Fix build without ZMQ

MRPT · Dec 6, 2024 · 46974eb · 46974eb
1 parent 32f460e
commit 46974eb
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Showing 12 changed files with 87 additions and 18 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -346,13 +346,21 @@ if (BUILD_FOR_ROS)
 	PACKAGE_ROS_VERSION=${PACKAGE_ROS_VERSION}
 	)
 
+	if (TARGET mvsim::comms)
+		set(DEP_MVSIM_COMMS_TRG mvsim::comms)
+	endif()
+	if (TARGET mvsim::msgs)
+		set(DEP_MVSIM_MSGS_TRG mvsim::msgs)
+	endif()
+
+
 	# Specify libraries to link a library or executable target against
 	target_link_libraries(
 		mvsim_node
 		#PRIVATE  # ros ament already used the plain signature, we cannot use this here...
 		mvsim::simulator
-		mvsim::msgs
-		mvsim::comms
+		${DEP_MVSIM_MSGS_TRG}
+		${DEP_MVSIM_COMMS_TRG}
 		${BOX2D_LIBRARIES}  # Box2D libs
 		${catkin_LIBRARIES}
 		${CMAKE_THREAD_LIBS_INIT}

diff --git a/modules/simulator/CMakeLists.txt b/modules/simulator/CMakeLists.txt
@@ -119,29 +119,34 @@ source_group(Friction FILES ${Friction_SRCS})
 source_group(VehicleDynamics FILES ${VehicleDynamics_SRCS})
 source_group(WorldElements FILES ${WorldElements_SRCS})
 
+if (TARGET mvsim::comms)
+    set(DEP_MVSIM_COMMS_PKG mvsim-comms)
+    set(DEP_MVSIM_COMMS_TRG mvsim::comms)
+endif()
+if (TARGET mvsim::msgs)
+    set(DEP_MVSIM_MSGS_TRG mvsim::msgs)
+endif()
+
 set(PACKAGE_DEPENDENCIES
   mrpt-maps
   mrpt-gui
   mrpt-topography
-  mvsim-comms
+  ${DEP_MVSIM_COMMS_PKG}
   box2d
   )
 mvsim_common_target_settings(${MODULE_NAME})
 
 
 target_link_libraries(${PROJECT_NAME}
- PRIVATE
-	mvsim::msgs
-#	${CMAKE_THREAD_LIBS_INIT}
-#	${Protobuf_LIBRARIES}
-#	${ZeroMQ_LIBRARY}
+PRIVATE
+	${DEP_MVSIM_MSGS_TRG}
 PUBLIC
 	mrpt::obs
 	mrpt::opengl
 	mrpt::maps
 	mrpt::gui
 	mrpt::topography
-	mvsim::comms
+	${DEP_MVSIM_COMMS_TRG}
 	${BOX2D_LIBRARIES}
 )
 
@@ -150,4 +155,3 @@ target_include_directories(${PROJECT_NAME}
 	SYSTEM PUBLIC
 		$<BUILD_INTERFACE:${mvsim_SOURCE_DIR}/externals/rapidxml>
 )
-
diff --git a/modules/simulator/include/mvsim/World.h b/modules/simulator/include/mvsim/World.h
@@ -26,13 +26,16 @@
 #include <mrpt/system/CTimeLogger.h>
 #include <mrpt/topography/data_types.h>
 #include <mvsim/Block.h>
-#include <mvsim/Comms/Client.h>
 #include <mvsim/Joystick.h>
 #include <mvsim/RemoteResourcesManager.h>
 #include <mvsim/TParameterDefinitions.h>
 #include <mvsim/VehicleBase.h>
 #include <mvsim/WorldElements/WorldElementBase.h>
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
+#include <mvsim/Comms/Client.h>
+#endif
+
 #include <functional>
 #include <list>
 #include <map>
@@ -370,8 +373,10 @@ class World : public mrpt::system::COutputLogger
 	 * description loaded from XML file. */
 	void connectToServer();
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim::Client& commsClient() { return client_; }
 	const mvsim::Client& commsClient() const { return client_; }
+#endif
 
 	void free_opengl_resources();
 
@@ -414,7 +419,9 @@ class World : public mrpt::system::COutputLogger
 	friend class VehicleBase;
 	friend class Block;
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim::Client client_{"World"};
+#endif
 
 	std::vector<on_observation_callback_t> callbacksOnObservation_;
 

diff --git a/modules/simulator/src/Simulable.cpp b/modules/simulator/src/Simulable.cpp
@@ -10,12 +10,15 @@
 #include <box2d/b2_contact.h>
 #include <box2d/b2_distance.h>
 #include <mvsim/Block.h>
-#include <mvsim/Comms/Client.h>
 #include <mvsim/Simulable.h>
 #include <mvsim/TParameterDefinitions.h>
 #include <mvsim/VisualObject.h>
 #include <mvsim/World.h>
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
+#include <mvsim/Comms/Client.h>
+#endif
+
 #include <cmath>  // fmod()
 
 #include "JointXMLnode.h"
@@ -378,6 +381,7 @@ bool Simulable::parseSimulable(const JointXMLnode<>& rootNode, const ParseSimula
 
 void Simulable::internalHandlePublish(const TSimulContext& context)
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	std::shared_lock lck(q_mtx_);
 
 	MRPT_START
@@ -448,6 +452,7 @@ void Simulable::internalHandlePublish(const TSimulContext& context)
 	}
 
 	MRPT_END
+#endif
 }
 
 void Simulable::registerOnServer(mvsim::Client& c)

diff --git a/modules/simulator/src/World.cpp b/modules/simulator/src/World.cpp
@@ -10,14 +10,12 @@
 #include <mrpt/math/TTwist2D.h>
 #include <mrpt/obs/CObservationOdometry.h>
 #include <mrpt/poses/CPose3DQuat.h>
+#include <mrpt/serialization/CArchive.h>
 #include <mrpt/system/filesystem.h>	 // filePathSeparatorsToNative()
 #include <mrpt/version.h>
 #include <mvsim/World.h>
 
-#include <algorithm>  // count()
-#include <iostream>
 #include <map>
-#include <stdexcept>
 
 using namespace mvsim;
 using namespace std;
@@ -144,6 +142,7 @@ void World::runVisitorOnBlocks(const block_visitor_t& v)
 
 void World::connectToServer()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	//
 	client_.setVerbosityLevel(this->getMinLoggingLevel());
 	client_.serverHostAddress(serverAddress_);
@@ -161,6 +160,7 @@ void World::connectToServer()
 
 	// global services:
 	internal_advertiseServices();
+#endif
 }
 
 void World::insertBlock(const Block::Ptr& block)

diff --git a/mvsim-cli/CMakeLists.txt b/mvsim-cli/CMakeLists.txt
@@ -1,5 +1,13 @@
 project(mvsim)
 
+if (TARGET mvsim::comms)
+    set(DEP_MVSIM_COMMS_TRG mvsim::comms)
+endif()
+if (TARGET mvsim::msgs)
+    set(DEP_MVSIM_MSGS_TRG mvsim::msgs)
+endif()
+
+
 # === Define executable ===
 add_executable(${PROJECT_NAME} 
 	mvsim-cli-main.cpp
@@ -12,8 +20,8 @@ add_executable(${PROJECT_NAME}
 target_link_libraries(
 	${PROJECT_NAME}
 	mvsim::simulator
-	mvsim::msgs
-	mvsim::comms
+	${DEP_MVSIM_MSGS_TRG}
+	${DEP_MVSIM_COMMS_TRG}
 	mrpt::tclap
 	${BOX2D_LIBRARIES}  # Box2D libs
 	${CMAKE_THREAD_LIBS_INIT}

diff --git a/mvsim-cli/mvsim-cli-node.cpp b/mvsim-cli/mvsim-cli-node.cpp
@@ -7,7 +7,11 @@
   |   See COPYING                                                           |
   +-------------------------------------------------------------------------+ */
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 #include <mvsim/Comms/Client.h>
+#endif
+
+#include <map>
 
 #include "mvsim-cli.h"
 
@@ -36,6 +40,7 @@ int commandNode()
 
 int nodeList()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim::Client client;
 
 	client.setMinLoggingLevel(mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
@@ -53,6 +58,7 @@ int nodeList()
 	{
 		std::cout << "- name: \"" << n.name << "\"\n";
 	}
+#endif
 
 	return 0;
 }

diff --git a/mvsim-cli/mvsim-cli-server.cpp b/mvsim-cli/mvsim-cli-server.cpp
@@ -8,15 +8,21 @@
   +-------------------------------------------------------------------------+ */
 
 #include <mrpt/core/exceptions.h>
+
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 #include <mvsim/Comms/Server.h>
 #include <mvsim/Comms/ports.h>	// MVSIM_PORTNO_MAIN_REP
+#endif
 
 #include "mvsim-cli.h"
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 std::shared_ptr<mvsim::Server> server;
+#endif
 
 void commonLaunchServer()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	ASSERT_(!server);
 
 	// Start network server:
@@ -28,10 +34,12 @@ void commonLaunchServer()
 		cli->argVerbosity.getValue()));
 
 	server->start();
+#endif
 }
 
 int launchStandAloneServer()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	if (cli->argHelp.isSet())
 	{
 		fprintf(
@@ -45,6 +53,7 @@ Available options:
 			mvsim::MVSIM_PORTNO_MAIN_REP, mvsim::MVSIM_PORTNO_MAIN_REP);
 		return 0;
 	}
+#endif
 
 	commonLaunchServer();
 	return 0;

diff --git a/mvsim-cli/mvsim-cli-topic.cpp b/mvsim-cli/mvsim-cli-topic.cpp
@@ -11,9 +11,12 @@
 #include <mrpt/math/distributions.h>
 #include <mrpt/math/ops_containers.h>
 #include <mrpt/system/datetime.h>
+
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 #include <mvsim/Comms/Client.h>
 #include <mvsim/mvsim-msgs/ObservationLidar2D.pb.h>
 #include <mvsim/mvsim-msgs/TimeStampedPose.pb.h>
+#endif
 
 #include "mvsim-cli.h"
 
@@ -48,6 +51,7 @@ int commandTopic()
 
 int topicList()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim::Client client;
 
 	client.setMinLoggingLevel(mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
@@ -86,9 +90,11 @@ int topicList()
 				std::cout << n.publishers.at(0) << "\n";
 		}
 	}
+#endif
 	return 0;
 }
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 static void echo_TimeStampedPose(const std::string& data)
 {
 	mvsim_msgs::TimeStampedPose out;
@@ -125,9 +131,11 @@ static void callbackSubscribeTopicGeneric(const zmq::message_t& msg)
 
 	std::cout << std::endl;
 }
+#endif
 
 int topicEcho()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim::Client client;
 
 	client.setMinLoggingLevel(mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
@@ -150,11 +158,13 @@ int topicEcho()
 	{
 	}
 
+#endif
 	return 0;
 }
 
 int topicHz()
 {
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim::Client client;
 
 	client.setMinLoggingLevel(mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
@@ -229,6 +239,7 @@ int topicHz()
 		std::cout << "- Period_95percent: " << tHigh << " # [sec]" << std::endl;
 	}
 
+#endif
 	return 0;
 }
 

diff --git a/mvsim-cli/mvsim-cli.h b/mvsim-cli/mvsim-cli.h
@@ -10,7 +10,9 @@
 #pragma once
 
 #include <mrpt/3rdparty/tclap/CmdLine.h>
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 #include <mvsim/Comms/ports.h>
+#endif
 
 #include <functional>
 #include <memory>
@@ -42,8 +44,10 @@ struct cli_flags
 
 	TCLAP::SwitchArg argHelp{"h", "help", "Shows more detailed help for command", cmd};
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	TCLAP::ValueArg<int> argPort{
 		"p", "port", "TCP port to listen at", false, mvsim::MVSIM_PORTNO_MAIN_REP, "TCP port", cmd};
+#endif
 
 	TCLAP::ValueArg<double> argRealTimeFactor{
 		"",

diff --git a/mvsim_node_src/include/mvsim/mvsim_node_core.h b/mvsim_node_src/include/mvsim/mvsim_node_core.h
@@ -17,10 +17,13 @@
 #include <mrpt/obs/CObservationPointCloud.h>
 #include <mrpt/system/CTicTac.h>
 #include <mrpt/system/CTimeLogger.h>
-#include <mvsim/Comms/Server.h>
 #include <mvsim/World.h>
 #include <tf2/LinearMath/Transform.h>
 
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
+#include <mvsim/Comms/Server.h>
+#endif
+
 #include <atomic>
 #include <thread>
 
@@ -166,7 +169,9 @@ class MVSimNode
 	int publisher_history_len_ = 50;
 
    protected:
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mvsim_node::shared_ptr<mvsim::Server> mvsim_server_;
+#endif
 
 #if PACKAGE_ROS_VERSION == 1
 	ros::NodeHandle& n_;

diff --git a/mvsim_node_src/mvsim_node.cpp b/mvsim_node_src/mvsim_node.cpp
@@ -242,13 +242,15 @@ MVSimNode::MVSimNode(rclcpp::Node::SharedPtr& n)
 void MVSimNode::launch_mvsim_server()
 {
 	ROS12_INFO("[MVSimNode] launch_mvsim_server()");
+#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 
 	ASSERT_(!mvsim_server_);
 
 	// Start network server:
 	mvsim_server_ = mvsim_node::make_shared<mvsim::Server>();
 
 	mvsim_server_->start();
+#endif
 }
 
 void MVSimNode::loadWorldModel(const std::string& world_xml_file)