Vuer.cpp/CMakeLists.txt at main · SimonKennethRobo/Vuer.cpp · GitHub

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cmake_minimum_required(VERSION 3.16)
project(vuer_cpp LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

option(VUER_CPP_BUILD_EXAMPLES "Build example executables" ON)
option(VUER_CPP_BUILD_ROS2 "Build ROS2 bridge targets when ROS2 is available" ON)

find_package(Threads REQUIRED)
find_package(OpenSSL REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core imgcodecs imgproc)

# ---- cppzmq (header-only) --------------------------------------------------
find_package(cppzmq QUIET)
if(NOT cppzmq_FOUND)
  include(FetchContent)
  message(STATUS "cppzmq not found — fetching from GitHub")
  FetchContent_Declare(
    cppzmq
    GIT_REPOSITORY https://github.com/zeromq/cppzmq.git
    GIT_TAG        v4.10.0
  )
  FetchContent_MakeAvailable(cppzmq)
endif()
# libzmq (C library) is a transitive dependency — find it explicitly
find_package(ZeroMQ REQUIRED)

add_library(vuer_cpp
  src/image_encoder.cpp
  src/msgpack_writer.cpp
  src/server.cpp
  src/zmq_publisher.cpp
)

target_include_directories(vuer_cpp
  PUBLIC
    ${CMAKE_CURRENT_SOURCE_DIR}/include
    ${OpenCV_INCLUDE_DIRS}
)

target_link_libraries(vuer_cpp
  PUBLIC
    Threads::Threads
    OpenSSL::SSL
    OpenSSL::Crypto
    cppzmq
  PRIVATE
    ${OpenCV_LIBS}
)

target_compile_options(vuer_cpp PRIVATE -Wall -Wextra -Wpedantic)

if(VUER_CPP_BUILD_EXAMPLES)
  add_executable(vuer_cpp_server src/main.cpp)
  target_link_libraries(vuer_cpp_server PRIVATE vuer_cpp)
endif()

if(VUER_CPP_BUILD_ROS2)
  find_package(ament_cmake QUIET)
  find_package(rclcpp QUIET)
  find_package(sensor_msgs QUIET)
  find_package(cv_bridge QUIET)

  if(ament_cmake_FOUND AND rclcpp_FOUND AND sensor_msgs_FOUND AND cv_bridge_FOUND)
    add_executable(vuer_ros_image_bridge src/ros_image_bridge.cpp)
    target_link_libraries(vuer_ros_image_bridge PRIVATE vuer_cpp)
    ament_target_dependencies(vuer_ros_image_bridge rclcpp sensor_msgs cv_bridge)
  else()
    message(STATUS "ROS2 bridge target disabled: source ROS2 or install rclcpp/sensor_msgs/cv_bridge.")
  endif()
endif()