(REGEX REPLACE "(\r?\n)+" "" xmlout ${xmlout})
  #string(REGEX REPLACE ">[ ]+<" "" xmlout ${xmlout})

  find_program(xxd xxd REQUIRED)
  execute_process(
    COMMAND ${xxd} -i
    INPUT_FILE ${XML_FILE}
    OUTPUT_VARIABLE conf_data
    OUTPUT_STRIP_TRAILING_WHITESPACE
    COMMAND_ERROR_IS_FATAL ANY)

  # Convert the string "CYCLONEDDS_URI=" to C array of bytes
  string(HEX "CYCLONEDDS_URI=" conf_prefix)
  string(REGEX MATCHALL "([A-Fa-f0-9][A-Fa-f0-9])" conf_prefix ${conf_prefix})
  list(JOIN conf_prefix ", 0x" conf_prefix)
  string(PREPEND conf_prefix "  0x")

  # Write to output file
  file(WRITE ${OUTPUT_FILE}
    "unsigned char cdds_xml_config[] = {\n"
    ${conf_prefix} ",\n"
    ${conf_data} ", 0\n"
    " };\n")
endfunction()

zephyr_get_system_include_directories_for_lang_as_string(C ext_system_includes)
zephyr_get_include_directories_for_lang_as_string(C ext_includes)
zephyr_get_compile_definitions_for_lang_as_string(C ext_defs)
zephyr_get_compile_options_for_lang_as_String(C ext_opts)
set(CDDS_CFLAGS
    "${ext_defs} -D_POSIX_C_SOURCE=200809L ${ext_system_includes} ${ext_includes} ${ext_opts}"
)

set(CDDS_LIB_DIR ${CMAKE_CURRENT_BINARY_DIR}/cyclonedds-prefix/lib)
set(CDDS_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR}/cyclonedds-prefix/include)

ExternalProject_Add(cyclonedds
  SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../
  BUILD_COMMAND ${CMAKE_COMMAND} --build .
  CMAKE_ARGS
  -DBUILD_SHARED_LIBS=0 -DENABLE_SECURITY=0 -DENABLE_SSL=0 -DENABLE_SOURCE_SPECIFIC_MULTICAST=0 -DENABLE_IPV6=1 -DENABLE_ICEORYX=0 -DWITH_ZEPHYR=1
    -DCMAKE_TRY_COMPILE_TARGET_TYPE=STATIC_LIBRARY
    -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
    -DCMAKE_VERBOSE_MAKEFILE=1
    -DCMAKE_C_FLAGS=${CDDS_CFLAGS}
    -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
    -DCMAKE_SYSTEM_NAME=Generic
    -DCMAKE_BUILD_TYPE=Debug
  DEPENDS zephyr_interface
  BUILD_BYPRODUCTS ${CDDS_LIB_DIR}/libddsc.a
)
add_library(cdds_lib STATIC IMPORTED GLOBAL)
add_dependencies(cdds_lib cyclonedds)
set_target_properties(cdds_lib PROPERTIES IMPORTED_LOCATION ${CDDS_LIB_DIR}/libddsc.a)

target_include_directories(app PUBLIC ${CDDS_INCLUDE_DIR})
target_link_libraries(app PUBLIC cdds_lib)

if (BUILD_DDSPERF_PING OR BUILD_DDSPERF_PONG)
  GENERATE_CDDS_CONF("config.xml" "${CDDS_INCLUDE_DIR}/ddsperf_config.h")
  target_compile_definitions(app
    PRIVATE
    BUILD_DDSPERF_PING=${BUILD_DDSPERF_PING}
    BUILD_DDSPERF_PONG=${BUILD_DDSPERF_PONG})
  target_sources(app
    PRIVATE
    src/ddsperf_main.c
    src/ddsperf.c
    src/ddsperf_types.c src/ddsperf_types.h
    src/cputime.c src/cputime.h
    src/netload.c src/netload.h
    src/async_listener.c src/async_listener.h
  )
elseif(BUILD_ROUNDTRIP_PING OR BUILD_ROUNDTRIP_PONG)
  GENERATE_CDDS_CONF("config.xml" "${CDDS_INCLUDE_DIR}/roundtrip_config.h")
  target_compile_definitions(app
    PRIVATE
    BUILD_ROUNDTRIP_PING=${BUILD_ROUNDTRIP_PING}
    BUILD_ROUNDTRIP_PONG=${BUILD_ROUNDTRIP_PONG})
  target_sources(app
    PRIVATE
    src/roundtrip_main.c
    src/RoundTrip.c src/RoundTrip.h
    src/ping.c src/pong.c)
elseif(BUILD_THROUGHPUT_PUB OR BUILD_THROUGHPUT_SUB)
  GENERATE_CDDS_CONF("config.xml" "${CDDS_INCLUDE_DIR}/throughput_config.h")
  target_compile_definitions(app
    PRIVATE
    BUILD_THROUGHPUT_PUB=${BUILD_THROUGHPUT_PUB}
    BUILD_THROUGHPUT_SUB=${BUILD_THROUGHPUT_SUB})
  target_sources(app
    PRIVATE
    src/throughput_main.c
    src/Throughput.c src/Throughput.h
    src/subscriber.c src/publisher.c)

elseif(BUILD_HELLOWORLD_PUB OR BUILD_HELLOWORLD_SUB)
  target_compile_definitions(app
    PRIVATE
    BUILD_HELLOWORLD_PUB=${BUILD_HELLOWORLD_PUB}
    BUILD_HELLOWORLD_SUB=${BUILD_HELLOWORLD_SUB})
  target_sources(app
    PRIVATE
    src/main.c
    src/HelloWorldData.c
    src/HelloWorldData.h
  )
endif()