CMakeLists.txt 6.13 KB
Newer Older
1
2
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

3
# Setup project properties
Guilhem Saurel's avatar
Guilhem Saurel committed
4
SET(PROJECT_ORG stack-of-tasks)
5
6
SET(PROJECT_NAME dynamic-graph)
SET(PROJECT_DESCRIPTION "Dynamic graph library")
Guilhem Saurel's avatar
Guilhem Saurel committed
7
SET(PROJECT_URL "http://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
8
SET(PROJECT_SUFFIX "-v3")
9

Olivier Stasse's avatar
Olivier Stasse committed
10
11
# Export CMake Target
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
Olivier Stasse's avatar
Olivier Stasse committed
12

Olivier Stasse's avatar
Olivier Stasse committed
13
14
15
# Make sure that every header is generated in dynamic-graph
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})

Olivier Stasse's avatar
Olivier Stasse committed
16
17
18
# Do not fail on warning
SET(CXX_DISABLE_WERROR TRUE)

19
20
INCLUDE(cmake/base.cmake)

21
# Specify the project.
22
23
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
24
25

# jrl-cmakemodules handling of usual modules
26
INCLUDE(cmake/pthread.cmake)
27
28
29
30
31
32
INCLUDE(cmake/boost.cmake)

ADD_REQUIRED_DEPENDENCY(eigen3)
SET(BOOST_COMPONENTS serialization system unit_test_framework thread)
SEARCH_FOR_BOOST()

33
# Allows math in mathjax.
Guilhem Saurel's avatar
Guilhem Saurel committed
34
35
SET(DOXYGEN_USE_MATHJAX YES)

36
# Defines paths.
37
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
38

39
40
41
42
43
44
45
# Add configuration headers for plug-ins.
GENERATE_CONFIGURATION_HEADER(
  ${HEADER_DIR} config-tracer.hh DG_TRACER tracer_EXPORTS)
GENERATE_CONFIGURATION_HEADER(
  ${HEADER_DIR}
  config-tracer-real-time.hh DG_TRACERREALTIME tracer_real_time_EXPORTS)

Olivier Stasse's avatar
Olivier Stasse committed
46
47
48
49
set(PACKAGE_EXTRA_MACROS
  "set (DYNAMIC_GRAPH_PLUGINDIR \${CMAKE_CURRENT_LIST_DIR}/../../plugin)")

# Specific to PKG module
50
# FIXME: to be changed into lib/dynamic-graph
51
# to avoid name collision when installing dynamic-graph in /usr.
52
SET(PLUGINDIR "${CMAKE_INSTALL_FULL_LIBDIR}/plugin")
53

54
55
# Add extra keys to pkg-config file to export the location of the
# plug-in directory in a robust manner.
56
SET(PKG_CONFIG_EXTRA "plugindir=${PLUGINDIR}")
57

58
# Add dependency toward dynamic graph library in pkg-config file.
Guilhem Saurel's avatar
Guilhem Saurel committed
59
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
60

61
# Search for Boost.
62
SEARCH_FOR_PTHREAD()
63

Olivier Stasse's avatar
Olivier Stasse committed
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101

####################################
### Main Library
####################################
SET(LIBRARY_NAME ${PROJECT_NAME})

# Verbosity level
IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))

# Declare boost include directories
#include_directories(${Boost_INCLUDE_DIRS})
#link_directories(${Boost_LIBRARY_DIRS})

ADD_LIBRARY(${LIBRARY_NAME}
  SHARED
  src/debug/debug.cpp
  src/debug/real-time-logger.cpp
  src/debug/logger.cpp

  src/dgraph/entity.cpp
  src/dgraph/factory.cpp
  src/dgraph/pool.cpp

  src/exception/exception-abstract.cpp
  src/exception/exception-factory.cpp
  src/exception/exception-signal.cpp
  src/exception/exception-traces.cpp

  src/mt/process-list.cpp

  src/signal/signal-array.cpp
  src/signal/signal-caster.cpp
  src/signal/signal-cast-helper.cpp

  src/command/value.cpp
  src/command/command.cpp
102

Olivier Stasse's avatar
Olivier Stasse committed
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
  )

SET(${PROJECT_NAME}_HEADERS
  include/dynamic-graph/fwd.hh
  include/dynamic-graph/null-ptr.hh
  include/dynamic-graph/debug.h
  include/dynamic-graph/real-time-logger.h

  include/dynamic-graph/dynamic-graph-api.h

  include/dynamic-graph/entity.h
  include/dynamic-graph/factory.h
  include/dynamic-graph/pool.h

  include/dynamic-graph/exception-abstract.h
  include/dynamic-graph/exception-factory.h
  include/dynamic-graph/exception-signal.h
  include/dynamic-graph/exception-traces.h

  include/dynamic-graph/signal.h
  include/dynamic-graph/signal-array.h
  include/dynamic-graph/signal-base.h
  include/dynamic-graph/signal-ptr.h
  include/dynamic-graph/signal-time-dependent.h
  include/dynamic-graph/signal-ptr.t.cpp
  include/dynamic-graph/signal.t.cpp
  include/dynamic-graph/time-dependency.h
  include/dynamic-graph/time-dependency.t.cpp
  include/dynamic-graph/signal-caster.h
  include/dynamic-graph/signal-cast-helper.h
  include/dynamic-graph/all-signals.h
  include/dynamic-graph/signal-helper.h
  include/dynamic-graph/entity-helper.h

  include/dynamic-graph/tracer.h
  include/dynamic-graph/tracer-real-time.h

  include/dynamic-graph/command.h
  include/dynamic-graph/eigen-io.h
  include/dynamic-graph/linear-algebra.h
  include/dynamic-graph/value.h

  include/dynamic-graph/command-setter.h
  include/dynamic-graph/command-setter.t.cpp
  include/dynamic-graph/command-getter.h
  include/dynamic-graph/command-getter.t.cpp
  include/dynamic-graph/command-direct-getter.h
  include/dynamic-graph/command-direct-setter.h
  include/dynamic-graph/command-bind.h
  include/dynamic-graph/all-commands.h

  include/dynamic-graph/logger.h
)

SET(PUBLIC_HEADER ${${PROJECT_NAME}_HEADERS})

INSTALL(TARGETS ${PROJECT_NAME}
  EXPORT ${TARGETS_EXPORT_NAME}
161
  PUBLIC_HEADER
Olivier Stasse's avatar
Olivier Stasse committed
162
  INCLUDES DESTINATION include
163
  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
Olivier Stasse's avatar
Olivier Stasse committed
164
165
166
167
168
169
  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
  )

# We need to include Eigen3 because the CMakeFile at 16.04 LTS
# is not so modern.
target_include_directories(${PROJECT_NAME}
170
171
  PUBLIC
  $<BUILD_INTERFACE:${CMAKE_BUILD_DIR}/include>
Olivier Stasse's avatar
Olivier Stasse committed
172
   $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
173
174
   $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIRS}>
   INTERFACE ${EIGEN3_INCLUDE_DIRS}
Olivier Stasse's avatar
Olivier Stasse committed
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
   $<INSTALL_INTERFACE:include>
   )

SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})

IF (UNIX)
  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS} pthread)
ENDIF (UNIX)

TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})

####################################
### Plugins
####################################
SET(plugins_list
        src/traces/tracer
        src/traces/tracer-real-time
)

SET(tracer-real-time_dependency tracer)

FOREACH(plugin_file ${plugins_list})
  GET_FILENAME_COMPONENT(plugin ${plugin_file} NAME)
  ADD_LIBRARY(${plugin} SHARED "${plugin_file}.cpp")

  TARGET_LINK_LIBRARIES(${plugin}
    ${PROJECT_NAME} ${${plugin}_dependency}
    ${Boost_LIBRARIES})

  SET_TARGET_PROPERTIES(${plugin}
    PROPERTIES
    PREFIX ""
    )

209
210
211
  INSTALL(TARGETS ${plugin}
    EXPORT ${TARGET_NAME}
    DESTINATION ${PLUGINDIR})
Olivier Stasse's avatar
Olivier Stasse committed
212
ENDFOREACH(plugin_file)
213

Thomas Moulard's avatar
Thomas Moulard committed
214
ADD_SUBDIRECTORY(tests)
215

216
217
218
get_cmake_property(_variableNames VARIABLES)
list (SORT _variableNames)
foreach (_variableName ${_variableNames})
219
220
221
  LIST(APPEND LOGGING_WATCHED_VARIABLES
    ${_variableName}
    )
222
223
endforeach()

Guilhem Saurel's avatar
Guilhem Saurel committed
224
225
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})

226
MESSAGE(STATUS "dynamic_graph_VERSION=${dynamic_graph_VERSION}")