Commit 48b73769 authored by Adkins, Cameron's avatar Adkins, Cameron
Browse files

init: initial package setup

parents

.editorconfig

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# https://EditorConfig.org

root = true



[*]

end_of_line = lf

insert_final_newline = true

trim_trailing_whitespace = true

charset = utf-8

indent_style = space

indent_size = 4



[*.nix]

indent_size = 2

.envrc

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watch_file package.nix



use flake

.gitignore

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# Temporary Files

*.swp

*.bak

*.tmp

*.tmp.diff

*.tmp.patch



# Prerequisites

*.d



# Compiled Object files

*.slo

*.lo

*.o

*.obj

*.ko

*.elf



# Linker output

*.ilk

*.map

*.exp



# Precompiled Headers

*.gch

*.pch



# Compiled Dynamic libraries

*.so

*.dylib



# Fortran module files

*.mod

*.smod



# Compiled Static libraries

*.lai

*.la

*.a



# Debug files

*.dSYM/

*.su

*.idb

*.pdb



# Executables

*.exe

*.out

*.app

*.i*86

*.x86_64

*.hex



# Build folders

build/

misc/

unstaged/

install/

output/



# Symlinks

result



# Nix closures

*.closure.*



# IDE files

*.pro.user

*.autosave

CMakeLists.txt.user

CMakeCache.txt

cmake-build-debug/

cmake-build-release/

cmake-build-relwithdebinfo/

.idea/

.cache/

.xdg_config/

.desktop/

.direnv/



# Generated git hooks

.gitsetup/hooks/post-checkout

.gitsetup/hooks/post-commit

.gitsetup/hooks/post-merge

.gitsetup/hooks/pre-push



# Binary files we don't want to accidentally track

*.3ds

*.blend

*.dae

*.dxf

*.fbx

*.zip

*.ilk

*.pdb



# No files with caps please, rename them instead

*.3DS

*.JPG

*.GIF

*.ZIP

*.STL

CMakeLists.txt

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cmake_minimum_required(VERSION 3.25)



project(

  opcua_bridge

  LANGUAGES CXX C

  VERSION 2025.2.1

  DESCRIPTION "OPCUA ROS2 Bridge"

  HOMEPAGE_URL "https://code.ornl.gov/ros/packages/opcua-bridge"

)



set(CMAKE_CXX_STANDARD 23)

set(CMAKE_VERIFY_INTERFACE_HEADER_SETS ON)



# Compiler config.

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

  add_compile_options(-Wall -Wextra -Wpedantic)

endif()



# Ament

find_package(ament_cmake REQUIRED)

find_package(rosidl_default_generators REQUIRED)



# ROS

find_package(rclcpp REQUIRED)



# Standard (e.g. fmt)

find_package(fmt REQUIRED)

find_package(oru REQUIRED)

find_package(open62541pp REQUIRED)



list(

  APPEND DEPENDENCIES

  rclcpp::rclcpp

  fmt::fmt

  open62541pp::open62541pp

  oru::core

)



# Interface generation.

file(GLOB_RECURSE PROJECT_ACTIONS  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${CMAKE_CURRENT_SOURCE_DIR}/interfaces/**.action")

file(GLOB_RECURSE PROJECT_MESSAGES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${CMAKE_CURRENT_SOURCE_DIR}/interfaces/**.msg")

file(GLOB_RECURSE PROJECT_SERVICES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${CMAKE_CURRENT_SOURCE_DIR}/interfaces/**.srv")



if(PROJECT_ACTIONS OR PROJECT_MESSAGES OR PROJECT_SERVICES)

  rosidl_generate_interfaces(

    ${PROJECT_NAME}

    ${PROJECT_ACTIONS}

    ${PROJECT_MESSAGES}

    ${PROJECT_SERVICES}

  )



  rosidl_get_typesupport_target(CPP_TYPESUPPORT_TARGET ${PROJECT_NAME} "rosidl_typesupport_cpp")

endif()



function(GenerateNode)

  set(

    one_value_args

    NODE_NAME

  )

  set(

    multi_value_args

    SOURCES

    HEADERS

  )



  cmake_parse_arguments(GenerateNode "" "${one_value_args}" "${multi_value_args}" ${ARGN})



  # Generate target.

  add_executable(${GenerateNode_NODE_NAME})

  target_sources(${GenerateNode_NODE_NAME} PRIVATE ${GenerateNode_SOURCES})

  target_sources(${GenerateNode_NODE_NAME} PUBLIC FILE_SET HEADERS BASE_DIRS include FILES ${GenerateNode_HEADERS})



  target_include_directories(

    ${GenerateNode_NODE_NAME} PUBLIC

    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

    $<INSTALL_INTERFACE:include>

  )



  target_link_libraries(

    ${GenerateNode_NODE_NAME}

    ${DEPENDENCIES}

  )



  target_link_libraries(${GenerateNode_NODE_NAME} "${CPP_TYPESUPPORT_TARGET}")



  # Install.

  install(TARGETS ${GenerateNode_NODE_NAME} DESTINATION lib/${PROJECT_NAME})

endfunction()



# Actually create nodes.

file(GLOB_RECURSE PROJECT_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/src/**.cpp")

file(GLOB_RECURSE PROJECT_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/include/**.hpp")



GenerateNode(

  NODE_NAME ${PROJECT_NAME}

  SOURCES ${PROJECT_SOURCES}

  HEADERS ${PROJECT_HEADERS}

)



ament_package()

flake.lock

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{

  "nodes": {

    "extended-msgs": {

      "inputs": {

        "fire": [

          "oru",

          "fire"

        ]

      },

      "locked": {

        "lastModified": 1753312847,

        "narHash": "sha256-v9MNcFVlHw/xyn7v/aT0zh+Ze8ZEn+k9CM8AhqI59Nw=",

        "ref": "master",

        "rev": "956da98e4f4714062841f9508cd8a3ddc26bb374",

        "revCount": 8,

        "type": "git",

        "url": "ssh://git@code.ornl.gov/mdf/ros/extended-msgs.git"

      },

      "original": {

        "ref": "master",

        "type": "git",

        "url": "ssh://git@code.ornl.gov/mdf/ros/extended-msgs.git"

      }

    },

    "fire": {

      "inputs": {

        "lasm": "lasm",

        "nixpkgs": [

          "fire",

          "ornlpkgs",

          "nixpkgs"

        ],

        "nro": "nro",

        "ornlpkgs": "ornlpkgs",

        "parts": [

          "fire",

          "ornlpkgs",

          "parts"

        ]

      },

      "locked": {

        "host": "code.ornl.gov",

        "lastModified": 1753319212,

        "narHash": "sha256-/E79cRl3C5bNMHCkLIMRxklT6JnOaQ6+POZH1GkexQY=",

        "owner": "ros",

        "repo": "fire",

        "rev": "ecbd67c9f5fd31ecfc3fc9fd8bddbaea843486d1",

        "type": "gitlab"

      },

      "original": {

        "host": "code.ornl.gov",

        "owner": "ros",

        "repo": "fire",

        "type": "gitlab"

      }

    },

    "flake-utils": {

      "inputs": {

        "systems": "systems"

      },

      "locked": {

        "lastModified": 1731533236,

        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",

        "owner": "numtide",

        "repo": "flake-utils",

        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",

        "type": "github"

      },

      "original": {

        "owner": "numtide",

        "repo": "flake-utils",

        "type": "github"

      }

    },

    "lasm": {

      "inputs": {

        "flake-utils": [

          "fire",

          "nro",

          "flake-utils"

        ],

        "nixpkgs": [

          "fire",

          "nixpkgs"

        ]

      },

      "locked": {

        "lastModified": 1749414546,

        "narHash": "sha256-K28T2POA8mKNs0TwfjYZCSCAljPX3rLy9KnCcRrRvbY=",

        "owner": "cadkin",

        "repo": "ld-audit-search-mod",

        "rev": "b662dd19c285acc2cd912f45a6f563882ad4913a",

        "type": "github"

      },

      "original": {

        "owner": "cadkin",

        "repo": "ld-audit-search-mod",

        "type": "github"

      }

    },

    "nixpkgs": {

      "locked": {

        "lastModified": 1748026580,

        "narHash": "sha256-rWtXrcIzU5wm/C8F9LWvUfBGu5U5E7cFzPYT1pHIJaQ=",

        "owner": "NixOS",

        "repo": "nixpkgs",

        "rev": "11cb3517b3af6af300dd6c055aeda73c9bf52c48",

        "type": "github"

      },

      "original": {

        "owner": "NixOS",

        "ref": "25.05",

        "repo": "nixpkgs",

        "type": "github"

      }

    },

    "nixpkgs-lib": {

      "locked": {

        "lastModified": 1751159883,

        "narHash": "sha256-urW/Ylk9FIfvXfliA1ywh75yszAbiTEVgpPeinFyVZo=",

        "owner": "nix-community",

        "repo": "nixpkgs.lib",

        "rev": "14a40a1d7fb9afa4739275ac642ed7301a9ba1ab",

        "type": "github"

      },

      "original": {

        "owner": "nix-community",

        "repo": "nixpkgs.lib",

        "type": "github"

      }

    },

    "nro": {

      "inputs": {

        "flake-utils": "flake-utils",

        "nixpkgs": [

          "fire",

          "nixpkgs"

        ]

      },

      "locked": {

        "lastModified": 1748720382,

        "narHash": "sha256-8CC1XSJMO+6LU9LOm58u4dqjHTb6dpRFXv+YoA2EO98=",

        "owner": "lopsided98",

        "repo": "nix-ros-overlay",

        "rev": "2435baa8acbd4bf244551dff13a42978f8075319",

        "type": "github"

      },

      "original": {

        "owner": "lopsided98",

        "repo": "nix-ros-overlay",

        "type": "github"

      }

    },

    "ornlpkgs": {

      "inputs": {

        "nixpkgs": "nixpkgs",

        "parts": "parts"

      },

      "locked": {

        "host": "code.ornl.gov",

        "lastModified": 1752346665,

        "narHash": "sha256-1wC9lnFEU9y7N+y6xUr8Bpm7KnoYJynND5gyNEI2W70=",

        "owner": "nix",

        "repo": "ornlpkgs",

        "rev": "2539d16f222c02ada3704993b78238cdc662388e",

        "type": "gitlab"

      },

      "original": {

        "host": "code.ornl.gov",

        "owner": "nix",

        "repo": "ornlpkgs",

        "type": "gitlab"

      }

    },

    "oru": {

      "inputs": {

        "extended-msgs": "extended-msgs",

        "fire": [

          "fire"

        ]

      },

      "locked": {

        "lastModified": 1753373956,

        "narHash": "sha256-YN8VBE6UFOJyrbmmL2CBbSD8zb4wdxslSFJcqvAWB/k=",

        "ref": "master",

        "rev": "4f7b8dc7ac2e64fe00e5b7d612012be1357ebbbc",

        "revCount": 15,

        "type": "git",

        "url": "ssh://git@code.ornl.gov/mdf/ros/oru.git"

      },

      "original": {

        "ref": "master",

        "type": "git",

        "url": "ssh://git@code.ornl.gov/mdf/ros/oru.git"

      }

    },

    "parts": {

      "inputs": {

        "nixpkgs-lib": "nixpkgs-lib"

      },

      "locked": {

        "lastModified": 1751413152,

        "narHash": "sha256-Tyw1RjYEsp5scoigs1384gIg6e0GoBVjms4aXFfRssQ=",

        "owner": "hercules-ci",

        "repo": "flake-parts",

        "rev": "77826244401ea9de6e3bac47c2db46005e1f30b5",

        "type": "github"

      },

      "original": {

        "owner": "hercules-ci",

        "repo": "flake-parts",

        "type": "github"

      }

    },

    "root": {

      "inputs": {

        "fire": "fire",

        "oru": "oru"

      }

    },

    "systems": {

      "locked": {

        "lastModified": 1681028828,

        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",

        "owner": "nix-systems",

        "repo": "default",

        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",

        "type": "github"

      },

      "original": {

        "owner": "nix-systems",

        "repo": "default",

        "type": "github"

      }

    }

  },

  "root": "root",

  "version": 7

}