CMakeLists.txt

# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of jrl-walkgen.
# jrl-walkgen is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# jrl-walkgen is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# jrl-walkgen. If not, see <http://www.gnu.org/licenses/>.

cmake_minimum_required(VERSION 2.6)
enable_language(CXX)
enable_testing()

# Name of the project
#--------------------
SET(PROJECT_NAME jrl-walkgen)
SET(PROJECT_CONTACT olivier.stasse@aist.go.jp)
SET(PROJECT_DESCRIPTION "Humanoid Walking Pattern Generator (JRL)")

# Counter CMake mesures
#----------------------
IF(WIN32)
SET(CMAKE_STATIC_LIBRARY_PREFIX "")
SET(CMAKE_SHARED_LIBRARY_PREFIX "")
SET(CMAKE_SHARED_MODULE_PREFIX "")
ENDIF(WIN32)


# Debug mode for cmake.
#----------------------
SET(CMAKE_VERBOSE_MAKEFILE ON)

# Set version
#------------
set(CPACK_PACKAGE_VERSION_MAJOR 3)
set(CPACK_PACKAGE_VERSION_MINOR 1)
set(CPACK_PACKAGE_VERSION_PATCH 1)

SET(PROJECT_VERSION ${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}.99)

# Deal with OS specificities
#---------------------------
IF(WIN32)
  SET(LIBDIR_KW "/LIBPATH:")
  SET(LIBINCLUSION_KW "")
  SET(LIBINCLUSION_EXT ".lib")
ENDIF(WIN32)

IF(UNIX)
  SET(LIBDIR_KW "-L")
  SET(LIBDIR_RP "-Wl,-R")
  SET(LIBINCLUSION_KW "-l")
  SET(LIBINCLUSION_EXT "")
  SET(${PROJECT_NAME}_CXXFLAGS "-DUNIX ")
ENDIF(UNIX)

project(${PROJECT_NAME})

# Impose shared libraries
#------------------------
OPTION(BUILD_SHARED_LIBS "Build walkGenJrl with shared libraries." ON)

# where are located specific cmake modules
#-----------------------------------------
SET(CMAKE_MODULE_PATH ${${PROJECT_NAME}_SOURCE_DIR}/CMakeModules)

# Check for required packages
# -------------------------
INCLUDE(FindPkgConfig)

# Look for abstract robot dynamics.
SET(ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION 1.15)
pkg_check_modules(ABSTRACTROBOTDYNAMICS REQUIRED abstract-robot-dynamics>=${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION})
SET(PROJECT_REQUIREMENTS "abstractRobotDynamics >= ${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION}")

EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir abstract-robot-dynamics
  OUTPUT_VARIABLE _abstract-robot-dynamics_DOCDIR)

SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} -I${${PROJECT_NAME}_SOURCE_DIR}")

IF(UNIX)
	SET(${PROJECT_NAME}_src_CXXFLAGS "-Wall ${${PROJECT_NAME}_src_CXXFLAGS}")
ENDIF(UNIX)

IF(WIN32)
	SET(WIN32_CXXFLAGS "-D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE  /wd4250 /wd4251 /wd4996")
	SET(WIN32_CXXFLAGS "${WIN32_CXXFLAGS} /wd4244 /wd4305") # warning:  double to float conversion
	SET(WIN32_CXXFLAGS "${WIN32_CXXFLAGS} /wd4275")			# warning: non-dll interface used in dynJRLJapan
	SET(${PROJECT_NAME}_src_CXXFLAGS "/D__STDC__ ${${PROJECT_NAME}_src_CXXFLAGS} ${WIN32_CXXFLAGS}")
ENDIF(WIN32)

FOREACH(option_cxxflags ${ABSTRACTROBOTDYNAMICS_CFLAGS})
  SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} ${option_cxxflags} ")
ENDFOREACH(option_cxxflags)

FOREACH(option_ldflags ${ABSTRACTROBOTDYNAMICS_LDFLAGS})
  SET(${PROJECT_NAME}_src_LDFLAGS "${option_ldflags} ${${PROJECT_NAME}_src_LDFLAGS}")
ENDFOREACH(option_ldflags)

IF(UNIX)
  SET(${PROJECT_NAME}_LDFLAGS "${LIBDIR_KW}${CMAKE_PREFIX_INSTALL}/lib/ ${LIBINCLUSION_KW}${PROJECT_NAME} ${${PROJECT_NAME}_LDFLAGS}")
ENDIF(UNIX)

IF(WIN32)
  SET(${PROJECT_NAME}_LDFLAGS "${LIBDIR_KW}${CMAKE_PREFIX_INSTALL}/lib/ ${LIBINCLUSION_KW}${PROJECT_NAME}${LIBINCLUSION_EXT} ${${PROJECT_NAME}_LDFLAGS}")
ENDIF(WIN32)



# Optimisation flags when building with RELEASE
#----------------------------------------------
IF(CMAKE_BUILD_TYPE MATCHES "RELEASE")
  IF(CMAKE_COMPILER_IS_GNUCXX)
    SET (${PROJECT_NAME}_CXXFLAGS "-O3 -funroll-loops -frerun-loop-opt -fschedule-insns2 -frerun-cse-after-loop -falign-functions -falign-labels -falign-loops -falign-jumps -fexpensive-optimizations ${${PROJECT_NAME}_CXXFLAGS}")
  ENDIF(CMAKE_COMPILER_IS_GNUCXX)
ENDIF(CMAKE_BUILD_TYPE MATCHES "RELEASE")

# To deal with the headers.
#--------------------------
add_subdirectory(src)
add_subdirectory(unitTesting)

# Prepare the documentation
# -------------------------
OPTION(GENERATE_DOC "Generate html documentation" ON)
IF (GENERATE_DOC)
  INCLUDE(FindDoxygen)
  IF(DOXYGEN_FOUND)
    MESSAGE(STATUS "Doxygen found")
	ADD_SUBDIRECTORY(doc)
  ENDIF(DOXYGEN_FOUND)
ENDIF (GENERATE_DOC)

# Prepare description file for pkg-config.
#-----------------------------------------
SET(install_pkg_prefix "\${prefix}")
SET(install_pkg_exec_prefix "\${exec_prefix}")
SET(install_pkg_libdir "\${libdir}")
SET(install_pkg_include_dir "\${includedir}")
SET(install_pkg_datarootdir "\${datarootdir}")

# Install the file in the appropriate place.
#-------------------------------------------
SET(install_libdir_pkgconfig lib/pkgconfig)

CONFIGURE_FILE(${${PROJECT_NAME}_SOURCE_DIR}/${PROJECT_NAME}.pc.cmake
		 ${${PROJECT_NAME}_BINARY_DIR}/${PROJECT_NAME}.pc )

INSTALL(FILES ${${PROJECT_NAME}_BINARY_DIR}/${PROJECT_NAME}.pc
	DESTINATION ${install_libdir_pkgconfig}	
        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
)

# Uninstall target
CONFIGURE_FILE(
  "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
  IMMEDIATE @ONLY)

ADD_CUSTOM_TARGET(uninstall
  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")

#---------------
# Package target
#---------------
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "walkGenJrl - Walking Pattern Generator for LIPM-like humanoid robots")
set(CPACK_PACKAGE_VENDOR "JRL CNRS/AIST")
set(CPACK_PACKAGE_DESCRIPTION_FILE ${CMAKE_CURRENT_SOURCE_DIR}/README.md)
set(CPACK_PACKAGE_CONTACT "Olivier Stasse (olivier.stasse@aist.go.jp)")
set(
CPACK_SOURCE_PACKAGE_FILE_NAME
"walkgenjrl-src-${PROJECT_VERSION}"
CACHE INTERNAL "tarball basename"
)
set(CPACK_PACKAGE_NAME "walkgenjrl")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "dynamicsjrljapan (>=1.17.0)")
set(CPACK_SOURCE_GENERATOR "TGZ")
set(CPACK_GENERATOR DEB)

# The following components are regex's to match anywhere (unless anchored)
# in absolute path + filename to find files or directories to be excluded
# from source tarball.
set(CPACK_SOURCE_IGNORE_FILES
"~$"
"^${PROJECT_SOURCE_DIR}/build/"
"^${PROJECT_SOURCE_DIR}/.git/"
)

set(CPACK_PACKAGING_INSTALL_PREFIX "/usr/openrobots")
#message("CPACK_SOURCE_IGNORE_FILES = ${CPACK_SOURCE_IGNORE_FILES}")
include(CPack)