feat: build as static library

.github/workflows/ci.yaml

@@ -69,13 +69,15 @@ jobs:
   #        run: echo "Some files failed the linting checks!" && exit 1
 
   test:
+    name: Build on ${{ matrix.machine.os }} (shared=${{ matrix.options.shared }})
     needs: formatting
     strategy:
       fail-fast: false
       matrix:
         os: [ ubuntu-latest, windows-latest, macos-latest ]
         options:
-          - { shared: 'True' }
+          - { shared: 'True' } # shared library
+          - { shared: 'False' } # static library
     runs-on: ${{ matrix.os }}
     steps:
       - name: Checkout Code

lanelet2_core/src/BasicRegulatoryElements.cpp

@@ -152,11 +152,6 @@ RegulatoryElementDataPtr constructAllWayStopData(Id id, const AttributeMap& attr
 }
 }  // namespace
 
-static RegisterRegulatoryElement<TrafficLight> regTraffic;
-static RegisterRegulatoryElement<RightOfWay> regRightOfWay;
-static RegisterRegulatoryElement<TrafficSign> regTrafficSign;
-static RegisterRegulatoryElement<SpeedLimit> regSpeedLimit;
-static RegisterRegulatoryElement<AllWayStop> regAllWayStop;
 #if __cplusplus < 201703L
 constexpr char TrafficLight::RuleName[];
 constexpr char RightOfWay::RuleName[];

lanelet2_core/src/RegulatoryElement.cpp

@@ -85,6 +85,12 @@ class ToConstVisitor : public RuleParameterVisitor {
 }  // namespace
 
 static RegisterRegulatoryElement<GenericRegulatoryElement> genRegelem;
+static RegisterRegulatoryElement<TrafficLight> regTraffic;
+static RegisterRegulatoryElement<RightOfWay> regRightOfWay;
+static RegisterRegulatoryElement<TrafficSign> regTrafficSign;
+static RegisterRegulatoryElement<SpeedLimit> regSpeedLimit;
+static RegisterRegulatoryElement<AllWayStop> regAllWayStop;
+
 #if __cplusplus < 201703L
 constexpr char GenericRegulatoryElement::RuleName[];
 

lanelet2_io/CMakeLists.txt

@@ -50,14 +50,14 @@ if (NOT BUILD_TESTING STREQUAL OFF)
     include(GoogleTest)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
+    target_compile_definitions("${PROJECT_NAME}_test" PRIVATE -DPKG_DIR="${CMAKE_CURRENT_LIST_DIR}")
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
 
     if (WIN32)
         add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+                COMMAND ${CMAKE_COMMAND} -E copy -t "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>" "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>"
                 COMMAND_EXPAND_LISTS)
     endif ()
 
     gtest_discover_tests("${PROJECT_NAME}_test")
-    add_dependencies("${PROJECT_NAME}_test" lanelet2_maps)
 endif ()

lanelet2_io/src/BinHandler.cpp

@@ -5,19 +5,11 @@
 #include <fstream>
 
 #include "lanelet2_io/Exceptions.h"
-#include "lanelet2_io/io_handlers/Factory.h"
 #include "lanelet2_io/io_handlers/Serialize.h"
 
 namespace lanelet {
 namespace io_handlers {
 
-namespace {
-// register with factories
-RegisterParser<BinParser> regParser;
-RegisterWriter<BinWriter> regWriter;
-
-}  // namespace
-
 void BinWriter::write(const std::string& filename, const LaneletMap& laneletMap, ErrorMessages& /*errors*/,
                       const io::Configuration& /*params*/) const {
   std::ofstream fs(filename, std::ofstream::binary);

lanelet2_io/src/Factory.cpp

@@ -1,10 +1,18 @@
 #include "lanelet2_io/io_handlers/Factory.h"
 
 #include "lanelet2_io/Exceptions.h"
+#include "lanelet2_io/io_handlers/BinHandler.h"
+#include "lanelet2_io/io_handlers/OsmHandler.h"
 
 namespace lanelet {
 namespace io_handlers {
 namespace {
+// register with factories
+RegisterParser<BinParser> regBinParser;
+RegisterWriter<BinWriter> regBinWriter;
+RegisterParser<OsmParser> regOsmParser;
+RegisterWriter<OsmWriter> regOsmWriter;
+
 std::string format(const std::vector<std::string>& strings, const std::string& delim = ", ") {
   std::string formatted;
   for (const auto& str : strings) {

lanelet2_io/src/OsmHandlerLoad.cpp

@@ -20,8 +20,6 @@ namespace io_handlers {
 using Errors = std::vector<std::string>;
 
 namespace {
-// register with factories
-RegisterParser<OsmParser> regParser;
 using traits::to2D;
 bool isValid(const LineStrings3d& lss) {
   BasicPolygon2d ls(utils::concatenate(lss, [](const auto& elem) { return to2D(elem).basicLineString(); }));

lanelet2_io/src/OsmHandlerWrite.cpp

@@ -13,9 +13,6 @@ namespace io_handlers {
 
 using Errors = std::vector<std::string>;
 namespace {
-// register with factories
-RegisterWriter<OsmWriter> regWriter;
-
 struct UnresolvedRole {
   Id relationId{};
   Id referencedRoleId{};

lanelet2_io/test/TestBinHandler.cpp

@@ -2,6 +2,7 @@
 #include <boost/archive/binary_oarchive.hpp>
 #include <cstdio>
 #include <fstream>
+#include <string>
 
 #include "TestSetup.h"
 #include "gtest/gtest.h"
@@ -115,7 +116,7 @@ TEST(BinHandler, explicitIO) {  // NOLINT
 
 TEST(BinHandler, fullMap) {
   Origin origin({49, 8.4, 0});
-  std::string filenameIn = "../lanelet2_maps/res/mapping_example.osm";
+  std::string filenameIn = std::string(PKG_DIR) + "/../lanelet2_maps/res/mapping_example.osm";
   auto map = lanelet::load(filenameIn, origin);
   auto llt = map->laneletLayer.find(44968);
   writeAndLoad(*llt);

lanelet2_io/test/TestSimpleUsage.cpp

@@ -5,7 +5,7 @@
 TEST(lanelet2_io, exampleUsage) {  // NOLINT
   using namespace lanelet;
   Origin origin({49, 8.4, 0});
-  std::string filenameIn = "../lanelet2_maps/res/mapping_example.osm";
+  std::string filenameIn = std::string(PKG_DIR) + "/../lanelet2_maps/res/mapping_example.osm";
   LaneletMapPtr laneletMap = lanelet::load(filenameIn, origin);
 
   lanelet::test_setup::Tempfile file("file.osm");

lanelet2_matching/CMakeLists.txt

@@ -52,7 +52,7 @@ if (NOT BUILD_TESTING STREQUAL OFF)
 
     if (WIN32)
         add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+                COMMAND ${CMAKE_COMMAND} -E copy -t "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>" "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>"
                 COMMAND_EXPAND_LISTS)
     endif ()
 

lanelet2_projection/CMakeLists.txt

@@ -53,7 +53,7 @@ if (NOT BUILD_TESTING STREQUAL OFF)
 
     if (WIN32)
         add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+                COMMAND ${CMAKE_COMMAND} -E copy -t "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>" "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>"
                 COMMAND_EXPAND_LISTS)
     endif ()
 

lanelet2_routing/CMakeLists.txt

@@ -53,10 +53,9 @@ if (NOT BUILD_TESTING STREQUAL OFF)
 
     if (WIN32)
         add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+                COMMAND ${CMAKE_COMMAND} -E copy -t "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>" "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>"
                 COMMAND_EXPAND_LISTS)
     endif ()
 
     gtest_discover_tests("${PROJECT_NAME}_test")
-    add_dependencies("${PROJECT_NAME}_test" lanelet2_maps)
 endif ()

lanelet2_traffic_rules/CMakeLists.txt

@@ -52,7 +52,7 @@ if (NOT BUILD_TESTING STREQUAL OFF)
 
     if (WIN32)
         add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+                COMMAND ${CMAKE_COMMAND} -E copy -t "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>" "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>"
                 COMMAND_EXPAND_LISTS)
     endif ()
 

lanelet2_traffic_rules/src/GermanTrafficRules.cpp

@@ -13,10 +13,6 @@ namespace lanelet {
 namespace traffic_rules {
 
 namespace {
-RegisterTrafficRules<GermanVehicle> gvRules(Locations::Germany, Participants::Vehicle);
-RegisterTrafficRules<GermanPedestrian> gpRules(Locations::Germany, Participants::Pedestrian);
-RegisterTrafficRules<GermanBicycle> gbRules(Locations::Germany, Participants::Bicycle);
-
 Velocity trafficSignToVelocity(const std::string& typeString) {
   using namespace lanelet::units::literals;
   const static std::map<std::string, Velocity> StrToVelocity{

lanelet2_traffic_rules/src/TrafficRulesFactory.cpp

@@ -1,12 +1,20 @@
 #include "lanelet2_traffic_rules/TrafficRulesFactory.h"
 
+#include "lanelet2_traffic_rules/GermanTrafficRules.h"
+
 namespace lanelet {
 
 #if __cplusplus < 201703L
 constexpr char Locations::Germany[];
 #endif
 
 namespace traffic_rules {
+namespace {
+RegisterTrafficRules<GermanVehicle> gvRules(Locations::Germany, Participants::Vehicle);
+RegisterTrafficRules<GermanPedestrian> gpRules(Locations::Germany, Participants::Pedestrian);
+RegisterTrafficRules<GermanBicycle> gbRules(Locations::Germany, Participants::Bicycle);
+}  // namespace
+
 TrafficRulesUPtr TrafficRulesFactory::create(const std::string& location, const std::string& participant,
                                              TrafficRules::Configuration configuration) {
   auto& registry = instance().registry_;

lanelet2_validation/CMakeLists.txt

@@ -71,14 +71,14 @@ if (NOT BUILD_TESTING STREQUAL OFF)
     find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
+    target_compile_definitions("${PROJECT_NAME}_test" PRIVATE -DPKG_DIR="${CMAKE_CURRENT_LIST_DIR}")
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
 
     if (WIN32)
         add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+                COMMAND ${CMAKE_COMMAND} -E copy -t "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>" "$<TARGET_RUNTIME_DLLS:${PROJECT_NAME}_test>"
                 COMMAND_EXPAND_LISTS)
     endif ()
 
     gtest_discover_tests("${PROJECT_NAME}_test")
-    add_dependencies("${PROJECT_NAME}_test" lanelet2_maps)
 endif ()

lanelet2_validation/src/ValidatorFactory.cpp

@@ -1,8 +1,25 @@
 #include "lanelet2_validation/ValidatorFactory.h"
 
+#include "lanelet2_validation/validators/mapping/BoolTags.h"
+#include "lanelet2_validation/validators/mapping/CurvatureTooBig.h"
+#include "lanelet2_validation/validators/mapping/DuplicatedPoints.h"
+#include "lanelet2_validation/validators/mapping/MandatoryTags.h"
+#include "lanelet2_validation/validators/mapping/PointsTooClose.h"
+#include "lanelet2_validation/validators/mapping/UnknownTagValue.h"
+#include "lanelet2_validation/validators/mapping/UnknownTags.h"
+#include "lanelet2_validation/validators/routing/RoutingGraphIsValid.h"
+
 namespace lanelet {
 namespace validation {
 namespace {
+RegisterMapValidator<BoolTags> regBoolTags;
+RegisterMapValidator<UnknownTags> regUnknownTags;
+RegisterMapValidator<UnknownTagValue> regUnknownTagValue;
+RegisterMapValidator<MandatoryTags> regMandatoryTags;
+RegisterMapValidator<CurvatureTooBigChecker> regCurvatureTooBig;
+RegisterMapValidator<DuplicatedPointsChecker> regDuplicatedPoints;
+RegisterMapValidator<PointsTooCloseChecker> regPointsTooClose;
+RegisterRoutingGraphValidator<RoutingGraphIsValid> regRoutingGraphIsValid;
 
 std::vector<std::string> matchSingleRegex(const std::regex& regex, const std::vector<std::string>& toMatch) {
   std::vector<std::string> matches;

lanelet2_validation/src/validators/CheckTags.cpp

@@ -11,11 +11,6 @@ using Values = std::vector<std::string>;
 using ValueMap = std::map<std::string, Values>;
 
 namespace {
-RegisterMapValidator<BoolTags> regBool;
-RegisterMapValidator<UnknownTags> regUnknown;
-RegisterMapValidator<UnknownTagValue> regUnknownValue;
-RegisterMapValidator<MandatoryTags> regMandatoryTags;
-
 bool startsWith(const std::string& str, const std::string& substr) {  // NOLINT
   return str.compare(0, substr.size(), substr) == 0;
 }

lanelet2_validation/src/validators/CurvatureTooBig.cpp

@@ -8,9 +8,6 @@
 
 namespace lanelet {
 namespace validation {
-namespace {
-RegisterMapValidator<CurvatureTooBigChecker> reg1;
-}  // namespace
 
 Issues CurvatureTooBigChecker::operator()(const LaneletMap& map) {
   Issues issues;

lanelet2_validation/src/validators/DuplicatedPoints.cpp

@@ -7,7 +7,6 @@
 namespace lanelet {
 namespace validation {
 namespace {
-RegisterMapValidator<DuplicatedPointsChecker> reg;
 
 template <typename T>
 Optional<Id> hasDuplicates(const T& elem) {

lanelet2_validation/src/validators/PointsTooClose.cpp

@@ -6,9 +6,6 @@
 
 namespace lanelet {
 namespace validation {
-namespace {
-RegisterMapValidator<PointsTooCloseChecker> reg;
-}  // namespace
 
 Issues PointsTooCloseChecker::operator()(const lanelet::LaneletMap& map) {
   Issues issues;

lanelet2_validation/src/validators/RoutingGraphIsValid.cpp

@@ -6,9 +6,6 @@
 
 namespace lanelet {
 namespace validation {
-namespace {
-RegisterRoutingGraphValidator<RoutingGraphIsValid> reg;
-}  // namespace
 
 Issues RoutingGraphIsValid::operator()(const routing::RoutingGraph& graph,
                                        const traffic_rules::TrafficRules& /*rules*/) {

lanelet2_validation/test/lanelet2_validation.cpp

@@ -5,11 +5,14 @@
 #include <lanelet2_io/io_handlers/Writer.h>
 #include <lanelet2_projection/UTM.h>
 
+#include <string>
+
 #include "lanelet2_validation/Cli.h"
 #include "lanelet2_validation/Validation.h"
 
 TEST(TestAllValidators, onExampleMap) {  // NOLINT
-  const char* args[] = {"validator",      "../lanelet2_maps/res/mapping_example.osm",
+  std::string exampleMapPath = std::string(PKG_DIR) + "/../lanelet2_maps/res/mapping_example.osm";
+  const char* args[] = {"validator",      exampleMapPath.c_str(),
                         "--participants", "vehicle",
                         "--participants", "pedestrian",
                         "--lat",          "49",
@@ -32,7 +35,7 @@ TEST(Validator, pointsTooClose) {  // NOLINT
 }
 
 TEST(Validator, curvatureTooBig) {  // NOLINT
-  std::string exampleMapPath = "../lanelet2_maps/res/mapping_example.osm";
+  std::string exampleMapPath = std::string(PKG_DIR) + "/../lanelet2_maps/res/mapping_example.osm";
   using namespace lanelet;
   projection::UtmProjector projector(Origin({49, 8.4}));
   LaneletMapPtr map = load(exampleMapPath, projector);