From cf81994ceab9047a93cb0670f4642fc32c7eba08 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Mon, 27 Dec 2021 00:30:41 -0800
Subject: [PATCH] Fix test compilation with USE_INTERNAL_URDF (#800)

The USE_INTERNAL_URDF logic for include and
windows compiler definitions needs to be repeated
for tests that add parser_urdf.cc via target_sources.
An interface library is used to deduplicate the cmake
logic.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 src/CMakeLists.txt | 55 ++++++++++++++++++++--------------------------
 1 file changed, 24 insertions(+), 31 deletions(-)

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e2e02bbdf..2d5d07167 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -5,16 +5,26 @@ ign_get_libsources_and_unittests(sources gtest_sources)
 # Add the source file auto-generated into the build folder from sdf/CMakeLists.txt
 list(APPEND sources EmbeddedSdf.cc)
 
+# Use interface library to deduplicate cmake logic for URDF linking
+add_library(using_parser_urdf INTERFACE)
 if (USE_INTERNAL_URDF)
   set(sources ${sources}
-  urdf/urdf_parser/model.cpp
-  urdf/urdf_parser/link.cpp
-  urdf/urdf_parser/joint.cpp
-  urdf/urdf_parser/pose.cpp
-  urdf/urdf_parser/twist.cpp
-  urdf/urdf_parser/urdf_model_state.cpp
-  urdf/urdf_parser/urdf_sensor.cpp
-  urdf/urdf_parser/world.cpp)
+    urdf/urdf_parser/model.cpp
+    urdf/urdf_parser/link.cpp
+    urdf/urdf_parser/joint.cpp
+    urdf/urdf_parser/pose.cpp
+    urdf/urdf_parser/twist.cpp
+    urdf/urdf_parser/urdf_model_state.cpp
+    urdf/urdf_parser/urdf_sensor.cpp
+    urdf/urdf_parser/world.cpp)
+  target_include_directories(using_parser_urdf INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}/urdf)
+  if (WIN32)
+    target_compile_definitions(using_parser_urdf INTERFACE -D_USE_MATH_DEFINES)
+  endif()
+else()
+  target_link_libraries(using_parser_urdf INTERFACE
+    IgnURDFDOM::IgnURDFDOM)
 endif()
 
 if (BUILD_TESTING)
@@ -62,12 +72,9 @@ if (BUILD_TESTING)
   endif()
 
   if (TARGET UNIT_ParamPassing_TEST)
-    if (NOT USE_INTERNAL_URDF)
-      target_link_libraries(UNIT_ParamPassing_TEST
-        IgnURDFDOM::IgnURDFDOM)
-    endif()
     target_link_libraries(UNIT_ParamPassing_TEST
-      TINYXML2::TINYXML2)
+      TINYXML2::TINYXML2
+      using_parser_urdf)
     target_sources(UNIT_ParamPassing_TEST PRIVATE
       Converter.cc
       EmbeddedSdf.cc
@@ -90,12 +97,9 @@ if (BUILD_TESTING)
   endif()
 
   if (TARGET UNIT_parser_urdf_TEST)
-    if (NOT USE_INTERNAL_URDF)
-      target_link_libraries(UNIT_parser_urdf_TEST
-        IgnURDFDOM::IgnURDFDOM)
-    endif()
     target_link_libraries(UNIT_parser_urdf_TEST
-      TINYXML2::TINYXML2)
+      TINYXML2::TINYXML2
+      using_parser_urdf)
     target_sources(UNIT_parser_urdf_TEST PRIVATE
       SDFExtension.cc
       XmlUtils.cc
@@ -112,7 +116,8 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
     ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER}
   PRIVATE
-    TINYXML2::TINYXML2)
+    TINYXML2::TINYXML2
+    using_parser_urdf)
 
 if (WIN32)
   target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE URDFDOM_STATIC)
@@ -126,18 +131,6 @@ target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
     ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-if (USE_INTERNAL_URDF)
-  target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
-    PRIVATE
-      ${CMAKE_CURRENT_SOURCE_DIR}/urdf
-  )
-  if (WIN32)
-    target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE -D_USE_MATH_DEFINES)
-  endif()
-else()
-  target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE IgnURDFDOM::IgnURDFDOM)
-endif()
-
 if(NOT WIN32)
   add_subdirectory(cmd)
 endif()