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adds missing zstd and lz4 deps that mcap lib needs #59

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sinaaghli wants to merge 2 commits into from
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adds missing zstd and lz4 deps that mcap lib needs #59

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e71d99b
adds missing zstd and lz4 deps that mcap lib needs
sinaaghli Aug 11, 2025
c32dceb
add fallback finds
sinaaghli Aug 11, 2025
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38 changes: 38 additions & 0 deletions data_tamer_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,35 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

# Find system dependencies for mcap
find_package(PkgConfig QUIET)
if(PkgConfig_FOUND)
pkg_check_modules(ZSTD REQUIRED libzstd)
pkg_check_modules(LZ4 REQUIRED liblz4)
else()
# Fallback: try to find libraries manually
find_library(ZSTD_LIBRARY NAMES zstd libzstd)
find_path(ZSTD_INCLUDE_DIR NAMES zstd.h)
find_library(LZ4_LIBRARY NAMES lz4 liblz4)
find_path(LZ4_INCLUDE_DIR NAMES lz4.h)

if(ZSTD_LIBRARY AND ZSTD_INCLUDE_DIR)
set(ZSTD_FOUND TRUE)
set(ZSTD_LIBRARIES ${ZSTD_LIBRARY})
set(ZSTD_INCLUDE_DIRS ${ZSTD_INCLUDE_DIR})
endif()

if(LZ4_LIBRARY AND LZ4_INCLUDE_DIR)
set(LZ4_FOUND TRUE)
set(LZ4_LIBRARIES ${LZ4_LIBRARY})
set(LZ4_INCLUDE_DIRS ${LZ4_INCLUDE_DIR})
endif()

if(NOT ZSTD_FOUND OR NOT LZ4_FOUND)
message(FATAL_ERROR "Could not find ZSTD or LZ4 libraries. Please install libzstd-dev and liblz4-dev packages.")
endif()
endif()

if(${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
option(DATA_TAMER_BUILD_TESTS "Build tests" ON)
option(DATA_TAMER_BUILD_EXAMPLES "Build examples" ON)
Expand Down Expand Up @@ -34,6 +63,15 @@ find_package(mcap QUIET)
if(NOT mcap_FOUND AND NOT DATA_TAMER_BUILD_ROS)
set(USE_VENDORED_MCAP ON)
message(STATUS "MCAP from 3rdparty")

# Pass pkg-config variables to mcap subdirectory
set(ZSTD_INCLUDE_DIR ${ZSTD_INCLUDE_DIRS})
set(ZSTD_LIBRARY ${ZSTD_LIBRARIES})
set(ZSTD_FOUND TRUE)
set(LZ4_INCLUDE_DIR ${LZ4_INCLUDE_DIRS})
set(LZ4_LIBRARY ${LZ4_LIBRARIES})
set(LZ4_FOUND TRUE)

add_subdirectory(3rdparty/mcap)
set(mcap_LIBRARY mcap_lib)
else()
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