CMakeLists.txt

# Copyright (c) 2017 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

cmake_minimum_required(VERSION 2.8.3)
project(object_msgs)

find_package(catkin REQUIRED COMPONENTS
  std_msgs
  sensor_msgs
  message_generation
)

add_message_files(DIRECTORY msg FILES
  Object.msg
  Objects.msg
  ObjectInBox.msg
  ObjectsInBoxes.msg
)

add_service_files(DIRECTORY srv FILES
  ClassifyObject.srv
  DetectObject.srv
)

generate_messages(DEPENDENCIES
  std_msgs
  sensor_msgs
)

catkin_package(
  CATKIN_DEPENDS std_msgs sensor_msgs message_runtime
)

# Flags
if(UNIX OR APPLE)
  # Linker flags.
  if( ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU" OR ${CMAKE_CXX_COMPILER_ID} STREQUAL "Intel")
    # GCC specific flags. ICC is compatible with them.
    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z noexecstack -z relro -z now")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack -z relro -z now")
  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
    # In Clang, -z flags are not compatible, they need to be passed to linker via -Wl.
    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
  endif()

  # Compiler flags.
  if( ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
    # GCC specific flags.
    if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9 OR CMAKE_CXX_COMPILER_VERSION VERSION_EQUAL 4.9)
      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIE -fstack-protector-strong")
    else()
      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIE -fstack-protector")
    endif()
  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
    # Clang is compatbile with some of the flags.
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIE -fstack-protector")
  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Intel" )
    # Same as above, with exception that ICC compilation crashes with -fPIE option, even
    # though it uses -pie linker option that require -fPIE during compilation. Checksec
    # shows that it generates correct PIE anyway if only -pie is provided.
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fstack-protector")
  endif()

  # Generic flags.
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -fno-operator-names -Wformat -Wformat-security -Wall")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
  # Dot not forward c++11 flag to GPU beucause it is not supported
  set( CUDA_PROPAGATE_HOST_FLAGS OFF )
  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -D_FORTIFY_SOURCE=2")
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pie")
endif()