Update CMake for C and C++ examples

examples/c/CMakeLists.txt

@@ -2,37 +2,42 @@ cmake_minimum_required(VERSION 3.1)
 
 project(lcm_c_example)
 
-# Import LCM via pkgconfig.
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LCM REQUIRED lcm)
-
-# Use lcm-gen to generate headers and sources.
-find_program(LCM_GEN_EXECUTABLE lcm-gen)
-add_custom_target(exlcm
-  COMMAND ${LCM_GEN_EXECUTABLE} -c ../../types/example_t.lcm
-  BYPRODUCTS exlcm_example_t.c)
-include_directories("${lcm_c_example_BINARY_DIR}")
-
-# Everything from here on needs these flags.
-include_directories(${LCM_INCLUDE_DIRS})
-link_libraries(${LCM_LDFLAGS})
-
-# Create executables for the example programs.
-
-add_executable(listener "listener.c" "exlcm_example_t.c")
-add_dependencies(listener exlcm)
-
-add_executable(listener-async "listener-async.c" "exlcm_example_t.c")
-add_dependencies(listener-async exlcm)
-
-add_executable(listener-glib "listener-glib.c" "exlcm_example_t.c")
-add_dependencies(listener-glib exlcm)
-pkg_check_modules(GLIB REQUIRED glib-2.0)
-target_link_libraries(listener-glib ${GLIB_LIBRARIES})
-target_include_directories(listener-glib PRIVATE ${GLIB_INCLUDE_DIRS})
-
-add_executable(send_message "send_message.c" "exlcm_example_t.c")
-add_dependencies(send_message exlcm)
-
-add_executable(read_log "read_log.c" "exlcm_example_t.c")
-add_dependencies(read_log exlcm)
+find_package(lcm REQUIRED)
+include(${LCM_USE_FILE})
+
+# Include this directory for finding GLib2, using the file FindGLib2.cmake.
+# **WARNING** If you want to reuse this example, you will need to copy
+# FindGLib2.cmake to your new project and adjust your CMAKE_MODULE_PATH.
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../cmake")
+
+find_package(GLib2 REQUIRED)
+
+# Put all message definition files in the type directory in one list
+FILE(GLOB example_message_definitions "${CMAKE_CURRENT_LIST_DIR}/../types/*.lcm")
+
+# Generate headers and source from message definition
+lcm_wrap_types(C_SOURCES c_sources C_HEADERS c_headers
+  ${example_message_definitions})
+
+# Create library from all the messages
+lcm_add_library(example_messages-c C STATIC ${c_sources} ${c_headers})
+target_include_directories(example_messages-c INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+
+# Create executables for the three example programs, linking all of them to our
+# messages library and lcm
+
+add_executable(listener "listener.c")
+lcm_target_link_libraries(listener example_messages-c ${LCM_NAMESPACE}lcm)
+
+add_executable(listener-async "listener-async.c")
+lcm_target_link_libraries(listener-async example_messages-c ${LCM_NAMESPACE}lcm)
+
+add_executable(listener-glib "listener-glib.c")
+lcm_target_link_libraries(listener-glib example_messages-c ${LCM_NAMESPACE}lcm GLib2::glib)
+
+add_executable(send_message "send_message.c")
+lcm_target_link_libraries(send_message example_messages-c ${LCM_NAMESPACE}lcm)
+
+add_executable(read_log "read_log.c")
+lcm_target_link_libraries(read_log example_messages-c ${LCM_NAMESPACE}lcm)

examples/cpp/CMakeLists.txt

@@ -2,27 +2,29 @@ cmake_minimum_required(VERSION 3.1)
 
 project(lcm_cpp_example)
 
-# Import LCM via pkgconfig.
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LCM REQUIRED lcm)
+find_package(lcm REQUIRED)
+include(${LCM_USE_FILE})
 
-# Use lcm-gen to generate headers.
-find_program(LCM_GEN_EXECUTABLE lcm-gen)
-add_custom_target(exlcm
-  COMMAND ${LCM_GEN_EXECUTABLE} -x ../../types/*.lcm)
-include_directories("${lcm_cpp_example_BINARY_DIR}")
+# Put all message definition files in the type directory in one list
+FILE(GLOB example_message_definitions "${CMAKE_CURRENT_LIST_DIR}/../types/*.lcm")
 
-# Everything from here on needs these flags.
-include_directories(${LCM_INCLUDE_DIRS})
-link_libraries(${LCM_LDFLAGS})
+# Generate headers from message definition
+lcm_wrap_types(CPP_HEADERS cpp_headers
+  ${example_message_definitions})
 
-# Create executables for the example programs.
+# Create library from all the messages
+lcm_add_library(example_messages-cpp CPP ${cpp_headers})
+target_include_directories(example_messages-cpp INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+
+# Create executables for the three example programs, linking all of them to our
+# messages library and lcm
 
 add_executable(listener "listener.cpp")
-add_dependencies(listener exlcm)
+lcm_target_link_libraries(listener example_messages-cpp ${LCM_NAMESPACE}lcm)
 
 add_executable(send_message "send_message.cpp")
-add_dependencies(send_message exlcm)
-                                       
+lcm_target_link_libraries(send_message example_messages-cpp ${LCM_NAMESPACE}lcm)
+
 add_executable(read_log "read_log.cpp")
-add_dependencies(read_log exlcm)
+lcm_target_link_libraries(read_log example_messages-cpp ${LCM_NAMESPACE}lcm)

examples/cpp/lcm_log_writer/CMakeLists.txt

@@ -1,15 +1,19 @@
-project(lcm_log_writer)
 cmake_minimum_required(VERSION 3.1)
 
-add_compile_options("-std=c++11")
-set(CMAKE_BUILD_TYPE "Release")
+project(lcm_log_writer)
+
+find_package(lcm REQUIRED)
+include(${LCM_USE_FILE})
 
-# Import LCM via pkgconfig.
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LCM REQUIRED lcm)
-include_directories(${LCM_INCLUDE_DIRS})
-link_libraries(${LCM_LDFLAGS})
+# Generate header from message definition
+lcm_wrap_types(CPP_HEADERS pjs_cpp_headers
+  pronto_joint_state_t.lcm)
 
-include_directories("${PROJECT_SOURCE_DIR}/include")
+# Create library from the message
+lcm_add_library(pjs_messages-cpp CPP ${pjs_cpp_headers})
+target_include_directories(pjs_messages-cpp INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 
-add_executable(${PROJECT_NAME} ${PROJECT_SOURCE_DIR}/main.cpp)
+# Create executable
+add_executable(lcm_log_writer "main.cpp")
+lcm_target_link_libraries(lcm_log_writer pjs_messages-cpp ${LCM_NAMESPACE}lcm)