CMakeLists.txt 5.93 KB
Newer Older
Thomas Moulard's avatar
Thomas Moulard committed
1
# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
2
3
4
5

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)


Guilhem Saurel's avatar
Guilhem Saurel committed
6
SET(PROJECT_ORG stack-of-tasks)
7
8
SET(PROJECT_NAME dynamic-graph)
SET(PROJECT_DESCRIPTION "Dynamic graph library")
Guilhem Saurel's avatar
Guilhem Saurel committed
9
SET(PROJECT_URL "http://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
10
SET(PROJECT_SUFFIX "-v3")
11

Olivier Stasse's avatar
Olivier Stasse committed
12

Olivier Stasse's avatar
Olivier Stasse committed
13
14
15
16
17
# Export CMake Target
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
# Make sure that every header is generated in dynamic-graph
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})

18
19
20
INCLUDE(cmake/base.cmake)
PROJECT(${PROJECT_NAME} CXX)

Olivier Stasse's avatar
Olivier Stasse committed
21
INCLUDE(cmake/header.cmake)
22
23
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/pthread.cmake)
Olivier Stasse's avatar
Olivier Stasse committed
24
add_project_dependency(Eigen3 REQUIRED NO_MODULE)
25

26
27
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")

Guilhem Saurel's avatar
Guilhem Saurel committed
28
29
SET(DOXYGEN_USE_MATHJAX YES)

30
# Defines paths.
31
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
32

33
34
35
36
37
38
39
# 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
40
41
42
43
set(PACKAGE_EXTRA_MACROS
  "set (DYNAMIC_GRAPH_PLUGINDIR \${CMAKE_CURRENT_LIST_DIR}/../../plugin)")

# Specific to PKG module
44
45
# FIXME: to be changed into lib/dynamic-graph
# to avoid name collision when installing dynamic-graph in /usr.
46
SET(PLUGINDIR "${CMAKE_INSTALL_FULL_LIBDIR}/plugin")
47

48
49
# Add extra keys to pkg-config file to export the location of the
# plug-in directory in a robust manner.
50
SET(PKG_CONFIG_EXTRA "plugindir=${PLUGINDIR}")
51

52
# Add dependency toward dynamic graph library in pkg-config file.
Guilhem Saurel's avatar
Guilhem Saurel committed
53
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
54

55
# Search for Boost.
56
SET(BOOST_COMPONENTS serialization system unit_test_framework thread)
57
SEARCH_FOR_BOOST()
58
SEARCH_FOR_PTHREAD()
Olivier Stasse's avatar
Olivier Stasse committed
59
#SEARCH_FOR_EIGEN()
60

Olivier Stasse's avatar
Olivier Stasse committed
61
62
63
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
102
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
161
162
163
164
165
166
167
168
169
170
171
172
173
174
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
209
210
211
212
213
214
# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
#

####################################
### 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
  
  )

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}
  PUBLIC_HEADER 
  INCLUDES DESTINATION include
  LIBRARY DESTINATION  ${CMAKE_INSTALL_LIBDIR}
  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}
   PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
   $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
   INTERFACE
   ${EIGEN3_INCLUDE_DIR}   
   $<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})

#IF (UNIX AND NOT APPLE)
#  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${JRL_MAL_LDFLAGS_OTHER})
#ENDIF (UNIX AND NOT APPLE)

####################################
### 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 ""
    )

  INSTALL(TARGETS ${plugin} EXPORT ${TARGET_NAME} DESTINATION ${PLUGINDIR})
ENDFOREACH(plugin_file)
215

Guilhem Saurel's avatar
Guilhem Saurel committed
216
ADD_SUBDIRECTORY(include/${PROJECT_NAME})
Thomas Moulard's avatar
Thomas Moulard committed
217
ADD_SUBDIRECTORY(tests)
218

Olivier Stasse's avatar
Olivier Stasse committed
219

220
SETUP_PROJECT_PACKAGE_FINALIZE()