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refactor(behavior_velocity_planner): export scene module libraries for faster build #1722

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refactor(behavior_velocity_planner): export scene module libraries for faster build #1722

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39 changes: 33 additions & 6 deletions planning/behavior_velocity_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,26 +24,53 @@ set(scene_modules
run_out
)

# for utilization. this comes first
ament_auto_add_library(behavior_velocity_planner_utilitzation SHARED
src/utilization/path_utilization.cpp
src/utilization/util.cpp
)
target_include_directories(behavior_velocity_planner_utilitzation
SYSTEM PUBLIC
${BOOST_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${tf2_geometry_msgs_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)

# for each scene module export different library
macro(add_scene_module_library scene_module)
file(GLOB_RECURSE ${scene_module}_srcs "src/scene_module/${scene_module}/*")
ament_auto_add_library(behavior_velocity_planner_${scene_module} SHARED ${${scene_module}_srcs})
target_link_libraries(behavior_velocity_planner_${scene_module} behavior_velocity_planner_utilitzation)
target_include_directories(behavior_velocity_planner_${scene_module}
SYSTEM PUBLIC
${BOOST_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${tf2_geometry_msgs_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
endmacro()

foreach(scene_module IN LISTS scene_modules)
file(GLOB_RECURSE scene_module_src "src/scene_module/${scene_module}/*")
list(APPEND scene_modules_src ${scene_module_src})
add_scene_module_library(${scene_module})
endforeach()

# main node
ament_auto_add_library(behavior_velocity_planner SHARED
src/node.cpp
src/planner_manager.cpp
src/utilization/path_utilization.cpp
src/utilization/util.cpp
${scene_modules_src}
)

target_include_directories(behavior_velocity_planner
SYSTEM PUBLIC
${BOOST_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${tf2_geometry_msgs_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
# link each scene_module
foreach(scene_module IN LISTS scene_modules)
target_link_libraries(behavior_velocity_planner behavior_velocity_planner_${scene_module})
endforeach()

ament_target_dependencies(behavior_velocity_planner
Boost
Expand Down