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| Original file line number | Diff line number | Diff line change |
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| @@ -1,5 +1,43 @@ | ||
| FIND_SOURCES=find ./test/ ./src ./include/ -iname "*.h" -or -iname "*.cpp" | ||
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| # 0ebaf69 = releases/cpp/v1.4.1 | ||
| MCAP_SHA=0ebaf69efa2dd5dbe33a882ce51caa8451d518d2 | ||
| MCAP_DIR=pjmsg_mcap/src/3rdparty/mcap | ||
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| # 2.2.6 | ||
| FASTCDR_SHA=9149259a1eb54a9b1104a9f622f89b00a66b6011 | ||
| FASTCDR_DIR=pjmsg_mcap/src/3rdparty/fastcdr | ||
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| format: | ||
| ${FIND_SOURCES} | xargs ${CLANG_FORMAT} -verbose -i | ||
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| update_mcap: | ||
| -git remote add mcap https://github.com/foxglove/mcap.git --no-tags | ||
| git fetch --depth=1 mcap ${MCAP_SHA} | ||
| git rm --ignore-unmatch -rf ${MCAP_DIR} | ||
| rm -rf ${MCAP_DIR} | ||
| env GIT_LFS_SKIP_SMUDGE=1 git read-tree --prefix=${MCAP_DIR} -u ${MCAP_SHA} | ||
| find ${MCAP_DIR} \ | ||
| -not -wholename "${MCAP_DIR}/cpp/mcap*" \ | ||
| -not -wholename "${MCAP_DIR}/cpp" \ | ||
| -not -wholename "${MCAP_DIR}" \ | ||
| | xargs rm -rf | ||
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| update_fastcdr: | ||
| -git remote add fastcdr https://github.com/eProsima/Fast-CDR.git --no-tags | ||
| git fetch --depth=1 fastcdr ${FASTCDR_SHA} | ||
| git rm --ignore-unmatch -rf ${FASTCDR_DIR} | ||
| rm -rf ${FASTCDR_DIR} | ||
| env GIT_LFS_SKIP_SMUDGE=1 git read-tree --prefix=${FASTCDR_DIR} -u ${FASTCDR_SHA} | ||
| find ${FASTCDR_DIR} \ | ||
| -not -wholename "${FASTCDR_DIR}/cmake/common/check_configuration.cmake" \ | ||
| -not -wholename "${FASTCDR_DIR}/cmake/common" \ | ||
| -not -wholename "${FASTCDR_DIR}/cmake/packaging*" \ | ||
| -not -wholename "${FASTCDR_DIR}/cmake" \ | ||
| -not -wholename "${FASTCDR_DIR}/include*" \ | ||
| -not -wholename "${FASTCDR_DIR}/src*" \ | ||
| -not -wholename "${FASTCDR_DIR}/LICENSE" \ | ||
| -not -wholename "${FASTCDR_DIR}" \ | ||
| | xargs rm -rf | ||
| cp ${FASTCDR_DIR}/../CMakeLists.txt.fastcdr ${FASTCDR_DIR}/CMakeLists.txt |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>intrometry_api</name> | ||
| <name>intrometry_frontend</name> | ||
| <version>1.0.0</version> | ||
| <description>Inner telemetry collector</description> | ||
| <maintainer email="[email protected]">Alexander Sherikov</maintainer> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| cmake_minimum_required(VERSION 3.8) | ||
| project(intrometry_pjmsg_mcap VERSION 1.0.0 LANGUAGES CXX) | ||
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| if(CCWS_CLANG_TIDY) | ||
| set(CMAKE_CXX_CLANG_TIDY "${CCWS_CLANG_TIDY}" CACHE STRING "" FORCE) | ||
| endif() | ||
| if(CCWS_CXX_FLAGS) | ||
| set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CCWS_CXX_FLAGS}") | ||
| set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${CCWS_LINKER_FLAGS}") | ||
| else() | ||
| set(CMAKE_POSITION_INDEPENDENT_CODE ON) | ||
| set(CMAKE_VERBOSE_MAKEFILE ON) | ||
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| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
| endif() | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic -Werror) | ||
| endif() | ||
| endif() | ||
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| find_package(intrometry_frontend REQUIRED) | ||
| find_package(thread_supervisor REQUIRED) | ||
| find_package(ariles2-namevalue2 REQUIRED) | ||
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| add_subdirectory(src/3rdparty/) | ||
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| add_library(${PROJECT_NAME} SHARED | ||
| src/intrometry.cpp | ||
| ) | ||
| set_target_properties(${PROJECT_NAME} PROPERTIES EXPORT_NAME pjmsg_mcap) | ||
| target_link_libraries(${PROJECT_NAME} | ||
| PUBLIC intrometry::frontend | ||
| PRIVATE ariles2::namevalue2 | ||
| PRIVATE thread_supervisor::thread_supervisor | ||
| PRIVATE fastcdr | ||
| ) | ||
| target_include_directories(${PROJECT_NAME} PUBLIC | ||
| $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include> | ||
| $<INSTALL_INTERFACE:include> | ||
| ) | ||
| target_include_directories(${PROJECT_NAME} | ||
| SYSTEM PRIVATE src/3rdparty/mcap/cpp/mcap/include/ | ||
| ) | ||
| set_property(TARGET ${PROJECT_NAME} PROPERTY INTERFACE_${PROJECT_NAME}_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}) | ||
| set_property(TARGET ${PROJECT_NAME} APPEND PROPERTY COMPATIBLE_INTERFACE_STRING ${PROJECT_VERSION_MAJOR}) | ||
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| install( | ||
| TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME} | ||
| INCLUDES DESTINATION include | ||
| ) | ||
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| install(TARGETS ${PROJECT_NAME} | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
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| install(DIRECTORY include/intrometry | ||
| DESTINATION include | ||
| FILES_MATCHING PATTERN "*.h" | ||
| ) | ||
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| if(NOT DEFINED BUILD_TESTING OR BUILD_TESTING) | ||
| enable_testing() | ||
| add_subdirectory(test) | ||
| endif() | ||
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| # --- | ||
| # cmake package stuff | ||
| export(EXPORT ${PROJECT_NAME} | ||
| FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Targets.cmake" | ||
| NAMESPACE ${PROJECT_NAME}:: | ||
| ) | ||
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| install(EXPORT ${PROJECT_NAME} | ||
| FILE ${PROJECT_NAME}Targets.cmake | ||
| NAMESPACE intrometry:: | ||
| DESTINATION share/${PROJECT_NAME}/ | ||
| ) | ||
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| include(CMakePackageConfigHelpers) | ||
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| write_basic_package_version_file( | ||
| "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" | ||
| VERSION ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH} | ||
| COMPATIBILITY SameMajorVersion | ||
| ) | ||
| file( | ||
| WRITE | ||
| "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" | ||
| "include(\"\${CMAKE_CURRENT_LIST_DIR}/${PROJECT_NAME}Targets.cmake\")\n" | ||
| "include(CMakeFindDependencyMacro)\n" | ||
| "find_dependency(ariles2_namevalue2_ws)" | ||
| ) | ||
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| install( | ||
| FILES | ||
| "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" | ||
| "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" | ||
| DESTINATION share/${PROJECT_NAME}/ | ||
| ) | ||
| # --- |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,58 @@ | ||
| /** | ||
| @file | ||
| @author Alexander Sherikov | ||
| @copyright 2024 Alexander Sherikov. Licensed under the Apache License, | ||
| Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0) | ||
| @brief Sink class. | ||
| */ | ||
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| #pragma once | ||
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| #include "intrometry/api/sink.h" | ||
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| namespace intrometry::pjmsg_mcap | ||
| { | ||
| namespace sink | ||
| { | ||
| class Parameters | ||
| { | ||
| public: | ||
| /** | ||
| * publish rate (system clock), | ||
| * data written at higher rate is going to overwrite unpublished data | ||
| */ | ||
| std::size_t rate_; | ||
| /// id of the sink, disables publishing if empty | ||
| std::string id_; | ||
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| public: | ||
| Parameters(const std::string &id = ""); // NOLINT | ||
| Parameters(const char *id = ""); // NOLINT | ||
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| Parameters &rate(const std::size_t value); | ||
| Parameters &id(const std::string &value); | ||
| }; | ||
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| class Implementation; | ||
| } // namespace sink | ||
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| /** | ||
| * @brief Publish data. | ||
| * | ||
| * @ingroup API | ||
| */ | ||
| class Sink : public SinkPIMPLBase<sink::Parameters, sink::Implementation> | ||
| { | ||
| public: | ||
| using SinkPIMPLBase::SinkPIMPLBase; | ||
| ~Sink(); | ||
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| bool initialize(); | ||
| void assign(const ariles2::DefaultBase &source, const Source::Parameters ¶meters = Source::Parameters()); | ||
| void retract(const ariles2::DefaultBase &source); | ||
| void write(const ariles2::DefaultBase &source, const uint64_t timestamp = 0); | ||
| }; | ||
| } // namespace intrometry::pjmsg_mcap |
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