334 lines
13 KiB
CMake
Executable File
334 lines
13 KiB
CMake
Executable File
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SET(_rti_gcc_arch "")
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# Suppress CMP0153 warning: EXEC_PROGRAM is deprecated
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if(POLICY CMP0153)
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cmake_policy(SET CMP0153 OLD)
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endif()
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# Check if RTI_DIR is not set OR is empty (cached empty string from previous failed detection)
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IF(NOT RTI_DIR OR RTI_DIR STREQUAL "")
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# First check RTI_INSTALL_DIR CMake variable (set by parent CMakeLists.txt)
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IF(RTI_INSTALL_DIR AND EXISTS "${RTI_INSTALL_DIR}")
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SET(_RTI_DIR "${RTI_INSTALL_DIR}")
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ELSE()
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SET(_arch "unknown")
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IF(WIN32)
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SET(_RTI_DIR $ENV{DDS_PATH})
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IF(NOT _RTI_DIR)
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GET_FILENAME_COMPONENT(_rti_root_path "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Real-Time Innovations\\RTI Connext DDS Pro 5.2.3;Location]" ABSOLUTE)
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SET(_RTI_DIR "${_rti_root_path}")
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ENDIF()
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IF(MSVC_VERSION EQUAL 1900)
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SET(_rti_msvc_ver "VS2015")
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ELSEIF(MSVC_VERSION GREATER_EQUAL 1910)
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SET(_rti_msvc_ver "VS2017")
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ENDIF()
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IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
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SET(_rti_msvc_ver "x64Win64${_rti_msvc_ver}")
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ELSE()
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SET(_rti_msvc_ver "i86Win32${_rti_msvc_ver}")
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ENDIF()
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IF(NOT ${_rti_root_path})
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SET(_RTI_DIR $ENV{KDEROOT})
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FILE(TO_CMAKE_PATH "${_RTI_DIR}" _RTI_DIR)
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IF(NOT EXISTS "${_RTI_DIR}" OR NOT IS_DIRECTORY "${_RTI_DIR}")
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SET(_RTI_DIR $ENV{WORKSPACE})
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FILE(TO_CMAKE_PATH "${_RTI_DIR}" _RTI_DIR)
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ENDIF()
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IF(NOT EXISTS "${_RTI_DIR}" OR NOT IS_DIRECTORY "${_RTI_DIR}")
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SET(_RTI_DIR ${EXTERNAL_LIBRARY_DIR})
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FILE(TO_CMAKE_PATH "${_RTI_DIR}" _RTI_DIR)
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ENDIF()
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ENDIF()
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SET(_arch "${_rti_msvc_ver}")
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ELSE(WIN32)
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SET(_RTI_DIR $ENV{DDS_PATH})
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IF(NOT _RTI_DIR)
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# Try local external directory first (check multiple levels for different repo structures)
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# Check container path first (/workspace/external), then host-relative paths
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IF(EXISTS "${CMAKE_SOURCE_DIR}/external/rti_connext_dds-7.7.0")
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SET(_RTI_DIR "${CMAKE_SOURCE_DIR}/external/rti_connext_dds-7.7.0")
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ELSEIF(EXISTS "${CMAKE_SOURCE_DIR}/../external/rti_connext_dds-7.7.0")
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SET(_RTI_DIR "${CMAKE_SOURCE_DIR}/../external/rti_connext_dds-7.7.0")
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ELSEIF(EXISTS "${CMAKE_SOURCE_DIR}/../../../external/rti_connext_dds-7.7.0")
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SET(_RTI_DIR "${CMAKE_SOURCE_DIR}/../../../external/rti_connext_dds-7.7.0")
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ELSE()
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SET(_RTI_DIR "/opt/RTI")
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ENDIF()
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ENDIF()
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IF(NOT EXISTS "${_RTI_DIR}" OR NOT IS_DIRECTORY "${_RTI_DIR}")
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MESSAGE(WARNING "RTI directory ${_RTI_DIR} not found; continuing without RTI. Set DDS_PATH to RTI installation to enable RTI features.")
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# mark as not available
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set(_RTI_DIR_NOT_FOUND TRUE)
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set(_RTI_DIR "")
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ENDIF()
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SET(_rti_gcc_arch "x64Linux3gcc4.8.2")
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IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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IF(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5.0.0)
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# Prefer newer gcc-based RTI builds; try a sequence then fall back to any x64Linux4gcc* dir found under RTI lib
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SET(_preferred_archs "x64Linux4gcc8.5.0;x64Linux4gcc7.3.0;x64Linux3gcc5.4.0")
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SET(_found_arch "")
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foreach(_cand IN LISTS _preferred_archs)
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if(EXISTS "${_RTI_DIR}/lib/${_cand}")
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SET(_found_arch "${_cand}")
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break()
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endif()
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endforeach()
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if(_found_arch STREQUAL "")
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# fallback: pick any x64Linux* directory under lib
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file(GLOB _rti_arch_dirs RELATIVE "${_RTI_DIR}/lib" "${_RTI_DIR}/lib/x64Linux*")
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list(LENGTH _rti_arch_dirs _rti_arch_dirs_len)
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if(_rti_arch_dirs_len GREATER 0)
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list(GET _rti_arch_dirs 0 _found_arch)
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endif()
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endif()
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if(NOT _found_arch STREQUAL "")
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SET(_rti_gcc_arch "${_found_arch}")
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else()
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# final fallbacks
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SET(_rti_gcc_arch "x64Linux4gcc7.3.0")
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endif()
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ENDIF()
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ENDIF()
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SET(_arch "${_rti_gcc_arch}")
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ENDIF()
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ENDIF()
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SET(RTI_DIR "${_RTI_DIR}" CACHE STRING "RTI base path" FORCE)
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MESSAGE(STATUS "Trying to use RTI from ${RTI_DIR} with arch ${_arch}")
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ELSE()
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# RTI_DIR was provided externally - auto-detect architecture
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SET(_rti_gcc_arch "x64Linux3gcc4.8.2")
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IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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IF(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5.0.0)
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# Prefer newer gcc-based RTI builds; try a sequence then fall back to any x64Linux4gcc* dir found under RTI lib
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SET(_preferred_archs "x64Linux4gcc8.5.0;x64Linux4gcc7.3.0;x64Linux3gcc5.4.0")
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SET(_found_arch "")
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foreach(_cand IN LISTS _preferred_archs)
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if(EXISTS "${RTI_DIR}/lib/${_cand}")
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SET(_found_arch "${_cand}")
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break()
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endif()
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endforeach()
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if(_found_arch STREQUAL "")
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# fallback: pick any x64Linux* directory under lib
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file(GLOB _rti_arch_dirs RELATIVE "${RTI_DIR}/lib" "${RTI_DIR}/lib/x64Linux*")
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list(LENGTH _rti_arch_dirs _rti_arch_dirs_len)
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if(_rti_arch_dirs_len GREATER 0)
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list(GET _rti_arch_dirs 0 _found_arch)
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endif()
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endif()
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if(NOT _found_arch STREQUAL "")
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SET(_rti_gcc_arch "${_found_arch}")
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else()
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# final fallbacks
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SET(_rti_gcc_arch "x64Linux4gcc7.3.0")
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endif()
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ENDIF()
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ENDIF()
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MESSAGE(STATUS "Using externally provided RTI from ${RTI_DIR} with arch ${_rti_gcc_arch}")
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ENDIF()
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IF(WIN32)
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SET(_rti_include_hint "${RTI_DIR}/include/")
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SET(_rti_library_hint "${RTI_DIR}/lib/${_rti_msvc_ver}/")
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ELSE()
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SET(_rti_include_hint "${RTI_DIR}/include/")
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SET(_rti_library_hint "${RTI_DIR}/lib/")
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ENDIF()
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IF(NOT RTI_INCLUDE_DIR)
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if(DEFINED _RTI_DIR_NOT_FOUND AND _RTI_DIR STREQUAL "")
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# RTI directory was not found earlier; skip searching for includes and create empty placeholder
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message(WARNING "Skipping RTI include search because RTI installation was not found")
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set(RTI_INCLUDE_DIR "")
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set(RTI_INCLUDE_DIRS "" CACHE STRING "RTI include directories" FORCE)
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# Create placeholder INTERFACE targets for all RTI libraries when RTI is not installed
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# These allow configuration to succeed but will cause link errors if actually used
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SET(_RTI_LIBS nddscore nddsc nddscpp2 rtiroutingservice)
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FOREACH(_lib ${_RTI_LIBS})
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SET(_tgt_name RTI::${_lib})
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IF(NOT TARGET ${_tgt_name})
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ADD_LIBRARY(${_tgt_name} INTERFACE IMPORTED)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY INTERFACE_INCLUDE_DIRECTORIES "")
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# Set dummy library variables to satisfy Ninja dependency tracking
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SET(RTI_${_lib}_LIBRARY "" CACHE STRING "RTI ${_lib} library (placeholder)" FORCE)
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SET(RTI_${_lib}_LIBRARY_RELEASE "" CACHE STRING "RTI ${_lib} library release (placeholder)" FORCE)
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SET(RTI_${_lib}_LIBRARY_DEBUG "" CACHE STRING "RTI ${_lib} library debug (placeholder)" FORCE)
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ENDIF()
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ENDFOREACH()
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SET(RTI_LIBRARIES "" CACHE STRING "All rti libraries (placeholder)" FORCE)
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SET(RTI_FOUND FALSE CACHE BOOL "RTI not found" FORCE)
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# Force BUILD_RTI to OFF when RTI is not actually installed
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SET(BUILD_RTI OFF CACHE BOOL "Build with RTI support" FORCE)
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MESSAGE(WARNING "RTI not found - disabling BUILD_RTI. Set DDS_PATH to RTI installation to enable RTI features.")
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return()
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else()
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# Use PATHS instead of HINTS for more reliable path resolution
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FIND_PATH(RTI_INCLUDE_DIR ndds/ndds_cpp.h PATHS ${_rti_include_hint} NO_DEFAULT_PATH)
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IF(RTI_INCLUDE_DIR)
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SET(RTI_INCLUDE_DIRS "${RTI_INCLUDE_DIR}" "${RTI_INCLUDE_DIR}/ndds" "${RTI_INCLUDE_DIR}/ndds/hpp" CACHE STRING "RTI include directories" FORCE)
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MARK_AS_ADVANCED(RTI_INCLUDE_DIRS)
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ELSE()
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MESSAGE(FATAL "Could not find RTI include directory at ${_rti_include_hint}")
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ENDIF()
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endif()
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ENDIF()
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IF(NOT RTI_DDSGEN_EXECUTABLE)
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FIND_PROGRAM(RTI_DDSGEN_EXECUTABLE NAMES rtiddsgen rtiddsgen.bat HINTS ${RTI_DIR}/scripts ${RTI_DIR}/bin)
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ENDIF()
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IF(NOT RTI_VERSION_MAJOR)
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EXEC_PROGRAM(${RTI_DDSGEN_EXECUTABLE} ARGS -version OUTPUT_VARIABLE _dds_version_output)
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STRING(REGEX REPLACE ".* ([0-9]\\.[0-9]\\.[0-9]).*" "\\1" _dds_version_output ${_dds_version_output})
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SET(_rti_version_major 5)
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IF(_dds_version_output VERSION_GREATER 2.9.9)
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SET(_rti_version_major 6)
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ENDIF()
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SET(RTI_VERSION_MAJOR ${_rti_version_major} CACHE STRING "RTI version" FORCE)
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ENDIF()
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INCLUDE(FindPackageHandleStandardArgs)
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# Set policy for imported target library requirements
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if(POLICY CMP0111)
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cmake_policy(SET CMP0111 NEW)
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endif()
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SET(_RTI_LIBS nddscore nddsc nddscpp2 rtiroutingservice)
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SET(_libs "")
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SET(_lib_vars "")
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# Build list of library search paths including arch-specific subdirs
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set(_rti_lib_search_paths "${RTI_DIR}/lib" "${RTI_DIR}/lib/${_rti_gcc_arch}")
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# Also scan for any arch subdirs under lib/
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file(GLOB _rti_arch_dirs "${RTI_DIR}/lib/*")
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foreach(_arch_dir IN LISTS _rti_arch_dirs)
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if(IS_DIRECTORY "${_arch_dir}")
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list(APPEND _rti_lib_search_paths "${_arch_dir}")
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endif()
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endforeach()
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FOREACH(_lib ${_RTI_LIBS})
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SET(_libname "RTI_${_lib}_LIBRARY")
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SET(_libname_release "RTI_${_lib}_LIBRARY_RELEASE")
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SET(_libname_debug "RTI_${_lib}_LIBRARY_DEBUG")
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# Build explicit search paths for this library
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set(_lib_search_paths
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"${RTI_DIR}/lib/${_rti_gcc_arch}"
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"${RTI_DIR}/lib"
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)
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# Find release library (no suffix)
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FIND_LIBRARY(${_libname_release}
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NAMES ${_lib}
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PATHS ${_lib_search_paths}
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NO_DEFAULT_PATH)
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# Find debug library (d suffix on Linux)
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FIND_LIBRARY(${_libname_debug}
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NAMES ${_lib}d
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PATHS ${_lib_search_paths}
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NO_DEFAULT_PATH)
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# Set combined library variable
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IF(${_libname_release})
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SET(${_libname} "${${_libname_release}}" CACHE STRING "RTI ${_lib} library" FORCE)
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ELSEIF(${_libname_debug})
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SET(${_libname} "${${_libname_debug}}" CACHE STRING "RTI ${_lib} library" FORCE)
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ENDIF()
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SET(_tgt_name RTI::${_lib})
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IF(NOT TARGET ${_tgt_name})
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ADD_LIBRARY(${_tgt_name} UNKNOWN IMPORTED)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY INTERFACE_INCLUDE_DIRECTORIES "${RTI_INCLUDE_DIRS}")
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${RTI_INCLUDE_DIRS}")
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IF(UNIX)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY INTERFACE_COMPILE_DEFINITIONS "RTI_UNIX;RTI_LINUX;RTI_64BIT" )
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ENDIF()
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IF(WIN32)
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IF("${_lib}" STREQUAL "rtiroutingservice")
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY INTERFACE_COMPILE_DEFINITIONS "RTI_WIN32;RTI_routingservice_DLL_VARIABLE" )
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ELSE()
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY INTERFACE_COMPILE_DEFINITIONS "RTI_WIN32;NDDS_DLL_VARIABLE" )
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ENDIF()
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ENDIF()
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# Set library locations - use release for both configs if debug not found
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IF(${_libname}_RELEASE AND ${_libname}_DEBUG)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_CONFIGURATIONS RELEASE DEBUG)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION_RELEASE "${${_libname}_RELEASE}")
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION_DEBUG "${${_libname}_DEBUG}")
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# Set default IMPORTED_LOCATION for non-configured builds
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION "${${_libname}_RELEASE}")
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ELSEIF(${_libname}_RELEASE)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_CONFIGURATIONS RELEASE DEBUG)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION_RELEASE "${${_libname}_RELEASE}")
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION_DEBUG "${${_libname}_RELEASE}")
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# Set default IMPORTED_LOCATION for non-configured builds
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION "${${_libname}_RELEASE}")
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ELSEIF(${_libname}_DEBUG)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_CONFIGURATIONS RELEASE DEBUG)
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION_RELEASE "${${_libname}_DEBUG}")
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION_DEBUG "${${_libname}_DEBUG}")
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# Set default IMPORTED_LOCATION for non-configured builds
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SET_PROPERTY(TARGET ${_tgt_name} PROPERTY IMPORTED_LOCATION "${${_libname}_DEBUG}")
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ELSE()
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# No library found - skip creating this target
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MESSAGE(WARNING "RTI library ${_lib} not found in ${RTI_DIR}")
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SET(${_libname} "" CACHE STRING "RTI ${_lib} library (not found)" FORCE)
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CONTINUE()
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ENDIF()
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ENDIF()
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LIST(APPEND _libs "${${_libname}}")
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# rtiroutingservice is optional - only add required libs to _lib_vars for FIND_PACKAGE_HANDLE_STANDARD_ARGS
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IF(NOT "${_lib}" STREQUAL "rtiroutingservice")
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LIST(APPEND _lib_vars "${_libname}")
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ENDIF()
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ENDFOREACH()
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IF(TARGET RTI::nddscore AND UNIX)
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SET_PROPERTY(TARGET RTI::nddscore PROPERTY INTERFACE_LINK_LIBRARIES "dl" )
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ENDIF()
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SET(RTI_LIBRARIES ${_libs} CACHE STRING "All rti libraries" FORCE)
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MARK_AS_ADVANCED(RTI_LIBRARIES)
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INCLUDE(FindPackageHandleStandardArgs)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(RTI DEFAULT_MSG RTI_DIR RTI_INCLUDE_DIR RTI_DDSGEN_EXECUTABLE ${_lib_vars})
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