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Do CI using clang on more targets, explicitly set cmake args for clang #212

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Merged
flipflip8952 merged 4 commits into from
Aug 5, 2026
Merged

Do CI using clang on more targets, explicitly set cmake args for clang #212

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943bf87
also do clang CI on Lyrical/Ubuntu26
flipflip8952 Aug 5, 2026
afaa7e5
explicitly set c and c++ compiler
flipflip8952 Aug 5, 2026
b0ca5f7
docu
flipflip8952 Aug 5, 2026
8cf9e9b
fix
flipflip8952 Aug 5, 2026
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12 changes: 10 additions & 2 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@ BUILD_TESTING =
VERBOSE = 0
USE_PROJ =
USE_FFMPEG =
C_COMPILER =
CXX_COMPILER =

# User vars
-include config.mk
Expand All @@ -28,7 +30,7 @@ else ifeq ($(ROS_VERSION),2)
endif

# A unique ID for this exact config we're using
configuid=$(shell echo "$(BUILD_TYPE) $(INSTALL_PREFIX) $(BUILD_TESTING) $(USE_PROJ) $(USE_FFMPEG) $(FPSDK_VERSION_STRING) $(CC) $(CXX) $$(uname -a)" | md5sum | cut -d " " -f1)
configuid=$(shell echo "$(BUILD_TYPE) $(INSTALL_PREFIX) $(BUILD_TESTING) $(USE_PROJ) $(USE_FFMPEG) $(FPSDK_VERSION_STRING) $(C_COMPILER) $(CXX_COMPILER) $$(uname -a)" | md5sum | cut -d " " -f1)

.PHONY: help
help:
Expand Down Expand Up @@ -139,6 +141,12 @@ endif
ifneq ($(FPSDK_VERSION_STRING),)
CMAKE_ARGS += -DVERSION_STRING=$(FPSDK_VERSION_STRING)
endif
ifneq ($(C_COMPILER),)
CMAKE_ARGS += -DCMAKE_C_COMPILER=$(C_COMPILER)
endif
ifneq ($(CXX_COMPILER),)
CMAKE_ARGS += -DCMAKE_CXX_COMPILER=$(CXX_COMPILER)
endif

ifeq ($(BUILD_TYPE),Release)
CMAKE_ARGS_INSTALL += --strip
Expand Down Expand Up @@ -188,7 +196,7 @@ cmake: $(BUILD_DIR)/.make-cmake
deps_cmake := Makefile $(wildcard config.mk) $(wildcard $(sort $(wildcard CMakeLists.txt */CMakeLists.txt */cmake/*)))

$(BUILD_DIR)/.make-cmake: $(deps_cmake) $(BUILD_DIR)/.make-configuid-$(configuid)
@echo "$(HLW)***** Configure ($(BUILD_TYPE)) *****$(HLO)"
@echo "$(HLW)***** Configure ($(CMAKE_ARGS)) *****$(HLO)"
$(V)$(CMAKE) -B $(BUILD_DIR) $(CMAKE_ARGS)
$(V)$(TOUCH) $@

Expand Down
8 changes: 4 additions & 4 deletions docker/ci.sh
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Expand Up @@ -207,7 +207,7 @@ function build_toplevel_release_clang
cd ${FPSDK_SRC_DIR}
rm -rf build/${buildname}
make install \
CC=clang CXX=clang++ \
C_COMPILER=clang CXX_COMPILER=clang++ \
INSTALL_PREFIX=install/${buildname} \
BUILD_TYPE=Release \
BUILD_DIR=build/${buildname} || return 1
Expand All @@ -222,7 +222,7 @@ function build_toplevel_debug_clang
cd ${FPSDK_SRC_DIR}
rm -rf build/${buildname}
make install \
CC=clang CXX=clang++ \
C_COMPILER=clang CXX_COMPILER=clang++ \
INSTALL_PREFIX=install/${buildname} \
BUILD_TYPE=Debug \
BUILD_DIR=build/${buildname} || return 1
Expand Down Expand Up @@ -555,9 +555,9 @@ do_step build_projs_release_noros_mindeps || true # continue

do_step build_examples || true # continue

# Some minimal checks with clang
# Some minimal checks with clang on the reference system (Trixie) and a more recent Ubuntu 26 (= ROS2 Lyrical)
echo "===== clang ====="
if [ "${FPSDK_IMAGE%-*}" = "trixie" ]; then
if [ "${FPSDK_IMAGE%-*}" = "trixie" -o "${FPSDK_IMAGE%-*}" = "lyrical" ]; then
do_step build_toplevel_release_clang || true # continue
do_step build_toplevel_debug_clang || true # continue
fi
Expand Down
1 change: 1 addition & 0 deletions docker/scripts/install_apt_base.sh
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Expand Up @@ -44,6 +44,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
..............jazzy.lyrical.trixie libproj25
..............jazzy.lyrical.trixie libproj-dev
noetic.humble.jazzy.lyrical.trixie libssl-dev
....................lyrical....... libstdc++-16-dev # For clang
noetic.humble.jazzy.lyrical.trixie libsqlite3-dev
noetic.humble.jazzy.lyrical.trixie libtiff-dev
noetic.humble.jazzy.lyrical.trixie libva-dev # automatically installs va-driver-all?
Expand Down