feat - added vendor agnostic sonar backend

gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt

@@ -1,23 +1,16 @@
 cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
-
 # Suppress developer warnings for the entire workspace.
-
 set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS TRUE CACHE BOOL
     "Suppress developer warnings" FORCE)
 # Set CMP0144 to NEW to ensure find_package
 # uses upper-case <PACKAGENAME>_ROOT variables.
-
 cmake_policy(SET CMP0144 NEW)
-
 project(multibeam_sonar)
-
 set(CUDA_ARCHITECTURE "60" CACHE STRING "Target CUDA SM version")
-
 find_package(ament_cmake REQUIRED)
 find_package(CUDAToolkit QUIET)
 
 if(CUDAToolkit_FOUND)
-
   enable_language(CUDA)
   find_package(CUDA REQUIRED)
   message(STATUS "CUDA found, enabling CUDA support.")
@@ -47,17 +40,51 @@ if(CUDAToolkit_FOUND)
     set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre)
     add_definitions(-DWITH_OGRE)
   endif()
-
   if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2)
     set(HAVE_OGRE2 TRUE)
     set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2)
     add_definitions(-DWITH_OGRE2)
   endif()
 
+  # Detected at configure time by presence of cargo.
+  # If cargo is absent the wgpu sources are simply excluded — CUDA build is
+  # completely unaffected.
+
+  find_program(CARGO_EXECUTABLE cargo)
+
+  if(CARGO_EXECUTABLE)
+    message(STATUS "[multibeam_sonar] WGPU backend ENABLED")
+
+    set(WGPU_DIR ${CMAKE_CURRENT_SOURCE_DIR}/wgpu_backend)
+    set(WGPU_LIB ${WGPU_DIR}/target/release/libsonar_wgpu_backend.a)
+
+    add_custom_command(
+      OUTPUT ${WGPU_LIB}
+      COMMAND cargo build --release
+      WORKING_DIRECTORY ${WGPU_DIR}
+      COMMENT "Building Rust WGPU backend"
+    )
+
+    add_custom_target(wgpu_backend_build ALL DEPENDS ${WGPU_LIB})
+
+    add_library(wgpu_backend STATIC IMPORTED)
+    set_target_properties(wgpu_backend PROPERTIES
+      IMPORTED_LOCATION ${WGPU_LIB}
+    )
+
+    add_dependencies(wgpu_backend wgpu_backend_build)
+
+    set(HAVE_WGPU ON)
+  else()
+    message(STATUS "[multibeam_sonar] WGPU backend DISABLED (cargo not found)")
+    set(HAVE_WGPU OFF)
+  endif()
+
   add_library(${PROJECT_NAME}
     SHARED
       MultibeamSonarSensor.cc
       sonar_calculation_cuda.cu
+      sonar_compute_wgpu.cc
   )
 
   set_target_properties(${PROJECT_NAME}
@@ -92,6 +119,21 @@ if(CUDAToolkit_FOUND)
     ${CUBLAS_LIB}
   )
 
+  # Link wgpu static lib if built
+  if(HAVE_WGPU)
+    target_compile_definitions(${PROJECT_NAME} PRIVATE HAVE_WGPU_BACKEND)
+
+    target_include_directories(${PROJECT_NAME}
+      PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/wgpu_backend/include
+    )
+
+    target_link_libraries(${PROJECT_NAME}
+      wgpu_backend
+      pthread
+      dl
+    )
+  endif()
+
   install(TARGETS ${PROJECT_NAME}
     DESTINATION lib/${PROJECT_NAME}
   )
@@ -120,4 +162,4 @@ else()
                 "Skipping CUDA-specific targets")
 endif()
 
-ament_package()
+ament_package()