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Build: use ign cmake #747

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Build: use ign cmake #747

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2efd6da
migrated main lib and unit tests
Nov 9, 2021
109e5bc
add cmd
Nov 10, 2021
6b6ca93
update config file and master header location
Nov 10, 2021
b56c9e4
cleanup more stuffs that have been moved to ign-cmake
Nov 10, 2021
c6aeb0c
build integration and performance tests
Nov 10, 2021
63c9027
cleanup usage of link_directories
Nov 10, 2021
b2f395d
remove unused files
Nov 10, 2021
dfcdf84
use findURDF from ign-cmake
Nov 10, 2021
e681c41
update find urdf name
Nov 11, 2021
4d7e1a2
reverse condition check
Nov 11, 2021
ddce467
moar cleanups
Nov 11, 2021
903f9e8
fix data install location
Nov 11, 2021
e25a163
add redirection headers for sdf_config.h and sdf.hh
Nov 11, 2021
2119536
use ign-cmake's visibility macros instead
Nov 11, 2021
337a3cc
do not use ign_create_docs as there are some differences
Nov 11, 2021
0fee3be
fix references to sdf_target
Nov 11, 2021
355d296
fix ign math and utils wrongly marked optional
Nov 11, 2021
116c95b
fix missing patch version
Nov 11, 2021
591f379
use updated param name
Nov 12, 2021
b478cb5
remove urdfdom version as the cmake config does not support it
Nov 12, 2021
cbdc0de
install sdf.hh and sdf_config.h
Dec 1, 2021
e695e3c
do not deprecate old headers; revert changes to use old headers
Dec 1, 2021
8b65844
remove unnecessary configure_file
Dec 1, 2021
4c37d73
remove header changes in tests
Dec 1, 2021
b5b02b5
Merge remote-tracking branch 'upstream/main' into build/use-ign-cmake
Dec 1, 2021
ce47b3a
remove unused template
Dec 1, 2021
f13f12c
add header guards
Dec 1, 2021
4ec8bd4
Update conf/CMakeLists.txt
Dec 7, 2021
d6aa259
Update src/cmd/CMakeLists.txt
Dec 7, 2021
d1144d4
revert header change
Dec 7, 2021
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353 changes: 28 additions & 325 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,360 +4,63 @@ if(COMMAND CMAKE_POLICY)
CMAKE_POLICY(SET CMP0003 NEW)
CMAKE_POLICY(SET CMP0004 NEW)
endif(COMMAND CMAKE_POLICY)
enable_testing()

# with -fPIC
if(UNIX AND NOT WIN32)
set (CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "Install Prefix")
find_program(CMAKE_UNAME uname /bin /usr/bin /usr/local/bin )
if(CMAKE_UNAME)
exec_program(uname ARGS -m OUTPUT_VARIABLE CMAKE_SYSTEM_PROCESSOR)
set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL
"processor type (i386 and x86_64)")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
ADD_DEFINITIONS(-fPIC)
endif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
endif(CMAKE_UNAME)
endif()

project (sdformat13)
project (sdformat13 VERSION 13.0.0)

# The protocol version has nothing to do with the package version set below.
# It represents the current version of sdformat implement by the software
set (SDF_PROTOCOL_VERSION 1.9)

set (SDF_MAJOR_VERSION 13)
set (SDF_MINOR_VERSION 0)
set (SDF_PATCH_VERSION 0)

set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})
set (SDF_VERSION_FULL ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}.${SDF_PATCH_VERSION}~pre1)

string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
string(REGEX REPLACE "[0-9]+" "" PROJECT_NAME_NO_VERSION ${PROJECT_NAME})
string(TOLOWER ${PROJECT_NAME_NO_VERSION} PROJECT_NAME_NO_VERSION_LOWER)
set(PROJECT_EXPORT_NAME ${PROJECT_NAME_LOWER})
set(PROJECT_LIBRARY_TARGET_NAME ${PROJECT_NAME_LOWER})

set (project_cmake_dir ${PROJECT_SOURCE_DIR}/cmake
CACHE PATH "Location of CMake scripts")

message (STATUS "${PROJECT_NAME} version ${SDF_VERSION_FULL}")
set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)

#============================================================================
# We turn off extensions because (1) we do not ever want to use non-standard
# compiler extensions, and (2) this variable is on by default, causing cmake
# to choose the flag -std=gnu++14 instead of -std=c++14 when the C++14
# features are requested. Explicitly turning this flag off will force cmake to
# choose -std=c++14.
# See https://github.com/ignitionrobotics/ign-cmake/issues/13 for more info.
set(CMAKE_CXX_EXTENSIONS off)

# Include GNUInstallDirs to get canonical paths
include(GNUInstallDirs)

# Default test type for test all over source
set(TEST_TYPE "UNIT")

# developer's option to cache PKG_CONFIG_PATH and
# LD_LIBRARY_PATH for local installs
if(PKG_CONFIG_PATH)
set (ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_PATH}:$ENV{PKG_CONFIG_PATH})
endif()
if(LD_LIBRARY_PATH)
set (ENV{LD_LIBRARY_PATH} ${LD_LIBRARY_PATH}:$ENV{LD_LIBRARY_PATH})
endif()

set (INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_INCLUDEDIR}/sdformat-${SDF_VERSION}/sdf")
set (LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR} CACHE STRING "Installation directory for libraries (relative to CMAKE_INSTALL_PREFIX)")
set (BIN_INSTALL_DIR ${CMAKE_INSTALL_BINDIR} CACHE STRING "Installation directory for binaries (relative to CMAKE_INSTALL_PREFIX)")
set (USE_FULL_RPATH OFF CACHE BOOL "Set to true to enable full rpath")

set(PKG_NAME SDFormat)
set(sdf_target sdformat${SDF_MAJOR_VERSION})
set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/")
set(sdf_import_target_name ${PROJECT_EXPORT_NAME}::${sdf_target})
set(sdf_target_output_filename "${sdf_target}-targets.cmake")

message (STATUS "${PROJECT_NAME} version ${PROJECT_VERSION_FULL}")

OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)

if (USE_FULL_RPATH)
# use, i.e. don't skip the full RPATH for the build tree
set(CMAKE_SKIP_BUILD_RPATH FALSE)

# when building, don't use the install RPATH already
# (but later on when installing)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)

set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")

# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# the RPATH to be used when installing, but only if its not a system directory
list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}" isSystemDir)
if("${isSystemDir}" STREQUAL "-1")
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")
endif("${isSystemDir}" STREQUAL "-1")
endif()

set (BUILD_SDF ON CACHE INTERNAL "Build SDF" FORCE)
set (build_errors "" CACHE INTERNAL "build errors" FORCE)
set (build_warnings "" CACHE INTERNAL "build warnings" FORCE)

set (sdf_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
"Location of CMake scripts")

message (STATUS "\n\n====== Finding 3rd Party Packages ======")
include (${sdf_cmake_dir}/SDFUtils.cmake)
include (${sdf_cmake_dir}/SearchForStuff.cmake)
message (STATUS "----------------------------------------\n")

#####################################
# Set the default build type
if (NOT CMAKE_BUILD_TYPE)
set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING
"Choose the type of build, options are: Debug Release RelWithDebInfo Profile Check" FORCE)
endif (NOT CMAKE_BUILD_TYPE)
string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)

set (BUILD_TYPE_PROFILE FALSE)
set (BUILD_TYPE_RELEASE FALSE)
set (BUILD_TYPE_RELWITHDEBINFO FALSE)
set (BUILD_TYPE_DEBUG FALSE)

if ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "PROFILE")
set (BUILD_TYPE_PROFILE TRUE)
elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
set (BUILD_TYPE_RELEASE TRUE)
elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
set (BUILD_TYPE_RELWITHDEBINFO TRUE)
elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
set (BUILD_TYPE_DEBUG TRUE)
elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "COVERAGE")
include (${project_cmake_dir}/CodeCoverage.cmake)
set (BUILD_TYPE_DEBUG TRUE)
SETUP_TARGET_FOR_COVERAGE(coverage ctest coverage)
else()
# NONE is a valid CMAKE_BUILD_TYPE
if (NOT "${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "NONE")
build_error("CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug Release RelWithDebInfo Profile Coverage None")
endif()
endif()

#============================================================================
# Ask whether we should make a shared or static library.
option(BUILD_SHARED_LIBS "Set this to true to generate shared libraries (recommended), or false for static libraries" ON)

#####################################
# Handle CFlags
unset (CMAKE_C_FLAGS_ALL CACHE)

# USE_HOST_CFLAGS (default TRUE)
# Will check building host machine for proper cflags
if(NOT DEFINED USE_HOST_CFLAGS OR USE_HOST_CFLAGS)
message(STATUS "Enable host CFlags")
include (${project_cmake_dir}/HostCFlags.cmake)
endif()

# USE_UPSTREAM_CFLAGS (default TRUE)
# Will use predefined ignition developers cflags
if(NOT DEFINED USE_UPSTREAM_CFLAGS OR USE_UPSTREAM_CFLAGS)
message(STATUS "Enable upstream CFlags")
include(${project_cmake_dir}/DefaultCFlags.cmake)
endif()

# Check if warning options are avaliable for the compiler and return WARNING_CXX_FLAGS variable
if (MSVC)
set(WARN_LEVEL "/W4")

# Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
# Handling exceptions rightly and ignore unknown pragmas
set(UNFILTERED_FLAGS "/EHsc /wd4068")
else()
# Equivalent to Wall (according to man gcc) but removed the unknown pragmas since we use
# MSVC only pragmas all over the code
list(APPEND WARN_LEVEL -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull)
list(APPEND WARN_LEVEL -Wparentheses -Wreorder -Wreturn-type)
list(APPEND WARN_LEVEL -Wsequence-point -Wsign-compare -Wstrict-aliasing)
list(APPEND WARN_LEVEL -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized)
list(APPEND WARN_LEVEL -Wunused-function -Wunused-label -Wunused-value)
list(APPEND WARN_LEVEL -Wunused-variable -Wvolatile-register-var)

# Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
set(UNFILTERED_FLAGS "-Wc++17-compat")
endif()

filter_valid_compiler_warnings(${WARN_LEVEL} -Wextra -Wno-long-long
-Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value
-Wfloat-equal -Wshadow -Winit-self -Wswitch-default
-Wmissing-include-dirs -pedantic -Wno-pragmas)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}${WARNING_CXX_FLAGS} ${UNFILTERED_FLAGS}")
#################################################
# Find ign-cmake
find_package(ignition-cmake2 2.9 REQUIRED)
set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})

#################################################
# OS Specific initialization
if (UNIX)
sdf_setup_unix()
endif ()

if (WIN32)
sdf_setup_windows()
endif ()

if (APPLE)
sdf_setup_apple()
endif ()

#################################################
# Print warnings and errors
if ( build_warnings )
message(WARNING "-- BUILD WARNINGS")
foreach (msg ${build_warnings})
message(WARNING "-- ${msg}")
endforeach ()
message(WARNING "-- END BUILD WARNINGS\n")
endif (build_warnings)

########### Add uninstall target ###############
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
"${CMAKE_COMMAND}" -P
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")

if (build_errors)
message(SEND_ERROR "-- BUILD ERRORS: These must be resolved before compiling.")
foreach (msg ${build_errors})
message(SEND_ERROR "-- ${msg}")
endforeach ()
message(SEND_ERROR "-- END BUILD ERRORS\n")
message (FATAL_ERROR "Errors encountered in build. Please see the BUILD ERRORS above.")

else (build_errors)
if (BUILD_SDF)
ign_configure_project(REPLACE_IGNITION_INCLUDE_PATH sdf NO_IGNITION_PREFIX)

########################################
# Write the config.h file
configure_file (${sdf_cmake_dir}/sdf_config.h.in
${PROJECT_BINARY_DIR}/sdf/sdf_config.h)
sdf_install_includes("" ${PROJECT_BINARY_DIR}/sdf/sdf_config.h)
message (STATUS "\n\n====== Finding 3rd Party Packages ======")
include (${sdf_cmake_dir}/SDFUtils.cmake)
include (${sdf_cmake_dir}/SearchForStuff.cmake)
message (STATUS "----------------------------------------\n")

message (STATUS "C Flags:${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}}")
message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
ign_configure_build(QUIT_IF_BUILD_ERRORS)
ign_create_packages()

if (BUILD_SDF)
include_directories(include
${PROJECT_BINARY_DIR}
${PROJECT_BINARY_DIR}/include
)
add_subdirectory(sdf)
add_subdirectory(conf)
add_subdirectory(doc)
endif(BUILD_SDF)

link_directories(${PROJECT_BINARY_DIR}/src)
########################################
# Setup Codecheck

if (NOT DEFINED BUILD_TESTING OR BUILD_TESTING)
set(BUILD_SDF_TEST TRUE)
else()
set(BUILD_SDF_TEST FALSE)
endif()

if (BUILD_SDF_TEST)
add_subdirectory(test)
endif()
add_subdirectory(src)
add_subdirectory(include/sdf)
add_subdirectory(sdf)
add_subdirectory(conf)
add_subdirectory(doc)
endif(BUILD_SDF)

########################################
# Setup Codecheck
include (IgnCodeCheck)
set(CPPCHECK_DIRS
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/test/integration
${PROJECT_SOURCE_DIR}/test/performance)

set(CPPCHECK_INCLUDE_DIRS
${PROJECT_BINARY_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/test/integration
${PROJECT_SOURCE_DIR}/test/performance)

# Ignore vendored directories.
file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress
"*:${PROJECT_SOURCE_DIR}/src/urdf/*\n"
)
ign_setup_target_for_codecheck()

########################################
# Make the package config file
set(PC_CONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/pkgconfig)
file(RELATIVE_PATH
PC_CONFIG_RELATIVE_PATH_TO_PREFIX
"${CMAKE_INSTALL_PREFIX}/${PC_CONFIG_INSTALL_DIR}"
"${CMAKE_INSTALL_PREFIX}"
# Ignore vendored directories.
file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress
"*:${PROJECT_SOURCE_DIR}/src/urdf/*\n"
)
configure_file(${CMAKE_SOURCE_DIR}/cmake/sdformat_pc.in
${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME_LOWER}.pc @ONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME_LOWER}.pc DESTINATION
${PC_CONFIG_INSTALL_DIR} COMPONENT pkgconfig)

########################################
# Configure documentation uploader
configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in"
${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY)

########################################
# Make the cmake config files
set(sdf_config_input "${CMAKE_CURRENT_SOURCE_DIR}/cmake/sdf_config.cmake.in")
set(sdf_config_output "cmake/${sdf_target}-config.cmake")
set(sdf_version_output "cmake/${sdf_target}-config-version.cmake")
set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/")

include(CMakePackageConfigHelpers)
#--------------------------------------
# Configure and install the config file
configure_package_config_file(
${sdf_config_input}
${sdf_config_output}
INSTALL_DESTINATION ${sdf_config_install_dir}
NO_CHECK_REQUIRED_COMPONENTS_MACRO)

#--------------------------------------
# Configure and install the version file
write_basic_package_version_file(
${CMAKE_CURRENT_BINARY_DIR}/${sdf_version_output}
VERSION "${SDF_VERSION_FULL}"
COMPATIBILITY SameMajorVersion)

install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${sdf_config_output}
${CMAKE_CURRENT_BINARY_DIR}/${sdf_version_output}
DESTINATION ${sdf_config_install_dir}
COMPONENT cmake)

########################################
# Package Creation:
include (${sdf_cmake_dir}/sdf_cpack.cmake)
set (CPACK_PACKAGE_VERSION "${SDF_VERSION_FULL}")
set (CPACK_PACKAGE_VERSION_MAJOR "${SDF_MAJOR_VERSION}")
set (CPACK_PACKAGE_VERSION_MINOR "${SDF_MINOR_VERSION}")
set (CPACK_PACKAGE_VERSION_PATCH "${SDF_PATCH_VERSION}")

if (CPACK_GENERATOR)
message(STATUS "Found CPack generators: ${CPACK_GENERATOR}")

configure_file("${sdf_cmake_dir}/cpack_options.cmake.in"
${SDF_CPACK_CFG_FILE} @ONLY)
set(CPACK_PROJECT_CONFIG_FILE ${SDF_CPACK_CFG_FILE})
include (CPack)
endif()
########################################
# Configure documentation uploader
configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in"
${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY)

message(STATUS "Configuration successful. Type make to compile sdf")
endif(build_errors)
message(STATUS "Configuration successful. Type make to compile sdf")
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