429 lines
16 KiB
CMake
429 lines
16 KiB
CMake
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cmake_minimum_required(VERSION 2.8.6 FATAL_ERROR)
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if(COMMAND CMAKE_POLICY)
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CMAKE_POLICY(SET CMP0003 NEW)
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CMAKE_POLICY(SET CMP0004 NEW)
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endif(COMMAND CMAKE_POLICY)
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project (Gazebo)
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string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
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string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
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set (GAZEBO_MAJOR_VERSION 7)
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set (GAZEBO_MINOR_VERSION 14)
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# The patch version may have been bumped for prerelease purposes; be sure to
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# check gazebo-release/ubuntu/debian/changelog@default to determine what the
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# next patch version should be for a regular release.
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set (GAZEBO_PATCH_VERSION 0)
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set (GAZEBO_VERSION ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION})
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set (GAZEBO_VERSION_FULL ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION}.${GAZEBO_PATCH_VERSION})
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message (STATUS "${PROJECT_NAME} version ${GAZEBO_VERSION_FULL}")
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set (gazebo_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH "Location of CMake scripts")
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########################################
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# Package Creation:
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include (${gazebo_cmake_dir}/gazebo_cpack.cmake)
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set (CPACK_PACKAGE_VERSION "${GAZEBO_VERSION_FULL}")
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set (CPACK_PACKAGE_VERSION_MAJOR "${GAZEBO_MAJOR_VERSION}")
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set (CPACK_PACKAGE_VERSION_MINOR "${GAZEBO_MINOR_VERSION}")
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set (CPACK_PACKAGE_VERSION_PATCH "${GAZEBO_PATCH_VERSION}")
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if (CPACK_GENERATOR)
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message(STATUS "Found CPack generators: ${CPACK_GENERATOR}")
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configure_file("${gazebo_cmake_dir}/cpack_options.cmake.in" ${GAZEBO_CPACK_CFG_FILE} @ONLY)
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set(CPACK_PROJECT_CONFIG_FILE ${GAZEBO_CPACK_CFG_FILE})
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include (CPack)
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endif()
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# If we're configuring only to package source, stop here
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if (PACKAGE_SOURCE_ONLY)
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message(WARNING "Configuration was done in PACKAGE_SOURCE_ONLY mode. You can build a tarball (make package_source), but nothing else.")
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return()
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endif()
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# Documentation
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add_subdirectory(doc)
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# Configure documentation uploader
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configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in"
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${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY)
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# If we're configuring only to build docs, stop here
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if (DOC_ONLY)
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message(WARNING "Configuration was done in DOC_ONLY mode. You can build documentation (make doc), but nothing else.")
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return()
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endif()
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enable_testing()
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# Use GNUInstallDirst to get canonical paths
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include(GNUInstallDirs)
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# with -fPIC
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if(UNIX AND NOT WIN32)
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set (CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "Install Prefix")
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find_program(CMAKE_UNAME uname /bin /usr/bin /usr/local/bin )
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if(CMAKE_UNAME)
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exec_program(uname ARGS -m OUTPUT_VARIABLE CMAKE_SYSTEM_PROCESSOR)
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set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL
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"processor type (i386 and x86_64)")
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
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ADD_DEFINITIONS(-fPIC)
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endif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
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endif(CMAKE_UNAME)
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endif()
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set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
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# developer's option to cache PKG_CONFIG_PATH and
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# LD_LIBRARY_PATH for local installs
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if(PKG_CONFIG_PATH)
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set (ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_PATH}:$ENV{PKG_CONFIG_PATH})
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endif()
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if(LD_LIBRARY_PATH)
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set (ENV{LD_LIBRARY_PATH} ${LD_LIBRARY_PATH}:$ENV{LD_LIBRARY_PATH})
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endif()
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set (INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_INCLUDEDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/gazebo")
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set (LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
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set (BIN_INSTALL_DIR ${CMAKE_INSTALL_BINDIR})
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set (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE)
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set (build_errors "" CACHE INTERNAL "build errors" FORCE)
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set (build_warnings "" CACHE INTERNAL "build warnings" FORCE)
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set (MIN_OGRE_VERSION 1.7.4 CACHE INTERNAL "Ogre version requirement" FORCE)
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set (MIN_BOOST_VERSION 1.40.0 CACHE INTERNAL "Boost min version requirement" FORCE)
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set (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version requirement" FORCE)
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set (FREEIMAGE_MINOR_VERSION 9 CACHE INTERNAL "FreeImage minor version requirement" FORCE)
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set (MIN_FREEIMAGE_VERSION ${FREEIMAGE_MAJOR_VERSION}.${FREEIMAGE_MINOR_VERSION}.0 CACHE INTERNAL "FreeImage version requirement" FORCE)
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include (${gazebo_cmake_dir}/DissectVersion.cmake)
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#####################################
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# Check for low memory version to use in some tests
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if(NOT DEFINED USE_LOW_MEMORY_TESTS)
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set (USE_LOW_MEMORY_TESTS FALSE)
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message (STATUS "High memory tests: enabled")
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else()
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set (USE_LOW_MEMORY_TEST TRUE)
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message (STATUS "High memory tests: disabled, low memory versions will be used")
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endif()
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######################################
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# Enable screen tests by default
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if(NOT DEFINED ENABLE_SCREEN_TESTS)
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set(ENABLE_SCREEN_TESTS TRUE)
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endif()
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message (STATUS "\n\n====== Finding 3rd Party Packages ======")
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include (${gazebo_cmake_dir}/SearchForStuff.cmake)
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message (STATUS "----------------------------------------\n")
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#####################################
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# Define some variables that are going to be used in two places:
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# 1. In CMake code to pass preprocessor definitions to certain source files
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# (especially in common/CMakeLists.txt).
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# 2. In the generation of cmake/setup.sh from cmake/setup.sh.in
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set(GAZEBO_DEFAULT_MASTER_HOST localhost)
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set(GAZEBO_DEFAULT_MASTER_PORT 11345)
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set(GAZEBO_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/gazebo-${GAZEBO_MAJOR_VERSION}/plugins)
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set(GAZEBO_MODEL_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/models)
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set(GAZEBO_RESOURCE_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION})
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set(GAZEBO_MODEL_DATABASE_URI http://models.gazebosim.org)
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set(OGRE_RESOURCE_PATH ${OGRE_PLUGINDIR})
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# Seems that OGRE_PLUGINDIR can end in a newline, which will cause problems when
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# we pass it to the compiler later.
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string(REPLACE "\n" "" OGRE_RESOURCE_PATH ${OGRE_RESOURCE_PATH})
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# Check for DRI capable Display
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include (${gazebo_cmake_dir}/CheckDRIDisplay.cmake)
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#####################################
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MESSAGE(STATUS "Checking gazebo build type")
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# Set the default build type
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if (NOT CMAKE_BUILD_TYPE)
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set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING
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"Choose the type of build, options are: Debug Release RelWithDebInfo Profile Check" FORCE)
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endif (NOT CMAKE_BUILD_TYPE)
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# TODO: still convert to uppercase to keep backwards compatibility with
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# uppercase old supported and deprecated modes
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string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
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if (NOT DEFINED HDF5_INSTRUMENT)
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set (HDF5_INSTRUMENT FALSE)
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endif()
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set (BUILD_TYPE_PROFILE FALSE)
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set (BUILD_TYPE_RELEASE FALSE)
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set (BUILD_TYPE_RELWITHDEBINFO FALSE)
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set (BUILD_TYPE_DEBUG FALSE)
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set (BUILD_TYPE_COVERAGE FALSE)
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if ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "PROFILE")
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set (BUILD_TYPE_PROFILE TRUE)
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elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
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set (BUILD_TYPE_RELEASE TRUE)
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elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
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set (BUILD_TYPE_RELWITHDEBINFO TRUE)
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elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
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set (BUILD_TYPE_DEBUG TRUE)
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elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "COVERAGE")
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BUILD_WARNING ("Simbody physics engine not supported during Coverage builds (issue #1849).")
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set (HAVE_SIMBODY FALSE)
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BUILD_WARNING ("DART physics engine not supported during Coverage builds (issue #1160).")
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set (HAVE_DART FALSE)
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set (BUILD_TYPE_COVERAGE TRUE)
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include (${gazebo_cmake_dir}/CodeCoverage.cmake)
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setup_target_for_coverage(coverage coverage)
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else()
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build_error("CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug Release RelWithDebInfo Profile Check")
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endif()
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#####################################
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# Handle CFlags
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# USE_UPSTREAM_CFLAGS (default TRUE)
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if(NOT DEFINED USE_UPSTREAM_CFLAGS)
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set (USE_UPSTREAM_CFLAGS True)
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endif()
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unset (CMAKE_C_FLAGS_ALL CACHE)
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# USE_HOST_CFLAGS (default TRUE)
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# Will check building host machine for proper cflags
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if(NOT DEFINED USE_HOST_CFLAGS OR USE_HOST_CFLAGS)
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message(STATUS "Enable host CFlags")
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include (${gazebo_cmake_dir}/HostCFlags.cmake)
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endif()
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# Will use predefined gazebo developers cflags
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# this needs to be called after HostCFlags
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if(USE_UPSTREAM_CFLAGS)
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# use gazebo own set of flags
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unset (CMAKE_CXX_FLAGS CACHE)
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message(STATUS "Enable upstream CFlags")
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include(${gazebo_cmake_dir}/DefaultCFlags.cmake)
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endif()
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# Check if warning options are avaliable for the compiler and return WARNING_CXX_FLAGS variable
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filter_valid_compiler_flags(-Wall -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value
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-Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow
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-Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic)
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# Check and add visibility hidden by default. Only in UNIX
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# Windows and MacosX does not handled properly the hidden compilation
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if (UNIX AND NOT APPLE)
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filter_valid_compiler_flags(-fvisibility=hidden -fvisibility-inlines-hidden)
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endif()
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if (MSVC)
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# Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
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# Handling exceptions rightly
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set(UNFILTERED_FLAGS "/EHsc")
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endif()
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# Visual Studio enables c++11 support by default
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if (NOT MSVC)
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set(UNFILTERED_FLAGS "-std=c++11")
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endif()
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set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${VALID_CXX_FLAGS} ${UNFILTERED_FLAGS}")
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#################################################
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# OS Specific initialization
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if (UNIX)
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gz_setup_unix()
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else (WIN32)
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gz_setup_windows()
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endif()
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if(APPLE)
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gz_setup_apple()
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endif()
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# Main includes for compilation
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include_directories(${PROJECT_SOURCE_DIR} ${PROJECT_BINARY_DIR})
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include_directories(SYSTEM
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${IGNITION-MATH_INCLUDE_DIRS}
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)
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#################################################
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# Configure 3rd Party Packages after OS Specific initialization
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message (STATUS "\n\n====== Configuring 3rd Party Packages ======")
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add_subdirectory(deps)
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message (STATUS "----------------------------------------\n")
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#################################################
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# Print warnings and errors
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if ( build_warnings )
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message(STATUS "BUILD WARNINGS")
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foreach (msg ${build_warnings})
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message(STATUS ${msg})
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endforeach ()
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message(STATUS "END BUILD WARNINGS\n")
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endif (build_warnings)
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########### Add uninstall target ###############
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
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"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
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IMMEDIATE @ONLY)
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add_custom_target(uninstall
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"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")
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if (build_errors)
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message(STATUS "BUILD ERRORS: These must be resolved before compiling.")
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foreach (msg ${build_errors})
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message(STATUS ${msg})
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endforeach ()
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message(STATUS "END BUILD ERRORS\n")
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message (FATAL_ERROR "Errors encountered in build. Please see the BUILD ERRORS above.")
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else (build_errors)
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########################################
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# Write the config.h file
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configure_file (${gazebo_cmake_dir}/gazebo_config.h.in ${PROJECT_BINARY_DIR}/gazebo/gazebo_config.h)
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gz_install_includes("" ${PROJECT_BINARY_DIR}/gazebo/gazebo_config.h)
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configure_file(${CMAKE_SOURCE_DIR}/cmake/setup.sh.in ${PROJECT_BINARY_DIR}/setup.sh @ONLY)
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install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/)
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# Also install the setup.sh in an unversioned location
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install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo/)
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if (DEFINED CMAKE_CXX_FLAGS)
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message (STATUS "Custom CFlags:${CMAKE_CXX_FLAGS}")
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else()
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message (STATUS "Use default CFlags")
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endif()
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message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
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message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
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if (BUILD_GAZEBO)
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set(TEST_TYPE "UNIT")
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add_subdirectory(gazebo)
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add_subdirectory(media)
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add_subdirectory(test)
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add_subdirectory(tools)
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add_subdirectory(plugins)
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add_subdirectory(interfaces)
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add_subdirectory(worlds)
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add_subdirectory(models)
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endif (BUILD_GAZEBO)
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########################################
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# Make the package config files
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set (pkgconfig_files gazebo_ode gazebo_transport gazebo)
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# set boost pkgconfig cflags
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set (Boost_PKGCONFIG_CFLAGS ${Boost_INCLUDE_DIRS})
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if (NOT "${Boost_PKGCONFIG_CFLAGS}" STREQUAL "")
|
||
|
|
set (Boost_PKGCONFIG_CFLAGS "-I${Boost_PKGCONFIG_CFLAGS}")
|
||
|
|
endif (NOT "${Boost_PKGCONFIG_CFLAGS}" STREQUAL "")
|
||
|
|
string (REPLACE ";" " -I" Boost_PKGCONFIG_CFLAGS "${Boost_PKGCONFIG_CFLAGS}")
|
||
|
|
|
||
|
|
# set boost pkgconfig libs
|
||
|
|
set (Boost_PKGCONFIG_LIBS ${Boost_LIBRARY_DIRS})
|
||
|
|
if (NOT "${Boost_PKGCONFIG_LIBS}" STREQUAL "")
|
||
|
|
set (Boost_PKGCONFIG_LIBS "-L${Boost_PKGCONFIG_LIBS}")
|
||
|
|
endif(NOT "${Boost_PKGCONFIG_LIBS}" STREQUAL "")
|
||
|
|
string (REPLACE ";" " -L" Boost_PKGCONFIG_LIBS "${Boost_PKGCONFIG_LIBS}")
|
||
|
|
|
||
|
|
foreach (b ${Boost_LIBRARIES})
|
||
|
|
get_filename_component(bname ${b} NAME_WE)
|
||
|
|
# Prefix always -l
|
||
|
|
set (bname "-l${bname}")
|
||
|
|
# Remove the prefix lib (not always present, like in pthread)
|
||
|
|
string (REPLACE "lib" "" bname "${bname}")
|
||
|
|
set (Boost_PKGCONFIG_LIBS "${Boost_PKGCONFIG_LIBS} ${bname}")
|
||
|
|
endforeach(b)
|
||
|
|
|
||
|
|
foreach (pkgconfig ${pkgconfig_files})
|
||
|
|
configure_file(${CMAKE_SOURCE_DIR}/cmake/pkgconfig/${pkgconfig}.in ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${pkgconfig}.pc @ONLY)
|
||
|
|
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${pkgconfig}.pc DESTINATION ${LIB_INSTALL_DIR}/pkgconfig COMPONENT pkgconfig)
|
||
|
|
endforeach()
|
||
|
|
|
||
|
|
########################################
|
||
|
|
# Make the cmake config files
|
||
|
|
set(PKG_NAME ${PROJECT_NAME_UPPER})
|
||
|
|
|
||
|
|
# Order is important, if A depends on B, please add B after A.
|
||
|
|
# The list should have at the very end the libraries
|
||
|
|
# without internal interdependencies
|
||
|
|
set(PKG_LIBRARIES
|
||
|
|
gazebo
|
||
|
|
gazebo_client
|
||
|
|
gazebo_gui
|
||
|
|
gazebo_sensors
|
||
|
|
gazebo_rendering
|
||
|
|
)
|
||
|
|
|
||
|
|
if (INCLUDE_PLAYER)
|
||
|
|
set(PKG_LIBRARIES ${PKG_LIBRARIES} gazebo_player)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set(PKG_LIBRARIES ${PKG_LIBRARIES}
|
||
|
|
gazebo_physics
|
||
|
|
gazebo_ode
|
||
|
|
)
|
||
|
|
|
||
|
|
set(PKG_LIBRARIES ${PKG_LIBRARIES}
|
||
|
|
gazebo_transport
|
||
|
|
gazebo_msgs
|
||
|
|
gazebo_util
|
||
|
|
gazebo_common)
|
||
|
|
|
||
|
|
# No other internal dependencies:
|
||
|
|
set(PKG_LIBRARIES ${PKG_LIBRARIES}
|
||
|
|
gazebo_gimpact
|
||
|
|
gazebo_opcode
|
||
|
|
gazebo_opende_ou
|
||
|
|
gazebo_math
|
||
|
|
)
|
||
|
|
|
||
|
|
if (NOT CCD_FOUND)
|
||
|
|
set(PKG_LIBRARIES ${PKG_LIBRARIES} gazebo_ccd)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set(PKG_DEPENDS Boost Protobuf SDFormat OGRE)
|
||
|
|
|
||
|
|
set(cmake_conf_file "cmake/gazebo-config.cmake")
|
||
|
|
set(cmake_conf_version_file "cmake/gazebo-config-version.cmake")
|
||
|
|
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${cmake_conf_file}.in" "${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}" @ONLY)
|
||
|
|
# Use write_basic_package_version_file to generate a ConfigVersion file that
|
||
|
|
# allow users of gazebo to specify the API or version to depend on
|
||
|
|
# TODO: keep this instruction until deprecate Ubuntu/Precise and update with
|
||
|
|
# https://github.com/Kitware/CMake/blob/v2.8.8/Modules/CMakePackageConfigHelpers.cmake
|
||
|
|
include(WriteBasicConfigVersionFile)
|
||
|
|
write_basic_config_version_file(
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_version_file}
|
||
|
|
VERSION "${GAZEBO_VERSION_FULL}"
|
||
|
|
COMPATIBILITY SameMajorVersion)
|
||
|
|
install(FILES
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_version_file}
|
||
|
|
DESTINATION
|
||
|
|
${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/
|
||
|
|
COMPONENT cmake)
|
||
|
|
########################################
|
||
|
|
# If present, load platform-specific build hooks. This system is used,
|
||
|
|
# for example, by the Ubuntu overlay (in the gazebo-release repo), to
|
||
|
|
# arrange for installation of Ubuntu-specific application-launching
|
||
|
|
# configuration.
|
||
|
|
if (EXISTS ${PROJECT_SOURCE_DIR}/cmake/packager-hooks/CMakeLists.txt)
|
||
|
|
message(STATUS "Loading packager build hooks from cmake/packager-hooks")
|
||
|
|
add_subdirectory(cmake/packager-hooks)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
message(STATUS "Configuration successful. Type make to compile gazebo")
|
||
|
|
endif(build_errors)
|