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Improve the way compiler flags are set, use clang as default compiler #175

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merged 3 commits into from
Feb 28, 2023
Merged

Improve the way compiler flags are set, use clang as default compiler #175

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90c0f36
Improve the way compiler flags are set, cleanup
achim-k Feb 28, 2023
8dec080
Use clang as default compiler
achim-k Feb 28, 2023
150eace
fixup
achim-k Feb 28, 2023
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4 changes: 4 additions & 0 deletions .devcontainer/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ FROM ros:noetic-ros-core
# Install system dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential \
clang \
clang-format \
curl \
git \
Expand All @@ -20,6 +21,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
strace \
&& rm -rf /var/lib/apt/lists/*

ENV CC=clang
ENV CXX=clang++

# Authorize the ROS 2 GPG key and add the ROS 2 apt repository
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2.list
Expand Down
50 changes: 18 additions & 32 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,12 @@ project(foxglove_bridge LANGUAGES CXX VERSION 0.4.1)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

option(ENABLE_ASAN "Enable Address Sanitizer" OFF)
macro(enable_strict_compiler_warnings target)
target_compile_options(${target} PRIVATE
$<$<CXX_COMPILER_ID:MSVC>:/WX /W4>
$<$<NOT:$<CXX_COMPILER_ID:MSVC>>:-Wall -Wextra -Wpedantic -Werror -Wmost -Wold-style-cast -Wfloat-equal>
)
endmacro()

find_package(nlohmann_json QUIET)
find_package(OpenSSL REQUIRED)
Expand All @@ -23,36 +28,7 @@ find_package(websocketpp REQUIRED)
find_package(ZLIB REQUIRED)

if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Debug)
endif()

if(CMAKE_BUILD_TYPE STREQUAL "Debug")
set(OPTIMIZATION_FLAGS "-DDEBUG")
if(NOT MSVC)
set(OPTIMIZATION_FLAGS "${OPTIMIZATION_FLAGS} -O0")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -fno-omit-frame-pointer")
endif()
message("-- Configuring debug build")
else()
set(OPTIMIZATION_FLAGS "-DNDEBUG -O2")
message("-- Configuring release build")
endif()

if(MSVC)
set(DESIRED_WARNINGS "-WX")
else()
set(DESIRED_WARNINGS "-Wall -Wextra -Wconversion -Wunreachable-code -Wuninitialized -pedantic-errors -Wold-style-cast -Wno-error=unused-variable -Wfloat-equal")
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(DESIRED_WARNINGS "${DESIRED_WARNINGS} -Wmost")
endif()
set(DESIRED_WARNINGS "${DESIRED_WARNINGS} -Werror")
endif()

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OPTIMIZATION_FLAGS} ${DESIRED_WARNINGS}")

IF(NOT WIN32 AND ENABLE_ASAN)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
set(CMAKE_BUILD_TYPE RelWithDebInfo)
endif()

# Detect big-endian architectures
Expand Down Expand Up @@ -86,6 +62,7 @@ if(nlohmann_json_FOUND)
else()
message(STATUS "nlohmann_json not found, will search at compile time")
endif()
enable_strict_compiler_warnings(foxglove_bridge_base)

message(STATUS "ROS_VERSION: " $ENV{ROS_VERSION})
message(STATUS "ROS_DISTRO: " $ENV{ROS_DISTRO})
Expand Down Expand Up @@ -119,10 +96,12 @@ if("$ENV{ROS_VERSION}" STREQUAL "1")
${catkin_INCLUDE_DIRS}
)
target_link_libraries(foxglove_bridge_nodelet foxglove_bridge_base ${catkin_LIBRARIES})
enable_strict_compiler_warnings(foxglove_bridge_nodelet)

add_executable(foxglove_bridge ros1_foxglove_bridge/src/ros1_foxglove_bridge_node.cpp)
target_include_directories(foxglove_bridge SYSTEM PRIVATE ${catkin_INCLUDE_DIRS})
target_link_libraries(foxglove_bridge ${catkin_LIBRARIES})
enable_strict_compiler_warnings(foxglove_bridge)
else()
message(FATAL_ERROR "Could not find catkin")
endif()
Expand Down Expand Up @@ -153,12 +132,13 @@ elseif("$ENV{ROS_VERSION}" STREQUAL "2")
ament_target_dependencies(foxglove_bridge_component rclcpp rclcpp_components rosgraph_msgs)
target_link_libraries(foxglove_bridge_component foxglove_bridge_base)
rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge")

enable_strict_compiler_warnings(foxglove_bridge_component)
add_executable(foxglove_bridge
ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp
)
target_include_directories(foxglove_bridge SYSTEM PRIVATE ${rclcpp_INCLUDE_DIRS})
ament_target_dependencies(foxglove_bridge rclcpp rclcpp_components)
enable_strict_compiler_warnings(foxglove_bridge)
else()
message(FATAL_ERROR "Could not find ament_cmake")
endif()
Expand All @@ -180,9 +160,11 @@ if(ROS_BUILD_TYPE STREQUAL "catkin")

catkin_add_gtest(version_test foxglove_bridge_base/tests/version_test.cpp)
target_link_libraries(version_test foxglove_bridge_base)
enable_strict_compiler_warnings(version_test)

catkin_add_gtest(serialization_test foxglove_bridge_base/tests/serialization_test.cpp)
target_link_libraries(serialization_test foxglove_bridge_base)
enable_strict_compiler_warnings(foxglove_bridge)

add_rostest_gtest(smoke_test ros1_foxglove_bridge/tests/smoke.test ros1_foxglove_bridge/tests/smoke_test.cpp)
target_include_directories(smoke_test SYSTEM PRIVATE
Expand All @@ -191,6 +173,7 @@ if(ROS_BUILD_TYPE STREQUAL "catkin")
$<INSTALL_INTERFACE:include>
)
target_link_libraries(smoke_test foxglove_bridge_base ${catkin_LIBRARIES})
enable_strict_compiler_warnings(smoke_test)
endif()
elseif(ROS_BUILD_TYPE STREQUAL "ament_cmake")
if(BUILD_TESTING)
Expand All @@ -202,13 +185,16 @@ elseif(ROS_BUILD_TYPE STREQUAL "ament_cmake")

ament_add_gtest(version_test foxglove_bridge_base/tests/version_test.cpp)
target_link_libraries(version_test foxglove_bridge_base)
enable_strict_compiler_warnings(version_test)

ament_add_gtest(serialization_test foxglove_bridge_base/tests/serialization_test.cpp)
target_link_libraries(serialization_test foxglove_bridge_base)
enable_strict_compiler_warnings(serialization_test)

ament_add_gtest(smoke_test ros2_foxglove_bridge/tests/smoke_test.cpp)
ament_target_dependencies(smoke_test rclcpp rclcpp_components std_msgs std_srvs)
target_link_libraries(smoke_test foxglove_bridge_base)
enable_strict_compiler_warnings(smoke_test)
endif()
endif()

Expand Down
8 changes: 8 additions & 0 deletions Dockerfile.ros1
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Original file line number Diff line number Diff line change
@@ -1,6 +1,14 @@
ARG ROS_DISTRIBUTION=noetic
FROM ros:$ROS_DISTRIBUTION-ros-base

# Install clang and set as default compiler.
RUN apt-get update && apt-get install -y --no-install-recommends \
clang \
&& rm -rf /var/lib/apt/lists/*

ENV CC=clang
ENV CXX=clang++

# Set environment and working directory
ENV ROS_WS /ros1_ws
WORKDIR $ROS_WS
Expand Down
8 changes: 8 additions & 0 deletions Dockerfile.ros2
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Original file line number Diff line number Diff line change
@@ -1,6 +1,14 @@
ARG ROS_DISTRIBUTION=humble
FROM ros:$ROS_DISTRIBUTION-ros-base

# Install clang and set as default compiler.
RUN apt-get update && apt-get install -y --no-install-recommends \
clang \
&& rm -rf /var/lib/apt/lists/*

ENV CC=clang
ENV CXX=clang++

# Set environment and working directory
ENV ROS_WS /ros2_ws
WORKDIR $ROS_WS
Expand Down