SmartArmStack · mmmarinho · Aug 15, 2026 · Aug 14, 2026 · Aug 15, 2026 · Aug 15, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,161 +1,86 @@
 cmake_minimum_required(VERSION 3.8)
 project(sas_core)
 
+option(ROS2_BUILD "Enable ROS2/ament build (examples + ament integration)" ON)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-#################################
-# pybind11 import block [BEGIN] #
-# vvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
-set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
-add_subdirectory(pybind11)
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
-# pybind11 import block [END] #
-###############################
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
+# Find non-ROS dependencies
 find_package(Eigen3 REQUIRED)
 
-##### CPP LIBRARY #####
-
-add_library(${PROJECT_NAME} SHARED
-    src/sas_clock.cpp
-    src/sas_core.cpp
-    src/sas_object.cpp
-    src/sas_shutdown_signaler.cpp
-    # sas_robot_driver
-    src/sas_robot_driver.cpp
-    src/examples/sas_robot_driver_example.cpp
-    src/eigen3_std_conversions.cpp
-    )
-
-ament_target_dependencies(${PROJECT_NAME} Eigen3)
-
-target_include_directories(${PROJECT_NAME}
-    PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>)
-
-ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Eigen3)
-
-target_link_libraries(${PROJECT_NAME}
-    -ldqrobotics
-    Eigen3::Eigen
-    )
-
-install(
-    DIRECTORY include/
-    DESTINATION include
-    )
-
-install(
-    TARGETS ${PROJECT_NAME}
-    EXPORT export_${PROJECT_NAME}
-    LIBRARY DESTINATION lib
-    #ARCHIVE DESTINATION lib
-    RUNTIME DESTINATION bin
-    INCLUDES DESTINATION include
-    )
-
-##END## CPP LIBRARY #####
-
-##### CPP BINARY #####
-
-add_executable(sas_core_example
-    src/examples/sas_core_example.cpp)
-
-target_link_libraries(sas_core_example
-    -ldqrobotics
-    ${PROJECT_NAME}
-    )
-
-install(TARGETS
-    sas_core_example
-    DESTINATION lib/${PROJECT_NAME})
-
-##END## CPP BINARY #####
-
-##### CPP BINARY #####
-
-add_executable(sas_clock_example
-    src/examples/sas_clock_example.cpp)
-
-target_link_libraries(sas_clock_example
-    ${PROJECT_NAME}
-    )
-
-install(TARGETS
-    sas_clock_example
-    DESTINATION lib/${PROJECT_NAME})
-
-##END## CPP BINARY #####
-
-##### CPP BINARY #####
-
-add_executable(sas_clock_sched_fifo_example
-    src/examples/sas_clock_sched_fifo_example.cpp)
-
-target_link_libraries(sas_clock_sched_fifo_example
-    ${PROJECT_NAME}
+##############################
+# Pure C++ library            #
+##############################
+include(cmake/cpplib.cmake)
+
+##############################
+# Python wrapper (pybind11)   #
+##############################
+if(ROS2_BUILD)
+    find_package(ament_cmake REQUIRED)
+    ament_python_install_package(${PROJECT_NAME})
+    # ament_python_install_package sets PYTHON_INSTALL_DIR — pass it to pythonlib.cmake
+    set(_SAS_PYTHON_INSTALL_DIR "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
+endif()
+include(cmake/pythonlib.cmake)
+
+##############################
+# ROS2 / ament integration    #
+##############################
+if(ROS2_BUILD)
+    # INTERFACE alias so external ROS packages can link against `sas_core`.
+    add_library(sas_core INTERFACE)
+    target_link_libraries(sas_core INTERFACE sas_core_pure)
+    target_include_directories(sas_core INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+    ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+    ament_export_dependencies(Eigen3)
+    ament_export_include_directories(include)
+
+    install(
+        DIRECTORY include/
+        DESTINATION include
     )
 
-install(TARGETS
-    sas_clock_sched_fifo_example
-    DESTINATION lib/${PROJECT_NAME})
-
-##END## CPP BINARY #####
-
-##### CPP BINARY #####
-
-add_executable(sas_robot_driver_example
-    src/examples/sas_robot_driver_example_main.cpp)
-
-target_link_libraries(sas_robot_driver_example
-    ${PROJECT_NAME}
+    install(
+        TARGETS sas_core sas_core_pure
+        EXPORT export_${PROJECT_NAME}
+        ARCHIVE DESTINATION lib
+        INCLUDES DESTINATION include
     )
 
-install(TARGETS
-    sas_robot_driver_example
-    DESTINATION lib/${PROJECT_NAME})
-
-##END## CPP BINARY #####
-
-##### PYBIND11 LIBRARY #####
-
-ament_python_install_package(${PROJECT_NAME})
-
-
-pybind11_add_module(_${PROJECT_NAME} SHARED
-    src/sas_core_py.cpp
-    src/sas_robot_driver_py.cpp
+    ################################################################################
+    # Example executables
+    ################################################################################
+    add_executable(sas_core_example src/examples/sas_core_example.cpp)
+    target_link_libraries(sas_core_example -ldqrobotics sas_core_pure)
+    install(TARGETS sas_core_example DESTINATION lib/${PROJECT_NAME})
+
+    add_executable(sas_clock_example src/examples/sas_clock_example.cpp)
+    target_link_libraries(sas_clock_example sas_core_pure)
+    install(TARGETS sas_clock_example DESTINATION lib/${PROJECT_NAME})
+
+    add_executable(sas_clock_sched_fifo_example src/examples/sas_clock_sched_fifo_example.cpp)
+    target_link_libraries(sas_clock_sched_fifo_example sas_core_pure)
+    install(TARGETS sas_clock_sched_fifo_example DESTINATION lib/${PROJECT_NAME})
+
+    add_executable(sas_robot_driver_example src/examples/sas_robot_driver_example_main.cpp)
+    target_link_libraries(sas_robot_driver_example sas_core_pure)
+    install(TARGETS sas_robot_driver_example DESTINATION lib/${PROJECT_NAME})
+
+    ################################################################################
+    # Python executables
+    ################################################################################
+    install(PROGRAMS
+        scripts/sas_clock_example_py.py
+        scripts/sas_robot_driver_subclass_example_py.py
+        scripts/sas_clock_sched_fifo_example_py.py
+        DESTINATION lib/${PROJECT_NAME}
     )
 
-target_include_directories(_${PROJECT_NAME}
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>)
-
-target_compile_definitions(_${PROJECT_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
-# https://github.com/pybind/pybind11/issues/387
-target_link_libraries(_${PROJECT_NAME} PRIVATE ${PROJECT_NAME} -ldqrobotics)
-
-install(TARGETS _${PROJECT_NAME}
-  DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
-)
-
-##END## PYBIND11 LIBRARY #####
-
-# According to https://github.com/SmartArmStack/sas_datalogger/blob/78ac681f9cb049c5b9715d215f163565f16b5cdc/CMakeLists.txt
-##### PYTHON EXECUTABLES #####
-install(PROGRAMS
-  scripts/sas_clock_example_py.py
-  scripts/sas_robot_driver_subclass_example_py.py
-  scripts/sas_clock_sched_fifo_example_py.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-##END## PYTHON EXECUTABLES #####
-
-ament_package()
+    ament_package()
+endif()
diff --git a/cmake/cpplib.cmake b/cmake/cpplib.cmake
@@ -0,0 +1,37 @@
+# sas_core_pure: the pure C++ library (no ROS2/ament dependencies)
+
+find_package(Eigen3 REQUIRED)
+
+# Use CURRENT_LIST_DIR so paths resolve relative to this cmake file
+set(_sas_core_pure_dir "${CMAKE_CURRENT_LIST_DIR}/../src")
+
+set(_sas_core_pure_sources
+    ${_sas_core_pure_dir}/sas_clock.cpp
+    ${_sas_core_pure_dir}/sas_core.cpp
+    ${_sas_core_pure_dir}/sas_object.cpp
+    ${_sas_core_pure_dir}/sas_shutdown_signaler.cpp
+    ${_sas_core_pure_dir}/sas_robot_driver.cpp
+    ${_sas_core_pure_dir}/examples/sas_robot_driver_example.cpp
+    ${_sas_core_pure_dir}/eigen3_std_conversions.cpp
+)
+
+add_library(sas_core_pure STATIC ${_sas_core_pure_sources})
+
+set_target_properties(sas_core_pure PROPERTIES
+    POSITION_INDEPENDENT_CODE ON
+)
+
+target_include_directories(sas_core_pure
+    PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
+    $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(sas_core_pure
+    PUBLIC
+    -ldqrobotics
+    Eigen3::Eigen
+)
+
+unset(_sas_core_pure_dir)
+unset(_sas_core_pure_sources)
diff --git a/cmake/pythonlib.cmake b/cmake/pythonlib.cmake
@@ -0,0 +1,40 @@
+# Python wrapper module via pybind11
+
+find_package(Python3 REQUIRED COMPONENTS Development)
+
+# pybind11 import block [BEGIN]
+# vvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
+set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
+# Provide binary directory for out-of-tree include (e.g. when included from standalone_consumer)
+add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11 ${CMAKE_CURRENT_BINARY_DIR}/pybind11)
+# ^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
+# pybind11 import block [END] #
+
+# Always build the module as _sas_core regardless of the including project's name
+set(_SAS_PY_MODULE_NAME "_sas_core")
+
+pybind11_add_module(${_SAS_PY_MODULE_NAME} SHARED
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_core_py.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_robot_driver_py.cpp
+)
+
+target_include_directories(${_SAS_PY_MODULE_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
+    $<INSTALL_INTERFACE:include>)
+
+target_compile_definitions(${_SAS_PY_MODULE_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
+target_link_libraries(${_SAS_PY_MODULE_NAME} PRIVATE sas_core_pure -ldqrobotics)
+
+# Install path: use _SAS_PYTHON_INSTALL_DIR if set by parent (ROS2/ament),
+# otherwise default to the standard Python site-packages location.
+if(DEFINED _SAS_PYTHON_INSTALL_DIR)
+  set(_SAS_PY_INSTALL_DEST "${_SAS_PYTHON_INSTALL_DIR}")
+else()
+  set(_SAS_PY_INSTALL_DEST "lib/python3/dist-packages/sas_core")
+endif()
+
+install(TARGETS ${_SAS_PY_MODULE_NAME}
+  DESTINATION "${_SAS_PY_INSTALL_DEST}")
+
+unset(_SAS_PY_MODULE_NAME)
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -6,4 +6,8 @@ ENV BASH_ENV="/etc/bash_env"
 RUN sudo apt-get update && sudo apt-get upgrade -y
 RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
 RUN sudo sudo apt-get remove -y ros-jazzy-sas-core
-RUN mkdir -p /root/sas_core_devel/src/
+RUN mkdir -p /root/sas_core_devel/src/
+COPY . /root/sas_core_devel/src/sas_core
+COPY test_consumer /root/sas_core_devel/src/test_consumer
+# standalone_consumer lives outside the colcon workspace
+COPY standalone_consumer /root/standalone_consumer
diff --git a/docker/compose.yml b/docker/compose.yml
@@ -1,8 +1,8 @@
 services:
   sas_core:
-    build: .
-    volumes:
-      - ../../sas_core:/root/sas_core_devel/src/sas_core
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
     environment:
       PYTHONUNBUFFERED: 1
     command: /bin/bash -c "
@@ -16,4 +16,16 @@ services:
       && ros2 run sas_core sas_robot_driver_subclass_example_py.py
       && ros2 run sas_core sas_clock_sched_fifo_example
       && ros2 run sas_core sas_clock_sched_fifo_example_py.py
+      && ros2 run test_consumer test_consumer
+      && echo '--- Running Python import test from test_consumer ---'
+      && python3 test_consumer/test/test_python_import.py
+      && echo '--- Building standalone_consumer (no ROS2) ---'
+      && mkdir -p /root/standalone_build
+      && cd /root/standalone_build
+      && cmake /root/standalone_consumer -DCMAKE_INSTALL_PREFIX=/root/standalone_install
+      && make
+      && /root/standalone_build/standalone_consumer
+      && echo '--- Running Python import test from standalone_consumer ---'
+      && cp /root/standalone_build/_sas_core.*.so /root/sas_core_devel/src/sas_core/sas_core/ 2>/dev/null || true
+      && PYTHONPATH=/root/sas_core_devel/src/sas_core python3 /root/standalone_consumer/test/test_python_import.py
       "
diff --git a/standalone_consumer/CMakeLists.txt b/standalone_consumer/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(standalone_consumer)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(Eigen3 REQUIRED)
+
+# Path to the sas_core source tree — required to include cmake modules
+set(SAS_CORE_SOURCE_DIR "/root/sas_core_devel/src/sas_core" CACHE PATH "Path to sas_core source")
+
+# Include sas_core pure C++ and Python library definitions (no ROS2/ament needed)
+include(${SAS_CORE_SOURCE_DIR}/cmake/cpplib.cmake)
+include(${SAS_CORE_SOURCE_DIR}/cmake/pythonlib.cmake)
+
+##############################
+# Standalone C++ consumer     #
+##############################
+add_executable(standalone_consumer src/standalone_consumer.cpp)
+target_link_libraries(standalone_consumer sas_core_pure)
+
+##############################
+# Standalone Python test      #
+##############################
+# The Python test runs as a CTest; it requires the built _sas_core module.
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+add_test(
+    NAME test_python_import
+    COMMAND ${Python3_EXECUTABLE} test/test_python_import.py
+)
+set_tests_properties(test_python_import PROPERTIES
+    ENVIRONMENT "PYTHONPATH=${CMAKE_BINARY_DIR}:${CMAKE_SOURCE_DIR}/.."
+)