feat: move proto compile part to akushon interfaces

CMakeLists.txt

@@ -16,11 +16,80 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
+set(protobuf_MODULE_COMPATIBLE TRUE)
+find_package(Protobuf CONFIG REQUIRED)
+message(STATUS "Using protobuf ${Protobuf_VERSION}")
+
+set(_PROTOBUF_LIBPROTOBUF protobuf::libprotobuf)
+set(_REFLECTION gRPC::grpc++_reflection)
+if(CMAKE_CROSSCOMPILING)
+  find_program(_PROTOBUF_PROTOC protoc)
+else()
+  set(_PROTOBUF_PROTOC $<TARGET_FILE:protobuf::protoc>)
+endif()
+
+find_package(gRPC CONFIG REQUIRED)
+message(STATUS "Using gRPC ${gRPC_VERSION}")
+
+set(_GRPC_GRPCPP gRPC::grpc++)
+if(CMAKE_CROSSCOMPILING)
+  find_program(_GRPC_CPP_PLUGIN_EXECUTABLE grpc_cpp_plugin)
+else()
+  set(_GRPC_CPP_PLUGIN_EXECUTABLE $<TARGET_FILE:gRPC::grpc_cpp_plugin>)
+endif()
+
+# Proto file
+get_filename_component(akushon_proto "./proto/akushon.proto" ABSOLUTE)
+get_filename_component(akushon_proto_path "${akushon_proto}" PATH)
+
+# Generated sources
+set(akushon_proto_srcs "${CMAKE_CURRENT_BINARY_DIR}/akushon.pb.cc")
+set(akushon_proto_hdrs "${CMAKE_CURRENT_BINARY_DIR}/akushon.pb.h")
+set(akushon_grpc_srcs "${CMAKE_CURRENT_BINARY_DIR}/akushon.grpc.pb.cc")
+set(akushon_grpc_hdrs "${CMAKE_CURRENT_BINARY_DIR}/akushon.grpc.pb.h")
+add_custom_command(
+      OUTPUT "${akushon_proto_srcs}" "${akushon_proto_hdrs}" "${akushon_grpc_srcs}" "${akushon_grpc_hdrs}"
+      COMMAND ${_PROTOBUF_PROTOC}
+      ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}"
+        --cpp_out "${CMAKE_CURRENT_BINARY_DIR}"
+        -I "${akushon_proto_path}"
+        --plugin=protoc-gen-grpc="${_GRPC_CPP_PLUGIN_EXECUTABLE}"
+        "${akushon_proto}"
+      DEPENDS "${akushon_proto}")
+
+add_library(akushon_proto
+    ${akushon_proto_srcs}
+    ${akushon_proto_hdrs}
+    ${akushon_grpc_srcs}
+    ${akushon_grpc_hdrs})
+
+target_link_libraries(akushon_proto
+  ${_REFLECTION}
+  ${_GRPC_GRPCPP}
+  ${_PROTOBUF_LIBPROTOBUF}
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RunAction.msg"
   "msg/Status.msg"
   "srv/GetActions.srv"
   "srv/SaveActions.srv")
 
 ament_export_dependencies(rosidl_default_runtime)
+ament_export_targets(akushon_proto HAS_LIBRARY_TARGET)
+
+install (
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DESTINATION include
+)
+
+install (
+  TARGETS akushon_proto
+  EXPORT akushon_proto
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
 ament_package()