6. CMake options

eProsima Fast DDS provides numerous CMake options for changing the behavior and configuration of Fast DDS. These options allow the user to enable/disable certain Fast DDS settings by defining these options to ON/OFF at the CMake execution. This section is structured as follows: first, the CMake options for the general configuration of Fast DDS are described; then, the options related to the third party libraries are presented; finally, the possible options for the building of Fast DDS tests are defined.

6.1. General options

The Fast DDS CMake options for configuring general settings are shown below, together with their description and dependency on other options.

Option	Description	Possible values	Default
EPROSIMA_INSTALLER	Creates a build for Windows binary installers. Specifically it adds to the list of components to install (CPACK_COMPONENTS_ALL) the libraries corresponding to the Microsoft Visual C++ compiler (MSVC). Setting EPROSIMA_INSTALLER to ON has the following effects on other options: EPROSIMA_BUILD is set to ON. BUILD_DOCUMENTATION is set to ON. INSTALL_EXAMPLES is set to ON.	ON OFF	OFF
EPROSIMA_BUILD	Activates internal Fast DDS builds. It is set to ON if EPROSIMA_INSTALLER is ON. Setting EPROSIMA_BUILD to ON has the following effects on other options: INTERNAL_DEBUG is set to ON. COMPILE_EXAMPLES is set to ON if EPROSIMA_INSTALLER is OFF. THIRDPARTY_fastcdr is set to ON if it was not set to FORCE. THIRDPARTY_Asio is set to ON if it was not set to FORCE. THIRDPARTY_TinyXML2 is set to ON if it was not set to FORCE. THIRDPARTY_android-ifaddrs is set to ON if it was not set to FORCE. EPROSIMA_BUILD_TESTS is set to ON if EPROSIMA_INSTALLER is OFF.	ON OFF	OFF
BUILD_SHARED_LIBS	Builds internal libraries as shared libraries, i.e. cause add_library() CMake function to create shared libraries if on. All libraries are built shared unless the library was explicitly added as a static library.	ON OFF	ON
SECURITY	Activates the Fast DDS security module. Please refer to Security for more information on security module.	ON OFF	OFF
NO_TLS	Disables Transport Layer Security (TLS) Support. Please refer to TLS over TCP for more information on Fast DDS TLS configuration.	ON OFF	OFF
SHM_TRANSPORT_DEFAULT	Adds Shared Memory transport (SHM) to the default transports. Please refer to SHM section for more information on Fast DDS SHM transport.	ON OFF	ON
FASTDDS_STATISTICS	Enables the Fast DDS Statistics module. Please refer to Statistics Module for more information on this module.	ON OFF	OFF
COMPILE_EXAMPLES	Builds the Fast DDS examples. It is set to ON if EPROSIMA_BUILD is ON and EPROSIMA_INSTALLER is OFF. These examples can be found in the eProsima Fast DDS GitHub repository.	ON OFF	OFF
INSTALL_EXAMPLES	Installs the Fast DDS examples, i.e. adds the Fast DDS examples to the list of components to install (CPACK_COMPONENTS_ALL). It is set to ON if EPROSIMA_INSTALLER is ON.	ON OFF	OFF
BUILD_DOCUMENTATION	Uses doxygen to create the Fast DDS API reference documentation. It is set to ON if EPROSIMA_INSTALLER is ON or if CHECK_DOCUMENTATION is ON.	ON OFF	OFF
CHECK_DOCUMENTATION	Downloads Fast DDS documentation from Read the Docs media servers. The documentation files are extracted in the doc/manual directory, updating any previous version already downloaded. If CHECK_DOCUMENTATION is ON, BUILD_DOCUMENTATION is set to ON.	ON OFF	OFF
STRICT_REALTIME	Enables a strict real-time behaviour. Please refer to the Real-Time Use Case for more information on Fast DDS real-time configuration.	ON OFF	OFF
SQLITE3_SUPPORT	Builds the SQLITE3 Plugin, which enables the TRANSIENT_DURABILITY_QOS and PERSISTENT_DURABILITY_QOS options for the DurabilityQosPolicyKind and therefore the Persistence Service.	ON OFF	ON
APPEND_PROJECT_NAME_TO_INCLUDEDIR	When ON headers are installed to a path ending with a folder called fastrtps. This avoids include directory search order issues when overriding this package from a merged catkin, ament, or colcon workspace.	ON OFF	OFF
USE_THIRDPARTY_SHARED_MUTEX	When ON a Boost-like implementation of shared_mutex is used instead of the STL one. This flag prevents thread sanitizer reports on GCC/Clang STL implementations.	ON OFF	OFF

6.2. Log options

Fast DDS uses its own configurable Log module with different verbosity levels. Please, refer to Logging section for more information.

This module can be configured using Fast DDS CMake arguments regarding the following options.

Option	Description	Possible values	Default
LOG_CONSUMER_DEFAULT	Selects the default log consumer for the logging module. AUTO has the same behavior as STDOUT. For more information, please refer to Log consumers.	AUTO STDOUT STDOUTERR	AUTO
LOG_NO_INFO	Deactivates Info Log level. If Fast DDS is built in debug mode for Single-Config generators, the default value will be OFF.	ON OFF	ON
FASTDDS_ENFORCE_LOG_INFO	Enables Info Log level even on non Debug configurations. This option only takes action if LOG_NO_INFO is set to OFF (see Disable Logging Module). Mind that this may entail a significant performance hit.	ON OFF	OFF
LOG_NO_WARNING	Deactivates Warning Log level.	ON OFF	OFF
LOG_NO_ERROR	Deactivates Error Log level.	ON OFF	OFF
INTERNAL_DEBUG	Activates compilation of log messages (See Disable Logging Module). Moreover, INTERNAL_DEBUG is set to ON if EPROSIMA_BUILD is ON.	ON OFF	OFF

6.3. Third-party libraries options

Fast DDS relies on the eProsima FastCDR library for serialization mechanisms. Moreover, Fast DDS requires two external dependencies for its proper operation: Asio and TinyXML2. Asio is a cross-platform C++ library for network and low-level I/O programming, while TinyXML2 parses the XML profile files, so Fast DDS can use them (see XML profiles). These three libraries (eProsima FastCDR, Asio and TinyXML2) can be installed by the user, or downloaded on the Fast DDS build. In the latter case, they are referred to as Fast DDS internal third-party libraries. This can be done by setting either THIRDPARTY or EPROSIMA_BUILD to ON.

These libraries can also be configured using Fast DDS CMake options.

Option	Description	Possible values	Default
THIRDPARTY_fastcdr	ON activates the use of the internal Fast CDR third-party library if it is not found elsewhere in the system. FORCE activates the use of the internal Fast CDR third-party library regardless of whether it can be found elsewhere in the system. OFF deactivates the use of the internal Fast CDR third-party library. If it is not set to FORCE, it is set to ON if EPROSIMA_BUILD is ON.	ON OFF FORCE	OFF
THIRDPARTY_Asio	ON activates the use of the internal Asio third-party library if it is not found elsewhere in the system. FORCE activates the use of the internal Asio third-party library regardless of whether it can be found elsewhere in the system. OFF deactivates the use of the internal Asio third-party library. If it is not set to FORCE, it is set to ON if EPROSIMA_BUILD is ON.	ON OFF FORCE	OFF
THIRDPARTY_TinyXML2	ON activates the use of the internal TinyXML2 third-party library if it is not found elsewhere in the system. FORCE activates the use of the internal TinyXML2 third-party library regardless of whether it can be found elsewhere in the system. OFF deactivates the use of the internal TinyXML2 third-party library. If it is not set to FORCE, it is set to ON if EPROSIMA_BUILD is ON.	ON OFF FORCE	OFF
THIRDPARTY_android-ifaddrs	android-ifaddrs is an implementation of getifaddrs() for Android. Only used if ANDROID is 1. ON activates the use of the internal android-ifaddrs third-party library if it is not found elsewhere in the system. FORCE activates the use of the internal android-ifaddrs third-party library regardless of whether it can be found elsewhere in the system. OFF deactivates the use of the internal android-ifaddrs third-party library. If it is not set to FORCE, it is set to ON if EPROSIMA_BUILD is ON.	ON OFF FORCE	OFF
THIRDPARTY	Unless they are otherwise specified, sets value of all third-party git submodules THIRDPARTY_fastcdr, THIRDPARTY_Asio, THIRDPARTY_TinyXML2, and THIRDPARTY_android-ifaddrs.	ON OFF FORCE	OFF
THIRDPARTY_UPDATE	Activates the update of all third-party git submodules.	ON OFF	ON

Note

ANDROID is a CMake environment variable that is set to 1 if the target system (CMAKE_SYSTEM_NAME) is Android.

6.4. Test options

eProsima Fast DDS comes with a full set of tests for continuous integration. The types of tests are: unit tests, black-box tests, performance tests, profiling tests, and XTypes tests. The building and execution of these tests is specified by the Fast DDS CMake options shown in the table below.

Option	Description	Possible values	Default
GTEST_INDIVIDUAL	Activate the individual building of GoogleTest tests, since Fast DDS tests are implemented using the GoogleTest framework. However, the test are compiled if EPROSIMA_BUILD is set to ON. Therefore, if GTEST_INDIVIDUAL is OFF and EPROSIMA_BUILD is ON, the tests are processed as a single major test.	ON OFF	OFF
FASTRTPS_API_TESTS	Enables the building of black-box tests for the verification of RTPS communications using the Fast DDS RTPS-layer API.	ON OFF	OFF
FASTDDS_PIM_API_TESTS	Enables the building of black-box tests for the verification of DDS communications using the Fast DDS DDS-layer API.	ON OFF	OFF
PERFORMANCE_TESTS	Activates the building of performance tests, except for the video test, which requires both PERFORMANCE_TESTS and VIDEO_TESTS to be set to ON.	ON OFF	OFF
PROFILING_TESTS	Activates the building of profiling tests using Valgrind.	ON OFF	OFF
EPROSIMA_BUILD_TESTS	Activates the building of black-box, unit, xtypes, RTPS communication and DDS communication tests. It is set to ON if EPROSIMA_BUILD is ON and EPROSIMA_INSTALLER is OFF.	ON OFF	OFF
VIDEO_TESTS	If PERFORMANCE_TESTS is ON, it will activate the building of video performance tests.	ON OFF	OFF
DISABLE_UDPV6_TESTS	Disables UDPv6 tests.	ON OFF	OFF