cmake_target_compile_definitions

cli/robocompdsl/robocompdsl/DEVELOPER.md

@@ -293,4 +293,62 @@ It is recommended that once you are done with the manual tests you make sure to
 ```shell script
 python3 test_component_generation.py -c
 ```
-to delete temporary files and not upload them to the repository.
+to delete temporary files and not upload them to the repository.
+
+
+# Tutorial: Making changes to robocompdsl templates
+
+Imagina que recibes un encargo de tu jefe de modificar el código que genera robocompdsl.
+Objetivo: Componentes en C++. Conseguir generar componentes en C++ que compilen correctamente
+Cosas a corregir:
+* CMakeList.txt
+  * cmake_minimum_required(VERSION 3.10)
+  * reemplazar SUBDIRS(src) por add_subdirectory(src)
+
+Como se ha explicado anteriormente robocompdsl funciona con templates. En el directorio robocompdsl/robocompdsl/templates
+podemos encontrar el directorio templateCPP que es el que nos interesa. En este directorio podemos encontrar los directorios
+files y plugins. En el directorio files podemos encontrar los ficheros que se copian tal cual al componente generado.
+En el directorio plugins podemos encontrar los ficheros que se utilizan para generar dinámicamente el código del componente.
+
+Lo normal es empezar mirando en files y buscar el fichero que se quiere modificar, en este caso CMakeLists.txt
+robocomp_tools/cli/robocompdsl/robocompdsl/templates/templateCPP/files/CMakeLists.txt
+En este fichero podemos encontras las referencias que nos piden que cambienpor por ejemplo, 
+actualmente la cabecera del fichero tiene la declaración
+```
+cmake_minimum_required( VERSION 2.8 )
+```
+que nos piden que actualicemos a
+```
+cmake_minimum_required( VERSION 3.10 )
+```
+Con este simple cambio todos los componentes que se generen a partir de ahora llevarán en ese CMakelists.txt la versión 3.10
+
+El siguiente cambio que nos piden es que en lugar de utilizar la función SUBDIRS(src) se utilice la función add_subdirectory(src)
+Como podemos ver este es un cambio que de nuevo podemos hacer directamente en ese fichero.
+```
+SUBDIRS(src)
+```
+por
+```
+add_subdirectory(src)
+```
+
+
+
+
+> Lo más importante es cambiar la parte de la variable de entorno del cmake
+```
+    IF ( "$ENV{ROBOCOMP}" STREQUAL "")
+      MESSAGE(WARNING "ROBOCOMP variable not set. Using the default value: /opt/robocomp")
+      SET (ENV{ROBOCOMP} "/opt/robocomp/")
+    ENDIF ( "$ENV{ROBOCOMP}" STREQUAL "")
+```
+> esto no coge la variable ROBOCOMP definida en .bashrc por algún motivo. El default ahora debería ser /home/robocomp/robocomp
+
+Lo primero que deberías hacer es averiguar si el trozo de código que se quiere cambiar es de un componente en C++ o en Python.
+En este caso podemos ver que es un trozo de código de CMake y se utiliza en ambos componentes.
+Si hacemos una búsqueda por ejemplo de un trozo de ese código 
+`MESSAGE(WARNING "ROBOCOMP variable not set. Using the default value: /opt/robocomp")`
+Veremos que aparece en variso sitios (entre otros ahora dentro de este tutorial), pero el que parece más interesante
+ahora mismo es en el fichero `robocomp_tools/cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/CMakeLists.txt`
+```cmake

cli/robocompdsl/robocompdsl/templates/templateCPP/files/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required( VERSION 2.8 )
+cmake_minimum_required( VERSION 3.10 )
 PROJECT( ${component_name} )
 
 SET(RC_COMPONENT_PATH $${CMAKE_CURRENT_SOURCE_DIR} CACHE STRING "component base path" FORCE)
@@ -12,7 +12,7 @@ SET(RC_COMPONENT_INSTALL_PATH "/opt/robocomp" CACHE STRING "component install pa
 #STRING(STRIP $${COMPONENT_NAME} COMPONENT_NAME)
 #SET(COMPONENT_NAME $${COMPONENT_NAME} CACHE STRING "component name" FORCE)
 
-SUBDIRS( src )
+ADD_SUBDIRECTORY( src )
 
 INSTALL(FILES etc/config DESTINATION $${RC_COMPONENT_INSTALL_PATH}/etc-default/ RENAME ${component_name}.conf )
 

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/CMakeLists.txt

@@ -1,53 +1,79 @@
+# Use the latest policy behavior
+cmake_policy(VERSION 3.10)
+
+# Set the minimum version
 cmake_minimum_required(VERSION 3.10)
 
+# Project call
+project(${component_name})
+
+# Check for ROBOCOMP environment variable
+if (DEFINED ENV{ROBOCOMP})
+  set(ROBOCOMP_WORKSPACE $$ENV{ROBOCOMP})
+else()
+  message(WARNING "ROBOCOMP environment variable not set. Using the default value: /opt/robocomp")
+  set(ROBOCOMP_WORKSPACE "/opt/robocomp/")
+endif()
 
-IF ( "$$ENV{ROBOCOMP}" STREQUAL "")
-  MESSAGE(WARNING "ROBOCOMP variable not set. Using the default value: /opt/robocomp")
-  SET (ENV{ROBOCOMP} "/opt/robocomp/")
-ENDIF ( "$$ENV{ROBOCOMP}" STREQUAL "")
+# Check for RoboComp's existence
+if(NOT EXISTS $${ROBOCOMP_WORKSPACE}/cmake)
+  message(FATAL_ERROR "Couldn't find RoboComp in $${ROBOCOMP_WORKSPACE}! Exiting...")
+endif()
 
-IF(NOT EXISTS $$ENV{ROBOCOMP}/cmake)
-  MESSAGE(FATAL_ERROR "Couldn't find RoboComp in $$ENV{ROBOCOMP}! Exiting...")
-ENDIF(NOT EXISTS $$ENV{ROBOCOMP}/cmake)
+# Include RoboComp and Qt cmake scripts
+list(APPEND CMAKE_MODULE_PATH $${ROBOCOMP_WORKSPACE}/cmake)
+include(robocomp)
+include(modules/qt)
 
-INCLUDE( $$ENV{ROBOCOMP}/cmake/robocomp.cmake )
-INCLUDE( $$ENV{ROBOCOMP}/cmake/modules/qt.cmake )
-INCLUDE ( CMakeListsSpecific.txt)
+# Include the specific cmake list
+include(CMakeListsSpecific.txt)
 
 # Sources set
-SET ( SOURCES
-  $${SOURCES}
-  $$ENV{ROBOCOMP}/classes/rapplication/rapplication.cpp
-  $$ENV{ROBOCOMP}/classes/sigwatch/sigwatch.cpp
-  $$ENV{ROBOCOMP}/classes/qlog/qlog.cpp
-  main.cpp
-  genericmonitor.cpp
-  commonbehaviorI.cpp
-  genericworker.cpp
-  ${interface_sources}
-  ${statemachine_visual_sources}
+set(SOURCES
+    $${SOURCES}
+    $${ROBOCOMP_WORKSPACE}/classes/rapplication/rapplication.cpp
+    $${ROBOCOMP_WORKSPACE}/classes/sigwatch/sigwatch.cpp
+    main.cpp
+    genericmonitor.cpp
+    commonbehaviorI.cpp
+    genericworker.cpp
+    ${interface_sources}
+    ${statemachine_visual_sources}
 )
 
+add_library(${component_name}_lib STATIC $${SOURCES})
+target_include_directories(${component_name}_lib PUBLIC $${CMAKE_CURRENT_SOURCE_DIR})
 
 ${cpp11_ice_packages}
 
 ${agm_includes}
 
-#ROBOCOMP
-ROBOCOMP_INITIALIZE( $$ENV{ROBOCOMP}/ )
+# RoboComp initialize
+ROBOCOMP_INITIALIZE( $${ROBOCOMP_WORKSPACE}/ )
 ${wrap_ice}
-SET (EXECUTABLE_OUTPUT_PATH $${RC_COMPONENT_DEVEL_PATH}/bin)
 
 ${wrap_ui}
 
+# Specify construction and link process
+add_executable(${component_name} $${SOURCES} $${MOC_SOURCES} $${RC_SOURCES} $${UI_HEADERS})
+
+# Link libraries
+target_link_libraries(${component_name}
+    $${LIBS}
+    $${STATIC_LIBS}
+    $${SPECIFIC_LIBS}
+    $${QT_LIBRARIES}
+    $${Ice_LIBRARIES}
+)
+
+# Add compile options
 # no-char8_t to avoid a problem with ICE Connection lib.
-add_definitions(-g  -fmax-errors=1 -fno-char8_t)
+target_compile_options(${component_name} PRIVATE -g  -fmax-errors=1 -fno-char8_t)
+set_target_properties(${component_name} PROPERTIES
+    CXX_STANDARD 20
+)
 
-# Specify construction and link process
-ADD_EXECUTABLE( ${component_name} $${SOURCES} $${MOC_SOURCES} $${RC_SOURCES} $${UI_HEADERS} )
-TARGET_LINK_LIBRARIES( ${component_name} $${LIBS} $${STATIC_LIBS} $${SPECIFIC_LIBS} $${QT_LIBRARIES} $${Ice_LIBRARIES})
-SET_TARGET_PROPERTIES(${component_name}
-        PROPERTIES
-        CXX_STANDARD 20
-        )
-INSTALL(FILES $${EXECUTABLE_OUTPUT_PATH}/${component_name} DESTINATION $${RC_COMPONENT_INSTALL_PATH}/bin/ PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE )
+# Installation
+install(TARGETS ${component_name} DESTINATION $${RC_COMPONENT_INSTALL_PATH}/bin
+    PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+)

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericmonitor.cpp

@@ -67,7 +67,7 @@ void GenericMonitor::setPeriod(int _period)
 */
 void GenericMonitor::killYourSelf()
 {
-	rDebug("Killing myself");
+	qDebug("Killing myself");
 	worker->killYourSelf();
 	emit kill();
 
@@ -94,7 +94,7 @@ RoboCompCommonBehavior::ParameterList GenericMonitor::getParameterList()
 */
 void GenericMonitor::setParameterList(RoboCompCommonBehavior::ParameterList l)
 {
-	rInfo("Changing configuration params");
+	qWarning("Changing configuration params");
 	sendParamsToWorker(l);
 }
 
@@ -145,7 +145,6 @@ bool GenericMonitor::configGetString(Ice::CommunicatorPtr communicator, const st
 		if (list->contains(QString::fromStdString(value)) == false)
 		{
 			qFatal("Reading config file: %s is not a valid string", compound.c_str());
-			rError("Reading config file:"+compound+" is not a valid string");
 		}
 		QString error = QString("not valid configuration value");
 		qDebug() << error;

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericmonitor.h

@@ -23,7 +23,6 @@
 #include <QtCore>
 #include "genericworker.h"
 #include "config.h"
-#include <qlog/qlog.h>
 #include <CommonBehavior.h>
 
 /**

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericworker.cpp

@@ -43,7 +43,7 @@ GenericWorker::~GenericWorker()
 }
 void GenericWorker::killYourSelf()
 {
-	rDebug("Killing myself");
+	qDebug("Killing myself");
 	emit kill();
 }
 /**
@@ -52,7 +52,7 @@ void GenericWorker::killYourSelf()
 */
 void GenericWorker::setPeriod(int p)
 {
-	rDebug("Period changed"+QString::number(p));
+	qDebug("Period changed"+QString::number(p));
 	Period = p;
 	timer.start(Period);
 }

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericworker.h

@@ -21,7 +21,7 @@
 
 #include "config.h"
 #include <stdint.h>
-#include <qlog/qlog.h>
+#include <QtCore>
 ${gui_includes}
 ${statemachine_includes}
 #include <CommonBehavior.h>

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/main.cpp

@@ -72,7 +72,6 @@
 
 #include <rapplication/rapplication.h>
 #include <sigwatch/sigwatch.h>
-#include <qlog/qlog.h>
 
 #include "config.h"
 #include "genericmonitor.h"

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/specificmonitor.cpp

@@ -38,7 +38,7 @@ void SpecificMonitor::run()
 	ready = true;
 	forever
 	{
-		//rDebug("specific monitor run");
+		//qDebug("specific monitor run");
 		this->sleep(period);
 	}
 }
@@ -51,14 +51,14 @@ void SpecificMonitor::run()
  */
 void SpecificMonitor::initialize()
 {
-	rInfo("Starting monitor ...");
+	qWarning("Starting monitor ...");
 	initialTime=QTime::currentTime();
 	RoboCompCommonBehavior::ParameterList params;
 	readPConfParams(params);
 	readConfig(params);
 	if(!sendParamsToWorker(params))
 	{
-		rError("Error reading config parameters. Exiting");
+		qCritical("Error reading config parameters. Exiting");
 		killYourSelf();
 	}
 	state = RoboCompCommonBehavior::State::Running;
@@ -75,7 +75,7 @@ bool SpecificMonitor::sendParamsToWorker(RoboCompCommonBehavior::ParameterList p
 	}
 	else
 	{
-		rError("Incorrect parameters");
+		qWarning("Incorrect parameters");
 	}
 	return false;
 

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/specificworker.h

@@ -29,6 +29,7 @@
 #define SPECIFICWORKER_H
 
 #include <genericworker.h>
+#include <doublebuffer/DoubleBuffer.h>
 ${dsr_includes}
 
 class SpecificWorker : public GenericWorker

cli/robocompdsl/robocompdsl/templates/templateCPP/plugins/base/functions/src/main_cpp.py

@@ -144,7 +144,7 @@
 	cout << "[" << PROGRAM_NAME << "]: Exception creating proxy <NORMAL><PROXYNUMBER>: " << ex;
 	return EXIT_FAILURE;
 }
-rInfo("<NORMAL>Proxy<PROXYNUMBER> initialized Ok!");
+qWarning("<NORMAL>Proxy<PROXYNUMBER> initialized Ok!");
 
 """