cmake simplifications

CMakeLists.txt

@@ -131,27 +131,43 @@ include_directories(
     ./3rdparty/liblsl/include
 )
 
+#########################  BASE library  ####################################
+
+qt5_wrap_cpp(PLOTJUGGLER_BASE_MOCS
+  plotjuggler_base/include/PlotJuggler/dataloader_base.h
+  plotjuggler_base/include/PlotJuggler/datastreamer_base.h
+  plotjuggler_base/include/PlotJuggler/statepublisher_base.h
+  plotjuggler_base/include/PlotJuggler/transform_function.h
+)
+
+add_library( plotjuggler_plugin_base STATIC ${PLOTJUGGLER_BASE_MOCS} )
 
 #########################  INSTALL  ####################################
 
 if(COMPILING_WITH_CATKIN)
+
     set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
+    set(PJ_PLUGIN_INSTALL_DIRECTORY ${CATKIN_PACKAGE_BIN_DESTINATION} )
 
 elseif(COMPILING_WITH_AMENT)
+
     find_package(ament_cmake REQUIRED)
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+    set(PJ_PLUGIN_INSTALL_DIRECTORY lib/${PROJECT_NAME} )
 
     ament_export_targets(export_plotjuggler_plugin_base HAS_LIBRARY_TARGET)
     ament_package()
 
 else()
-    set(CMAKE_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+
     set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+    set(PJ_PLUGIN_INSTALL_DIRECTORY bin)
+
 endif()
 
 set(DESKTOP_ICON_DIR "${CMAKE_INSTALL_PREFIX}/share/icons")
@@ -162,6 +178,16 @@ install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/PlotJuggler.desktop
 install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/plotjuggler.svg
         DESTINATION ${DESKTOP_ICON_DIR}  )
 
+install(
+     TARGETS plotjuggler_plugin_base
+     EXPORT export_plotjuggler_plugin_base
+     LIBRARY DESTINATION lib
+     ARCHIVE DESTINATION lib
+     RUNTIME DESTINATION bin
+     INCLUDES DESTINATION include )
+
+install(DIRECTORY plotjuggler_base/include/ DESTINATION include )
+
 ######################## Main App, Libraries amd Plugins ###################################
 
 if (NOT WIN32)
@@ -203,20 +229,19 @@ if(EXISTS "${PROJECT_SOURCE_DIR}/3rdparty/paho.mqtt.c/CMakeLists.txt")
 
     SET(CMAKE_INSTALL_INCLUDEDIR )
 
-    add_subdirectory( 3rdparty/paho.mqtt.c EXCLUDE_FROM_ALL)
-    add_subdirectory( plotjuggler_plugins/DataStreamMQTT )
+    #add_subdirectory( 3rdparty/paho.mqtt.c EXCLUDE_FROM_ALL)
+    #add_subdirectory( plotjuggler_plugins/DataStreamMQTT )
 endif()
 
 if(EXISTS "${PROJECT_SOURCE_DIR}/3rdparty/liblsl/CMakeLists.txt" AND NOT WIN32)
     SET(LSL_ENABLE_TESTING FALSE CACHE BOOL "Build tests and run" FORCE)
     SET(LSL_ENABLE_CPACK FALSE CACHE BOOL "Enable CPack" FORCE)
     SET(LSL_BUILD_STATIC TRUE CACHE BOOL "Build static library" FORCE)
     SET(LSL_BUILD_SHARED FALSE CACHE BOOL "Build shared library" FORCE)
-    add_subdirectory( 3rdparty/liblsl )
-    add_subdirectory( plotjuggler_plugins/DataStreamLSL )
+    #add_subdirectory( 3rdparty/liblsl )
+    #add_subdirectory( plotjuggler_plugins/DataStreamLSL )
 endif()
 
-add_subdirectory( plotjuggler_base )
 add_subdirectory( plotjuggler_app )
 
 add_subdirectory( plotjuggler_plugins/DataLoadCSV )
@@ -226,7 +251,6 @@ add_subdirectory( plotjuggler_plugins/DataStreamWebsocket )
 add_subdirectory( plotjuggler_plugins/DataStreamUDP )
 add_subdirectory( plotjuggler_plugins/StatePublisherCSV )
 
-
 if( ZMQ_FOUND )
   add_subdirectory( plotjuggler_plugins/DataStreamZMQ )
 endif()

datasamples/motor_data.csv

@@ -1,4 +1,4 @@
-t,Velocity,Motor Speed,I_req,I,Vbat,Torque,Force to Carpet,Accel,Down Force Req (lbf),Vacuum Req
+t,velocity,motor_speed,I_req,I,V_bat,torque,force,accel,down_force_req,vacuum_req
 0,0.000,0.0,1685.2,330.0,8.9,0.7,434.9,54.1,108.6,50.6
 0.001,0.054,18.6,1680.4,330.0,8.9,0.7,434.9,54.1,108.6,50.6
 0.002,0.108,37.2,1675.5,330.0,8.9,0.7,434.9,54.1,108.6,50.6

plotjuggler_app/mainwindow.cpp

@@ -57,63 +57,7 @@
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #endif
 
-void MainWindow::loadAllPlugins(QStringList command_line_plugin_folders)
-{
-  QSettings settings;
-  QStringList loaded;
-  QStringList plugin_folders;
-  QStringList builtin_folders;
-
-  plugin_folders += command_line_plugin_folders;
-  plugin_folders += settings.value("Preferences::plugin_folders", QStringList()).toStringList();
-
-  builtin_folders += QCoreApplication::applicationDirPath();
 
-  try {
-#ifdef COMPILED_WITH_CATKIN
-    const char * env = std::getenv("CMAKE_PREFIX_PATH");
-    if (env) {
-      QString env_catkin_paths = QString::fromStdString( env );
-      env_catkin_paths.replace(";",":"); // for windows
-      auto catkin_paths = env_catkin_paths.split(":");
-
-      for(const auto& path: catkin_paths)
-      {
-        builtin_folders += path + "/lib/plotjuggler_ros";
-      }
-    }
-    builtin_folders += QCoreApplication::applicationDirPath() + "_ros";
-#endif
-#ifdef COMPILED_WITH_AMENT
-    auto ros2_path = QString::fromStdString(ament_index_cpp::get_package_prefix("plotjuggler_ros"));
-    ros2_path += "/lib/plotjuggler_ros";
-    loaded += initializePlugins(ros2_path);
-#endif
-  } catch (...) {
-
-    QMessageBox::warning(nullptr, "Missing package [plotjuggler-ros]",
-                         "If you just upgraded from PlotJuggler 2.x to 3.x , try installing this package:\n\n"
-                         "sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros",
-                         QMessageBox::Cancel, QMessageBox::Cancel);
-  }
-
-#ifdef Q_OS_LINUX
-  builtin_folders += "/opt/plotjuggler";
-#endif
-
-  builtin_folders += QStandardPaths::writableLocation( QStandardPaths::GenericDataLocation) + "/PlotJuggler";
-  builtin_folders.removeDuplicates();
-
-  plugin_folders += builtin_folders;
-  plugin_folders.removeDuplicates();
-
-  for(const auto& folder: plugin_folders)
-  {
-    loaded += initializePlugins(folder);
-  }
-
-  settings.setValue("Preferences::builtin_plugin_folders", builtin_folders);
-}
 
 MainWindow::MainWindow(const QCommandLineParser& commandline_parser, QWidget* parent)
   : QMainWindow(parent)
@@ -513,6 +457,61 @@ void MainWindow::initializeActions()
   updateRecentLayoutMenu(settings.value("MainWindow.recentlyLoadedLayout").toStringList());
 }
 
+void MainWindow::loadAllPlugins(QStringList command_line_plugin_folders)
+{
+  QSettings settings;
+  QStringList loaded;
+  QStringList plugin_folders;
+  QStringList builtin_folders;
+
+  plugin_folders += command_line_plugin_folders;
+  plugin_folders += settings.value("Preferences::plugin_folders", QStringList()).toStringList();
+
+  builtin_folders += QCoreApplication::applicationDirPath();
+
+  try {
+#ifdef COMPILED_WITH_CATKIN
+    builtin_folders += QCoreApplication::applicationDirPath() + "_ros";
+
+    const char * env = std::getenv("CMAKE_PREFIX_PATH");
+    if (env) {
+      QString env_catkin_paths = QString::fromStdString( env );
+      env_catkin_paths.replace(";",":"); // for windows
+      auto catkin_paths = env_catkin_paths.split(":");
+
+      for(const auto& path: catkin_paths)
+      {
+        builtin_folders += path + "/lib/plotjuggler_ros";
+      }
+    }
+#endif
+#ifdef COMPILED_WITH_AMENT
+    auto ros2_path = QString::fromStdString(ament_index_cpp::get_package_prefix("plotjuggler_ros"));
+    ros2_path += "/lib/plotjuggler_ros";
+    loaded += initializePlugins(ros2_path);
+#endif
+  } catch (...) {
+
+    QMessageBox::warning(nullptr, "Missing package [plotjuggler-ros]",
+                         "If you just upgraded from PlotJuggler 2.x to 3.x , try installing this package:\n\n"
+                         "sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros",
+                         QMessageBox::Cancel, QMessageBox::Cancel);
+  }
+
+  builtin_folders += QStandardPaths::writableLocation( QStandardPaths::GenericDataLocation) + "/PlotJuggler";
+  builtin_folders.removeDuplicates();
+
+  plugin_folders += builtin_folders;
+  plugin_folders.removeDuplicates();
+
+  for(const auto& folder: plugin_folders)
+  {
+    loaded += initializePlugins(folder);
+  }
+
+  settings.setValue("Preferences::builtin_plugin_folders", builtin_folders);
+}
+
 QStringList MainWindow::initializePlugins(QString directory_name)
 {
   static std::set<QString> loaded_plugins;

plotjuggler_plugins/DataLoadCSV/CMakeLists.txt

@@ -17,14 +17,6 @@ target_link_libraries(DataLoadCSV
     ${Qt5Xml_LIBRARIES}
     plotjuggler_plugin_base)
 
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS DataLoadCSV
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS DataLoadCSV
-            DESTINATION  lib/${PROJECT_NAME} )
-else()
-    install(TARGETS DataLoadCSV DESTINATION bin  )
-endif()
+
+install(TARGETS DataLoadCSV DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
+

plotjuggler_plugins/DataLoadULog/CMakeLists.txt

@@ -22,14 +22,5 @@ target_link_libraries(DataLoadULog
     ${Qt5Xml_LIBRARIES}
     plotjuggler_plugin_base)
 
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS DataLoadULog
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS DataLoadULog
-            DESTINATION  lib/${PROJECT_NAME} )
-else()
-    install(TARGETS DataLoadULog DESTINATION bin  )
-endif()
+install(TARGETS DataLoadULog DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
+

plotjuggler_plugins/DataStreamLSL/CMakeLists.txt

@@ -16,17 +16,5 @@ target_link_libraries(DataStreamLSL
     lslboost
     )
 
-
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS DataStreamLSL
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS DataStreamLSL
-            DESTINATION  lib/${PROJECT_NAME} )
-else()
-    install(TARGETS DataStreamLSL DESTINATION bin  )
-endif()
-
+install(TARGETS DataStreamLSL DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
 

plotjuggler_plugins/DataStreamMQTT/CMakeLists.txt

@@ -24,18 +24,7 @@ else()
         paho-mqtt3a-static)
 endif()
 
-
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS DataStreamMQTT
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS DataStreamMQTT
-            DESTINATION  lib/${PROJECT_NAME} )
-else()
-    install(TARGETS DataStreamMQTT DESTINATION bin  )
-endif()
+install(TARGETS DataStreamMQTT DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
 
 
 

plotjuggler_plugins/DataStreamSample/CMakeLists.txt

@@ -13,14 +13,4 @@ target_link_libraries(DataStreamSample
     ${Qt5Xml_LIBRARIES}
     plotjuggler_plugin_base)
 
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS DataStreamSample
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS DataStreamSample
-            DESTINATION  lib/${PROJECT_NAME} )
-else()
-    install(TARGETS DataStreamSample DESTINATION bin  )
-endif()
+install(TARGETS DataStreamSample DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )

plotjuggler_plugins/DataStreamUDP/CMakeLists.txt

@@ -16,17 +16,6 @@ target_link_libraries(DataStreamUDP
     plotjuggler_plugin_base
     )
 
-
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS DataStreamUDP
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS DataStreamUDP
-            DESTINATION  lib/${PROJECT_NAME} )
-else()
-    install(TARGETS DataStreamUDP DESTINATION bin  )
-endif()
+install(TARGETS DataStreamUDP DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
 
 

plotjuggler_plugins/DataStreamWebsocket/CMakeLists.txt

@@ -22,17 +22,7 @@ else()
         Qt5::WebSockets
         plotjuggler_plugin_base )
 
-    if(COMPILING_WITH_CATKIN)
-        install(TARGETS DataStreamWebSocket
-            ARCHIVE DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-            LIBRARY DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
-    elseif(COMPILING_WITH_AMENT)
-        install(TARGETS DataStreamWebSocket
-                DESTINATION  lib/${PROJECT_NAME} )
-    else()
-        install(TARGETS DataStreamWebSocket DESTINATION bin  )
-    endif()
+    install(TARGETS DataStreamWebSocket DESTINATION ${PJ_PLUGIN_INSTALL_DIRECTORY}  )
 
 endif()