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* Refs #3139. Added entities creation by reference. (#11)

* Refs #3139. Added entities creation by reference.

* Refs #3139. Added topic creation by reference support.

* Request API change (#12)

* Run session API changes. Public flash output buffer

* Added mr_ prefix to flash function

* Refs 3386. Added memory consumption test. (#13)

* Refs #3386. Changed Properties typedef. (#14)

* New write access profile API (#15)

* Refs #3402. Initial API structure.

* Refs #3402. Added generic Write Access Profile

* Changes for acepting pull request github #15.

* Modified generated example code.

* Necessary changes of previous rebase

* Improvement protocol serialization speed and stack usage. (#18)

* Refs #3427. Improvement protocol serialization speed and stack usage.

* Refs #3427. Fix condition

* Refs #3428. Protocol deserializations safe. (#19)

* Request change at run_session_until_status (#17)

* Request of small API change at run_session_until_status

* Change names from and,or to all,one

* Fixed windows warnings

* Updated with MicroCDR prefix. (#20)

* Refs #3436. Base mc changes.

* Refs #3436. Updated with MicroCDR prefix change.

* Refs #3436. Updated with MicroCDR MicroBuffer name changed (to mcBuffer).

* Refs #3436. Updated MicroCDR fix.

* Refs #3436. Updated MicroCDR submodule.

* Updated MicroCDR thirdparty

* Fix added prefix by error. (#22)

* Renamed project to MicroXRCE-DDS (#23)

* Refs #3451. Updated MicroCDR prefix.

* Refs #3451. Change name micrortps -> microxrce

* Refs #3451. Change prefix mr_ and MR_

* --amend

* Refs #3451. Modified dll export name

* Refs #3451. Change prefix to types.

* Refs #3451. Updated README

* Refs #3451. Changed library name.

* Refs #3458. Changed private symbols at communication and serialization packages.

* Refs #3458. Changed private symbols at time packages.

* Refs #3458. Refactored streams. Fixed private symbols.

* Refs #3458. Refactored log package. Fixed internal symbols.

* Refs #3458. Refactored seq_num. Fix internal symbols SeqNum ObjectID

* Refs #3458. Refactored stream_id and stream_storage. Fixed internal symbols.

* Refs #3458. Fixed session package symbols.

* Refs #3458. Fixed communication package and util package.

* Refs #3458. Refactor serialization package

* Refs #3458. Fixed internal symbols at session profiles

* Refs #3458. Added external tag to transport.

* Refs #3458. Modified include path

* Refs #3458. Updated define guards

* Refs #3458. Update library name.

* #3451. Updated MicroCDR include path.

* Fixed cmake install

* Updated MicroCDR submodule.

* Fixes linker windows error with logs

* Adapted log to fix windows issue.

* Integration test only for linux.

* Added empty output tests.

* Added guards to write profile to examples/tests (#25)

* Added guards to write profile to examples/tests

* Fix comments

* Updated README image. (#26)

* Transport stabilization (#27)

* Refs #3445. Fixed Windows transport and removed warnings.

* Refs #3519. Modified poll-read behaviour in TCP and Serial.

* Refs #3522. Took out common factor from Windows and Linux transport.

* Refs #3533. Modified XML representation in examples. (#28)

* Renamed write_ to buffer_ functions (#29)

* util/time out of the core (#31)

* util/time out of the core

* Fixed windows compilation

* Fixed bug at topic generated code. (#33)

* Refs #3502. Adapted log output buffer size to max MTU. (#32)

* api change: configure -> create at some functions. (#34)

* Transport review (#35)

* Refs #3441. Added API strucure and examples.

* Refs #3446. First approach.

* Refs #3446. Make basic discovery implementation.

* Refs #3446. Added header parse

* Refs #3446. Adapted to rebase develop changes.

* Generic ip initialization udp. Reduce stack at udp connection.

* Completed funtionality of discovery. It is necessary a great build system mode for the transport OS dependent.

* Refs #3446 Added build system.

* Refs #3446. Fixed bug at serialization GET INFO message. Updated log for discovery.

* Refs #3446. Modified array to IP address convertion.

* Slight changes

* Post rebase changes.

* Refs #3447. Updated Cross serlization tests to support discovery messages.

* Refs #3441. Change API.

* Refs #3447. Added integration test. First approach.

* Addapt integration test with new xml representation.

* Refs #3551. Added support for TCP in interaction test.

* Default create/delete session attempts reduced.

* Refs #3447. Modified discovery examples

* Refs #3447. Added ref integration tests.

* Discretize transport by parameter.

* Refs #3447. Updated with changes in develop

* Fixed bug at info cross_serialization test.

* Refs #3447. Updated discovery integration test.

* Modified xml of integration test to fix bug.

* Add reuse addr to tcp transport.

* Refs #3526. Refactor input serial transport.

* Refs #3526. Refactor output serial transport.

* Refs #3526. Added new serial tests.

* Refs #3550. Refactor Serial transport stack and modified transport folders.

* Refs #3526. Simplified Serial transport protocol.

* Refs #3526. Solved rebase conflicts.

* Refs #3550. Refactor TCP transport stack.

* Refs #3550. Refactor UDP transport stack.

* Refs #3550. Moved main Serial transport functions.

* Refs #3550. Added simple error management.

* Updated and fixed deployment example.

* Test/streams (#21)

* Fixed integration issue.

* Refs #3233. Modified and completed output best effort tests.

* Refs #3233. Added input best effort stream test.

* Refs #3233. Fix input best effort test.

* Refs #3233. Updated test with the recent API version.

* First attempt OutputReliable.

* Refs #3233. Compile test without linking client library.

* Fixed memory leak and windows warnings

* Fixed 'chosen' word (#37)
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@lemunozm @richiware
lemunozm authored and richiware committed Oct 19, 2018
1 parent 68f05d8 commit c4dc219
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112 changes: 75 additions & 37 deletions CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
# limitations under the License.

###############################################################################
# CMake build rules for Micro RTPS Client
# CMake build rules for Micro XRCE-DDS Client
###############################################################################
cmake_minimum_required(VERSION 2.8.12 FATAL_ERROR)

Expand All @@ -35,14 +35,14 @@ endif()
# Product information
###############################################################################
if(CMAKE_VERSION VERSION_LESS 3.0)
project(micrortps_client C)
project(microxrcedds_client C)
set(PROJECT_VERSION_MAJOR 1)
set(PROJECT_VERSION_MINOR 0)
set(PROJECT_VERSION_PATCH 0)
set(PROJECT_VERSION ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH})
else()
cmake_policy(SET CMP0048 NEW)
project(micrortps_client VERSION "1.0.0" LANGUAGES C)
project(microxrcedds_client VERSION "1.0.0" LANGUAGES C)
endif()

###############################################################################
Expand All @@ -54,6 +54,9 @@ option(EPROSIMA_BUILD_TESTS "Activate the building tests" OFF)
option(THIRDPARTY "Activate the build of thirdparties" OFF)
option(VERBOSE_SERIALIZATION "Use verbose output" OFF)
option(VERBOSE_MESSAGE "Use verbose output" OFF)
if((${CMAKE_SYSTEM_NAME} STREQUAL "Linux") OR (${CMAKE_SYSTEM_NAME} STREQUAL "Generic"))
option(MEMORY_PERFORMANCE "Memory performace test." OFF)
endif()

if(EPROSIMA_BUILD)
set(EPROSIMA_BUILD_EXAMPLES ON)
Expand All @@ -65,9 +68,11 @@ endif()
# Client configuration options
###############################################################################

# Load client.config.
if(EXISTS ${PROJECT_SOURCE_DIR}/client.config)
configure_file(${PROJECT_SOURCE_DIR}/client.config ${PROJECT_SOURCE_DIR}/CMakeCache.txt COPYONLY)
# Load configuration file.
set(CLIENT_CONFIG "${PROJECT_SOURCE_DIR}/client.config" CACHE PATH "Configuration client file.")

if(EXISTS ${CLIENT_CONFIG})
configure_file(${CLIENT_CONFIG} ${PROJECT_SOURCE_DIR}/CMakeCache.txt COPYONLY)
load_cache(${PROJECT_SOURCE_DIR})
file(REMOVE ${PROJECT_SOURCE_DIR}/CMakeCache.txt)
else()
Expand Down Expand Up @@ -108,45 +113,70 @@ foreach(TRANSPORT_TYPE UDP TCP SERIAL)
string(TOLOWER ${TRANSPORT_TYPE} TT)
if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
set(PLATFORM_NAME_LINUX ON)
set(${TRANSPORT_TYPE}_SRCS src/c/profile/transport/${TT}_transport_linux.c)
set(${TRANSPORT_TYPE}_SRCS
src/c/profile/transport/${TT}/${TT}_transport.c
src/c/profile/transport/${TT}/${TT}_transport_linux.c
)
elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
set(PLATFORM_NAME_WINDOWS ON)
set(${TRANSPORT_TYPE}_SRCS src/c/profile/transport/${TT}_transport_windows.c)
set(${TRANSPORT_TYPE}_SRCS
src/c/profile/transport/${TT}/${TT}_transport.c
src/c/profile/transport/${TT}/${TT}_transport_windows.c
)
elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Generic")
if(${PLATFORM_NAME} STREQUAL "nuttx")
set(PLATFORM_NAME_NUTTX ON)
set(${TRANSPORT_TYPE}_SRCS src/c/profile/transport/${TT}_transport_linux.c)
set(${TRANSPORT_TYPE}_SRCS
src/c/profile/transport/${TT}/${TT}_transport.c
src/c/profile/transport/${TT}/${TT}_transport_linux.c
)
endif()
endif()
endif()
endforeach()

# Transport discovery source
if(PROFILE_DISCOVERY)
if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
set(UDP_DISCOVERY_SRCS src/c/profile/discovery/transport/udp_transport_linux_datagram.c)
# elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
# set(UDP_DISCOVERY_SRCS src/c/profile/discovery/transport/udp_transport_windows_datagram.c)
elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Generic")
if(${PLATFORM_NAME} STREQUAL "nuttx")
set(UDP_DISCOVERY_SRCS src/c/profile/discovery/transport/udp_transport_linux_datagram.c)
endif()
endif()
endif()

# Other sources
set(SRCS
$<$<BOOL:${PROFILE_COMMON_CREATE_ENTITIES}>:src/c/profile/session/common_create_entities.c>
$<$<BOOL:${PROFILE_CREATE_ENTITIES_REF}>:src/c/profile/session/create_entities_ref.c>
$<$<BOOL:${PROFILE_CREATE_ENTITIES_XML}>:src/c/profile/session/create_entities_xml.c>
$<$<BOOL:${PROFILE_READ_ACCESS}>:src/c/profile/session/read_access.c>
${UDP_SRCS}
${TCP_SRCS}
${SERIAL_SRCS}
src/c/core/communication/serial_protocol.c
src/c/core/session/input_best_effort_stream.c
src/c/core/session/input_reliable_stream.c
src/c/core/session/output_best_effort_stream.c
src/c/core/session/output_reliable_stream.c
src/c/core/session/stream/input_best_effort_stream.c
src/c/core/session/stream/input_reliable_stream.c
src/c/core/session/stream/output_best_effort_stream.c
src/c/core/session/stream/output_reliable_stream.c
src/c/core/session/stream/stream_storage.c
src/c/core/session/stream/stream_id.c
src/c/core/session/stream/seq_num.c
src/c/core/session/session.c
src/c/core/session/session_info.c
src/c/core/session/stream_id.c
src/c/core/session/stream_storage.c
src/c/core/session/submessage.c
src/c/core/session/seq_num.c
src/c/core/session/object_id.c
src/c/core/serialization/xrce_protocol.c
src/c/core/serialization/xrce_header.c
src/c/core/serialization/xrce_subheader.c
src/c/core/util/time.c
$<$<OR:$<BOOL:${VERBOSE_MESSAGE}>,$<BOOL:${VERBOSE_SERIALIZATION}>>:src/c/core/session/log/message.c>
src/c/util/time.c
$<$<OR:$<BOOL:${VERBOSE_MESSAGE}>,$<BOOL:${VERBOSE_SERIALIZATION}>>:src/c/core/log/log.c>
$<$<BOOL:${PROFILE_COMMON_CREATE_ENTITIES}>:src/c/profile/session/common_create_entities.c>
$<$<BOOL:${PROFILE_CREATE_ENTITIES_REF}>:src/c/profile/session/create_entities_ref.c>
$<$<BOOL:${PROFILE_CREATE_ENTITIES_XML}>:src/c/profile/session/create_entities_xml.c>
$<$<BOOL:${PROFILE_READ_ACCESS}>:src/c/profile/session/read_access.c>
$<$<BOOL:${PROFILE_WRITE_ACCESS}>:src/c/profile/session/write_access.c>
$<$<AND:$<NOT:$<PLATFORM_ID:Windows>>,$<BOOL:${PROFILE_DISCOVERY}>>:src/c/profile/discovery/discovery.c>
${UDP_DISCOVERY_SRCS}
${UDP_SRCS}
${TCP_SRCS}
${SERIAL_SRCS}
)

###############################################################################
Expand Down Expand Up @@ -189,20 +219,19 @@ else()
endif()

# Create source files with the define
configure_file(${PROJECT_SOURCE_DIR}/include/micrortps/client/config.h.in
${PROJECT_BINARY_DIR}/include/micrortps/client/config.h
configure_file(${PROJECT_SOURCE_DIR}/include/uxr/client/config.h.in
${PROJECT_BINARY_DIR}/include/uxr/client/config.h
)

###############################################################################
# Compile setting
###############################################################################


# Definitions
target_compile_definitions(${PROJECT_NAME}
PRIVATE
-D$<$<BOOL:${VERBOSE_SERIALIZATION}>:SERIALIZATION_LOGS>
-D$<$<BOOL:${VERBOSE_MESSAGE}>:MESSAGE_LOGS>
-D$<$<BOOL:${VERBOSE_SERIALIZATION}>:UXR_SERIALIZATION_LOGS>
-D$<$<BOOL:${VERBOSE_MESSAGE}>:UXR_MESSAGE_LOGS>
)

get_target_property(TARGET_TYPE ${PROJECT_NAME} TYPE)
Expand All @@ -224,6 +253,9 @@ if(EPROSIMA_BUILD_EXAMPLES)
add_subdirectory(examples/SubscribeHelloWorld)
add_subdirectory(examples/ShapesDemo)
add_subdirectory(examples/Deployment)
if(NOT ${SYSTEM_CMAKE_NAME} STREQUAL "Windows")
add_subdirectory(examples/Discovery)
endif()
endif()

###############################################################################
Expand All @@ -236,16 +268,22 @@ if(EPROSIMA_BUILD_TESTS AND IS_TOP_LEVEL)
include(CTest)

if(NOT ((MSVC OR MSVC_IDE) AND EPROSIMA_INSTALLER))
add_subdirectory(test/integration/interaction)
add_subdirectory(test/integration/cross_serialization)
add_subdirectory(test/unitary/streams/output_best_effort)
add_subdirectory(test/unitary/streams)

if(NOT WIN32)
add_subdirectory(test/transport/serial_comm)
add_subdirectory(test/integration/interaction)
add_subdirectory(test/integration/cross_serialization)
endif()
endif()
endif()

if((${CMAKE_SYSTEM_NAME} STREQUAL "Linux") OR (${CMAKE_SYSTEM_NAME} STREQUAL "Generic"))
if(MEMORY_PERFORMANCE)
add_subdirectory(test/memory/consumption)
endif()
endif()

###############################################################################
# Packaging
###############################################################################
Expand All @@ -260,14 +298,14 @@ install(TARGETS ${PROJECT_NAME}
)

# Install includes
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/micrortps/client/
DESTINATION ${INCLUDE_INSTALL_DIR}/micrortps/client
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/uxr/client/
DESTINATION ${INCLUDE_INSTALL_DIR}/uxr/client
FILES_MATCHING PATTERN "*.h"
)

# Install config.h
install(FILES ${PROJECT_BINARY_DIR}/include/micrortps/client/config.h
DESTINATION ${INCLUDE_INSTALL_DIR}/micrortps/client
install(FILES ${PROJECT_BINARY_DIR}/include/uxr/client/config.h
DESTINATION ${INCLUDE_INSTALL_DIR}/uxr/client
)

# Export library
Expand Down
15 changes: 8 additions & 7 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,19 +1,20 @@
# Micro RTPS Client
# Micro XRCE-DDS Client

<a href="http://www.eprosima.com"><img src="https://encrypted-tbn3.gstatic.com/images?q=tbn:ANd9GcSd0PDlVz1U_7MgdTe0FRIWD0Jc9_YH-gGi0ZpLkr-qgCI6ZEoJZ5GBqQ" align="left" hspace="8" vspace="2" width="100" height="100" ></a>

In *Micro RTPS* a *Micro RTPS Client* can communicate with DDS Network as any other DDS actor could do. Clients can publish and subscribe to data topics in DDS Global Data Space. *Micro RTPS* provides you with a C API to create *Micro RTPS Clients*.
In *Micro XRCE-DDS* a *Micro XRCE-DDS Client* can communicate with DDS Network as any other DDS actor could do.
Clients can publish and subscribe to data topics in *DDS Global Data Space*. *Micro XRCE-DDS* provides you with a C API to create *Micro XRCE-DDS Clients*.

![Architecture](docs/architecture_client.png)

<p align="center"> <img src="docs/client_architecture.svg" alt="Image"/> </p>

## Documentation

You can access Micro-RTPS documentation online, which is hosted on Read the Docs.
You can access *Micro XRCE-DDS* documentation online, which is hosted on Read the Docs.

* [Start Page](http://micro-rtps.readthedocs.io)
* [Installation manual](http://micro-rtps.readthedocs.io/en/latest/installation.html)
* [User manual](http://micro-rtps.readthedocs.io/en/latest/introduction.html)
* [Start Page](http://micro-xrce-dds.readthedocs.io)
* [Installation manual](http://micro-xrce-dds.readthedocs.io/en/latest/installation.html)
* [User manual](http://micro-xrce-dds.readthedocs.io/en/latest/introduction.html)

## Getting Help

Expand Down
4 changes: 3 additions & 1 deletion client.config
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
PROFILE_CREATE_ENTITIES_REF=TRUE
PROFILE_CREATE_ENTITIES_XML=TRUE
PROFILE_READ_ACCESS=TRUE
PROFILE_WRITE_ACCESS=TRUE
PROFILE_DISCOVERY=TRUE
PROFILE_UDP_TRANSPORT=TRUE
PROFILE_TCP_TRANSPORT=TRUE
PROFILE_SERIAL_TRANSPORT=TRUE
Expand All @@ -10,7 +12,7 @@ CONFIG_MAX_OUTPUT_RELIABLE_STREAMS=1
CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS=1
CONFIG_MAX_INPUT_RELIABLE_STREAMS=1

CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS=10
CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS=12
CONFIG_MIN_SESSION_CONNECTION_INTERVAL=1
CONFIG_MIN_HEARTBEAT_TIME_INTERVAL=1

Expand Down
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2 changes: 2 additions & 0 deletions docs/client_architecture.svg
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30 changes: 17 additions & 13 deletions examples/Deployment/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,26 +18,30 @@ if (${CMAKE_VERSION} VERSION_GREATER 3.0)
endif()


if(NOT PROFILE_CREATE_ENTITIES_REF OR NOT PROFILE_CREATE_ENTITIES_XML OR NOT PROFILE_READ_ACCESS OR NOT PROFILE_UDP_TRANSPORT)
message(WARNING "Can not compile example: The profiles PROFILE_CREATE_ENTITIES_REF, PROFILE_CREATE_ENTITIES_XML, PROFILE_READ_ACCESS and PROFILE_UDP_TRANSPORT must be enabled.")
if(NOT PROFILE_CREATE_ENTITIES_REF OR
NOT PROFILE_CREATE_ENTITIES_XML OR
NOT PROFILE_READ_ACCESS OR
NOT PROFILE_WRITE_ACCESS OR
NOT PROFILE_UDP_TRANSPORT)
message(WARNING "Can not compile example: The profiles PROFILE_CREATE_ENTITIES_REF, PROFILE_CREATE_ENTITIES_XML, PROFILE_READ_ACCESS PROFILE_WRITE_ACCESS and PROFILE_UDP_TRANSPORT must be enabled.")
else()

#############################################################
### CONFIGURATOR
#############################################################
project(ConfiguratorClient)
add_executable(ConfiguratorClient configurator_client.c HelloWorld.c HelloWorldWriter.c)
add_executable(ConfiguratorClient configurator_client.c)
if(MSVC OR MSVC_IDE)
target_compile_options(${PROJECT_NAME} PRIVATE /wd4996)
endif()
target_link_libraries(ConfiguratorClient micrortps_client)
target_link_libraries(ConfiguratorClient microxrcedds_client)

install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION examples/micrortps/client/${PROJECT_NAME}/${BIN_INSTALL_DIR}
RUNTIME DESTINATION examples/uxr/client/${PROJECT_NAME}/${BIN_INSTALL_DIR}
)

install(DIRECTORY ${PROJECT_SOURCE_DIR}/
DESTINATION examples/micrortps/client/${PROJECT_NAME}
DESTINATION examples/uxr/client/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
PATTERN "*.c"
PATTERN "*.idl"
Expand All @@ -47,18 +51,18 @@ else()
### PUBLISHER
#############################################################
project(PublisherClient)
add_executable(PublisherClient publisher.c HelloWorld.c HelloWorldWriter.c)
add_executable(PublisherClient publisher.c HelloWorld.c)
if(MSVC OR MSVC_IDE)
target_compile_options(${PROJECT_NAME} PRIVATE /wd4996)
endif()
target_link_libraries(PublisherClient micrortps_client)
target_link_libraries(PublisherClient microxrcedds_client)

install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION examples/micrortps/client/${PROJECT_NAME}/${BIN_INSTALL_DIR}
RUNTIME DESTINATION examples/uxr/client/${PROJECT_NAME}/${BIN_INSTALL_DIR}
)

install(DIRECTORY ${PROJECT_SOURCE_DIR}/
DESTINATION examples/micrortps/client/${PROJECT_NAME}
DESTINATION examples/uxr/client/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
PATTERN "*.c"
PATTERN "*.idl"
Expand All @@ -72,14 +76,14 @@ else()
if(MSVC OR MSVC_IDE)
target_compile_options(${PROJECT_NAME} PRIVATE /wd4996)
endif()
target_link_libraries(SubscriberClient micrortps_client)
target_link_libraries(SubscriberClient microxrcedds_client)

install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION examples/micrortps/client/${PROJECT_NAME}/${BIN_INSTALL_DIR}
RUNTIME DESTINATION examples/uxr/client/${PROJECT_NAME}/${BIN_INSTALL_DIR}
)

install(DIRECTORY ${PROJECT_SOURCE_DIR}/
DESTINATION examples/micrortps/client/${PROJECT_NAME}
DESTINATION examples/uxr/client/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
PATTERN "*.c"
PATTERN "*.idl"
Expand Down
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