Add a primitive cmake build

.github/workflows/ci.yaml

@@ -10,11 +10,14 @@ on:
 jobs:
   industrial-ci:
     name: Run Industrial CI
-
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: ["noetic", "kilted", "rolling"]
+        env:
+          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: noetic}
+          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: kilted}
+          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: rolling}
 
     steps:
       - name: Checkout repository
@@ -24,6 +27,4 @@ jobs:
 
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
-        environment:
-          CI_ROS_DISTRO: ${{ matrix.ros_distro }}
-          UPSTREAM_WORKSPACE: liboculus.repos
+        env: ${{matrix.env}}

.github/workflows/ci_cmake.yaml

@@ -0,0 +1,28 @@
+name: ROS Industrial CI
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  cmake:
+    name: Build with CMake
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Install dependencesi with awalsh128/cache-apt-pkgs-action
+        uses: awalsh128/cache-apt-pkgs-action@latest
+        with:
+          packages: libboost-all-dev
+          version: 1.0
+
+      - name: Checkout repository
+        uses: actions/checkout@v5
+        with:
+          submodules: recursive
+
+      - name: Build Project
+        uses: threeal/cmake-action@v2.1.0

CMakeLists.txt

@@ -1,13 +1,13 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(liboculus)
 
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+add_compile_options(-std=c++17)
+
 # == Code common to all builds =======================================
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
-# ROS build, determine which version...
-find_package(ros_environment REQUIRED)
-set(ROS_VERSION $ENV{ROS_VERSION})
-
 set(oculus_SRCS
     lib/DataRx.cpp
     lib/SonarConfiguration.cpp
@@ -19,106 +19,110 @@ set(oculus_SRCS
     lib/IoServiceThread.cpp
 )
 
-if(${ROS_VERSION} EQUAL 2)
-    # == ament/ROS2 section =================================
-
-    find_package(ament_cmake REQUIRED)
-    find_package(Boost REQUIRED COMPONENTS system)
-    find_package(g3log_ros REQUIRED)
-
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-    add_compile_options(-std=c++17)
-
-    add_library(oculus SHARED ${oculus_SRCS})
-
-    target_include_directories(
-        oculus
-        PUBLIC
-            "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-            "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/thirdparty>"
-            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-            "$<INSTALL_INTERFACE:include/thirdparty>"
-    )
-
-    target_link_libraries(oculus PUBLIC Boost::system g3log_ros::g3log)
-
-    install(
-        TARGETS oculus
-        EXPORT export_${PROJECT_NAME}
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin
-    )
-
-    install(
-        DIRECTORY include/${PROJECT_NAME} thirdparty
-        DESTINATION include
-        FILES_MATCHING
-        PATTERN "*.hpp"
-        PATTERN "*.h"
-        PATTERN ".git" EXCLUDE
-    )
-
-    ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-    ament_export_libraries(oculus)
-
-    ament_package()
-elseif(${ROS_VERSION} EQUAL 1)
-    # Catkin/ROS1 section =====
-    find_package(catkin REQUIRED COMPONENTS g3log_ros)
-    find_package(Boost REQUIRED COMPONENTS system)
-
-    catkin_package(
-        CATKIN_DEPENDS g3log_ros
-        INCLUDE_DIRS include thirdparty
-        LIBRARIES liboculus
-    )
-
-    add_compile_options(-std=c++14)
-
-    add_library(liboculus ${oculus_SRCS})
-
-    include_directories(liboculus include thirdparty ${catkin_INCLUDE_DIRS})
-
-    target_link_libraries(liboculus ${catkin_LIBRARIES})
-
-    install(
-        TARGETS liboculus
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-    )
-
-    ## Install headers
-    install(
-        DIRECTORY include/${PROJECT_NAME}/ thirdparty/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-        FILES_MATCHING
-        PATTERN "*.hpp"
-        PATTERN "*.h"
-        PATTERN ".git" EXCLUDE
-    )
-
-    if(CATKIN_ENABLE_TESTING)
-        add_definitions(
-            -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data"
+# ROS build, determine which version...
+# QUIET will squelch the warning if the package isn't found
+find_package(ros_environment QUIET)
+
+if(${ros_environment_FOUND})
+    set(ROS_VERSION $ENV{ROS_VERSION})
+
+    if(${ROS_VERSION} EQUAL 2)
+        # == ament/ROS2 section =================================
+
+        find_package(ament_cmake REQUIRED)
+        find_package(Boost REQUIRED COMPONENTS system)
+        find_package(g3log_ros REQUIRED)
+
+        add_library(oculus SHARED ${oculus_SRCS})
+        target_link_libraries(oculus PUBLIC Boost::system g3log_ros::g3log)
+
+        target_include_directories(
+            oculus
+            PUBLIC
+                "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/thirdparty>"
+                "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+                "$<INSTALL_INTERFACE:include/thirdparty>"
+        )
+
+        install(
+            TARGETS oculus
+            EXPORT export_${PROJECT_NAME}
+            ARCHIVE DESTINATION lib
+            LIBRARY DESTINATION lib
+            RUNTIME DESTINATION bin
         )
-        include_directories(test/data/)
 
-        file(GLOB oculus_test_SRCS test/unit/*cpp)
+        install(
+            DIRECTORY include/${PROJECT_NAME} thirdparty
+            DESTINATION include
+            FILES_MATCHING
+            PATTERN "*.hpp"
+            PATTERN "*.h"
+            PATTERN ".git" EXCLUDE
+        )
+
+        ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+        ament_export_libraries(oculus)
+
+        ament_package()
+    elseif(${ROS_VERSION} EQUAL 1)
+        # Catkin/ROS1 section =====
+        find_package(catkin REQUIRED COMPONENTS g3log_ros)
+        find_package(Boost REQUIRED COMPONENTS system)
+
+        catkin_package(
+            CATKIN_DEPENDS g3log_ros
+            INCLUDE_DIRS include thirdparty
+            LIBRARIES liboculus
+        )
+
+        add_library(liboculus ${oculus_SRCS})
 
-        catkin_add_gtest(oculus_test ${oculus_test_SRCS})
+        include_directories(liboculus include thirdparty ${catkin_INCLUDE_DIRS})
+
+        target_link_libraries(liboculus ${catkin_LIBRARIES})
+
+        install(
+            TARGETS liboculus
+            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+            RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+        )
+
+        ## Install headers
+        install(
+            DIRECTORY include/${PROJECT_NAME}/ thirdparty/
+            DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+            FILES_MATCHING
+            PATTERN "*.hpp"
+            PATTERN "*.h"
+            PATTERN ".git" EXCLUDE
+        )
 
-        target_link_libraries(
-            oculus_test
-            ${catkin_LIBRARIES}
-            liboculus
-            Boost::system
+        if(CATKIN_ENABLE_TESTING)
+            add_definitions(
+                -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data"
+            )
+            include_directories(test/data/)
+
+            file(GLOB oculus_test_SRCS test/unit/*cpp)
+
+            catkin_add_gtest(oculus_test ${oculus_test_SRCS})
+
+            target_link_libraries(
+                oculus_test
+                ${catkin_LIBRARIES}
+                liboculus
+                Boost::system
+            )
+        endif()
+    else()
+        message(
+            "Unsure what sort of build to do.  Not in a ROS1 or ROS2 environment"
         )
     endif()
 else()
-    message(
-        "Unsure what sort of build to do.  Not in a ROS1 or ROS2 environment"
-    )
+    message(NOTICE "!! Performing non-ROS build !!")
+    include(cmake/BuildNonROS.cmake)
 endif()

README.md

@@ -17,7 +17,9 @@ This library contains code for:
     - Raw streams of binary packets.
     - **Note:** This repo includes scaffold code for reading `.oculus` files saved from the Blueprint GUI, but that format is proprietary and undocumented. **We cannot parse `.oculus` files!!**
 
-This package is designed to build in both ROS1 (catkin) and ROS2 (colcon) environments, however it contains no ROS-specific code and could be integrated into other non-ROS environments with some work.
+This package is designed to build in both ROS1 (catkin) and ROS2 (colcon) environments, however it contains no ROS-specific code and could be integrated into other non-ROS environments with some work.  
+
+It also contains the options to build a "bare" library with `cmake`.
 
 The library contains no special provisions for *saving* sonar data,
 but it's straightforward to write packets as a raw binary stream
@@ -48,6 +50,18 @@ binary `oc_client` requires [CLI11](https://github.com/CLIUtils/CLI11).
 Internally, the ethernet interface uses
 [Boost::asio](https://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio.html).
 
+## Build with cmake
+
+This package can be built with the standard cmake process:
+
+```
+mkdir build && cd build
+cmake ..
+make
+```
+
+Note the `CMakelists.txt` attempts to auto-detect ROS.  Cmake build should be done in a session where ROS has not been loaded.
+
 ---
 ## oc_client binary