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Do not call find_package(<pkg>) if FRAMEWORK_USE_<pkg> is defined #930

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merged 1 commit into from
Feb 6, 2025
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Do not call find_package(<pkg>) if FRAMEWORK_USE_<pkg> is defined #930

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44 changes: 22 additions & 22 deletions cmake/BipedalLocomotionFrameworkDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -28,90 +28,90 @@ dependency_classifier(spdlog MINIMUM_VERSION 1.5.0 IS_USED TRUE PUBLIC)

########################## Optional dependencies ##############################

find_package(rclcpp 16.0.0 QUIET)
blf_optional_find_package(rclcpp 16.0.0 QUIET)
checkandset_dependency(rclcpp MINIMUM_VERSION 16.0.0)
dependency_classifier(rclcpp MINIMUM_VERSION 16.0.0 IS_USED ${FRAMEWORK_USE_rclcpp} PUBLIC)

find_package(YARP 3.7.0 COMPONENTS companion profiler dev os idl_tools robotinterface QUIET)
blf_optional_find_package(YARP 3.7.0 COMPONENTS companion profiler dev os idl_tools robotinterface QUIET)
checkandset_dependency(YARP MINIMUM_VERSION 3.7.0)
dependency_classifier(YARP MINIMUM_VERSION 3.7.0 IS_USED ${FRAMEWORK_USE_YARP}
COMPONENTS companion profiler dev os idl_tools robotinterface PUBLIC)

find_package(Qhull QUIET)
blf_optional_find_package(Qhull QUIET)
checkandset_dependency(Qhull MINIMUM_VERSION)
dependency_classifier(Qhull MINIMUM_VERSION IS_USED ${FRAMEWORK_USE_Qhull} PRIVATE)

find_package(casadi QUIET)
blf_optional_find_package(casadi QUIET)
checkandset_dependency(casadi)
dependency_classifier(casadi IS_USED ${FRAMEWORK_USE_casadi} PUBLIC)
add_compile_definitions(casadi_VERSION=${casadi_VERSION})


find_package(cppad QUIET)
blf_optional_find_package(cppad QUIET)
checkandset_dependency(cppad)
dependency_classifier(cppad PUBLIC IS_USED ${FRAMEWORK_USE_cppad})

find_package(manif 0.0.4 QUIET)
blf_optional_find_package(manif 0.0.4 QUIET)
checkandset_dependency(manif MINIMUM_VERSION 0.0.4)
dependency_classifier(manif MINIMUM_VERSION 0.0.4 IS_USED ${FRAMEWORK_USE_manif} PUBLIC)

find_package(OsqpEigen 0.7.0 QUIET)
blf_optional_find_package(OsqpEigen 0.7.0 QUIET)
checkandset_dependency(OsqpEigen MINIMUM_VERSION 0.7.0)
dependency_classifier(OsqpEigen MINIMUM_VERSION 0.7.0 IS_USED ${FRAMEWORK_USE_OsqpEigen})

find_package(Python3 3.6 COMPONENTS Interpreter Development QUIET)
blf_optional_find_package(Python3 3.6 COMPONENTS Interpreter Development QUIET)
checkandset_dependency(Python3 MINIMUM_VERSION 3.6 COMPONENTS Interpreter Development)

find_package(pybind11 2.4.3 CONFIG QUIET)
blf_optional_find_package(pybind11 2.4.3 CONFIG QUIET)
checkandset_dependency(pybind11)

find_package(matioCpp QUIET)
blf_optional_find_package(matioCpp QUIET)
checkandset_dependency(matioCpp)
dependency_classifier(matioCpp IS_USED ${FRAMEWORK_USE_matioCpp} PUBLIC)

find_package(LieGroupControllers 0.2.0 QUIET)
blf_optional_find_package(LieGroupControllers 0.2.0 QUIET)
checkandset_dependency(LieGroupControllers MINIMUM_VERSION 0.2.0)
dependency_classifier(LieGroupControllers MINIMUM_VERSION 0.2.0 IS_USED ${FRAMEWORK_USE_LieGroupControllers} PUBLIC)

find_package(OpenCV QUIET)
blf_optional_find_package(OpenCV QUIET)
checkandset_dependency(OpenCV)
dependency_classifier(OpenCV IS_USED ${FRAMEWORK_USE_OpenCV} PUBLIC)

find_package(PCL QUIET)
blf_optional_find_package(PCL QUIET)
checkandset_dependency(PCL)
dependency_classifier(PCL IS_USED ${FRAMEWORK_USE_PCL} PUBLIC)

find_package(realsense2 QUIET)
blf_optional_find_package(realsense2 QUIET)
checkandset_dependency(realsense2)
dependency_classifier(realsense2 IS_USED ${FRAMEWORK_USE_realsense2} PUBLIC)

find_package(nlohmann_json 3.7.3 QUIET)
blf_optional_find_package(nlohmann_json 3.7.3 QUIET)
checkandset_dependency(nlohmann_json MINIMUM_VERSION 3.7.3)
dependency_classifier(nlohmann_json MINIMUM_VERSION 3.7.3 IS_USED ${FRAMEWORK_USE_nlohmann_json})

find_package(tomlplusplus 3.0.1 QUIET)
blf_optional_find_package(tomlplusplus 3.0.1 QUIET)
checkandset_dependency(tomlplusplus MINIMUM_VERSION 3.0.1)
dependency_classifier(tomlplusplus MINIMUM_VERSION 3.0.1 IS_USED ${FRAMEWORK_USE_tomlplusplus} PUBLIC)

find_package(robometry 1.1.0 QUIET)
blf_optional_find_package(robometry 1.1.0 QUIET)
checkandset_dependency(robometry MINIMUM_VERSION 1.1.0)
dependency_classifier(robometry MINIMUM_VERSION 1.1.0 IS_USED ${FRAMEWORK_USE_robometry})

find_package(BayesFilters QUIET)
blf_optional_find_package(BayesFilters QUIET)
checkandset_dependency(BayesFilters)
dependency_classifier(BayesFilters IS_USED ${FRAMEWORK_USE_BayesFilters} PUBLIC)

# required only for some tests
find_package(icub-models 1.23.3 QUIET)
blf_optional_find_package(icub-models 1.23.3 QUIET)
checkandset_dependency(icub-models)

find_package(VALGRIND QUIET)
blf_optional_find_package(VALGRIND QUIET)
checkandset_dependency(VALGRIND)

find_package(UnicyclePlanner QUIET)
blf_optional_find_package(UnicyclePlanner QUIET)
checkandset_dependency(UnicyclePlanner)

find_package(onnxruntime QUIET)
blf_optional_find_package(onnxruntime QUIET)
checkandset_dependency(onnxruntime)

########################## Test-related options ##############################
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8 changes: 8 additions & 0 deletions cmake/BipedalLocomotionFrameworkFindDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,14 @@

include(CMakeDependentOption)

# Find an optional dependency, without searching for it at all if FRAMEWORK_USE_${package}
# is not defined (in that case find_package will be called by checkandset_dependency)
macro(blf_optional_find_package package)
if(NOT DEFINED FRAMEWORK_USE_{package})
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find_package(${package} ${ARGN})
endif()
endmacro()

# Check if a package is installed and set some cmake variables
macro(checkandset_dependency package)

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