refactor: Integrate compiler option macros and GCC version detection into CMake configuration for improved build settings

Author: Woojin-Crive

CMakeLists.txt

@@ -1,7 +1,64 @@
+# Portions of this file are derived from ros2_control_cmake (Apache 2.0 License)
+# Copyright 2025 AIT - Austrian Institute of Technology GmbH
+# See the LICENSE file for details.
+
 cmake_minimum_required(VERSION 3.16)
 project(dynamixel_hardware_interface)
 
-find_package(ros2_control_cmake REQUIRED)
+# ==== Begin inlined content from ros2_control_cmake/cmake/ros2_control.cmake ====
+# Macro to extract GCC_MAJOR_VERSION and GCC_MINOR_VERSION
+macro(extract_gcc_version)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    string(REPLACE "." ";" VERSION_LIST ${CMAKE_CXX_COMPILER_VERSION})
+    list(GET VERSION_LIST 0 GCC_MAJOR_VERSION)
+    list(GET VERSION_LIST 1 GCC_MINOR_VERSION)
+
+    message(STATUS "Detected GCC Version: ${CMAKE_CXX_COMPILER_VERSION} (Major: ${GCC_MAJOR_VERSION}, Minor: ${GCC_MINOR_VERSION})")
+
+    # Convert to a number to avoid string comparison issues
+    if(GCC_MAJOR_VERSION MATCHES "^[0-9]+$")
+      math(EXPR GCC_MAJOR_VERSION "${GCC_MAJOR_VERSION}")
+    endif()
+    if(GCC_MINOR_VERSION MATCHES "^[0-9]+$")
+      math(EXPR GCC_MINOR_VERSION "${GCC_MINOR_VERSION}")
+    endif()
+  endif()
+endmacro()
+
+# set compiler options depending on detected compiler
+macro(set_compiler_options)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                        -Werror=return-type -Werror=shadow -Werror=format
+                        -Werror=missing-braces)
+    message(STATUS "Compiler warnings enabled for ${CMAKE_CXX_COMPILER_ID}")
+
+    # https://docs.ros.org/en/rolling/How-To-Guides/Ament-CMake-Documentation.html#compiler-and-linker-options
+    if(NOT CMAKE_C_STANDARD)
+      set(CMAKE_C_STANDARD 99)
+    endif()
+    if(NOT CMAKE_CXX_STANDARD)
+      set(CMAKE_CXX_STANDARD 17)
+    endif()
+
+    # Extract major version if g++ is used
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+      extract_gcc_version()
+      if(DEFINED GCC_MAJOR_VERSION AND GCC_MAJOR_VERSION GREATER 10)
+        # GCC 11 introduced -Werror=range-loop-construct
+        add_compile_options(-Werror=range-loop-construct)
+      endif()
+    endif()
+  endif()
+endmacro()
+
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+macro(export_windows_symbols)
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endmacro()
+# ==== End inlined content from ros2_control_cmake/cmake/ros2_control.cmake ====
+
 set_compiler_options()
 export_windows_symbols()
 

NOTICE

@@ -0,0 +1,4 @@
+Portions of this package are derived from ros2_control_cmake, which is licensed under the Apache License, Version 2.0.
+Copyright 2025 AIT - Austrian Institute of Technology GmbH
+
+See the CMakeLists.txt for details on which code is derived.

ros2_control_cmake

@@ -0,0 +1 @@
+Subproject commit d10436128442a805e897b34ce910459ce2159fd2