143 lines
5.0 KiB
CMake
143 lines
5.0 KiB
CMake
include (${sdf_cmake_dir}/FindOS.cmake)
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include (FindPkgConfig)
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# Detect the architecture
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include (${project_cmake_dir}/TargetArch.cmake)
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target_architecture(ARCH)
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message(STATUS "Building for arch: ${ARCH}")
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########################################
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# Find Boost, if not specified manually
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if (WIN32)
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set(Boost_USE_STATIC_LIBS OFF)
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set(Boost_USE_MULTITHREADED ON)
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set(Boost_USE_STATIC_RUNTIME OFF)
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endif()
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include(FindBoost)
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find_package(Boost ${MIN_BOOST_VERSION} REQUIRED system filesystem program_options regex iostreams)
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if (NOT Boost_FOUND)
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set (BUILD_SDF OFF CACHE INTERNAL "Build SDF" FORCE)
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BUILD_ERROR ("Boost not found. Please install thread signals system filesystem program_options regex boost version ${MIN_BOOST_VERSION} or higher.")
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endif()
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if (USE_EXTERNAL_TINYXML)
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#################################################
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# Find tinyxml. Only debian distributions package tinyxml with a pkg-config
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# Use pkg_check_modules and fallback to manual detection (needed, at least, for MacOS)
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pkg_check_modules(tinyxml tinyxml)
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if (NOT tinyxml_FOUND)
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find_path (tinyxml_include_dirs tinyxml.h ${tinyxml_include_dirs} ENV CPATH)
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find_library(tinyxml_LIBRARIES NAMES tinyxml)
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set (tinyxml_FAIL False)
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if (NOT tinyxml_include_dirs)
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message (STATUS "Looking for tinyxml headers - not found")
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set (tinyxml_FAIL True)
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endif()
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if (NOT tinyxml_LIBRARIES)
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message (STATUS "Looking for tinyxml library - not found")
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set (tinyxml_FAIL True)
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endif()
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endif()
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if (tinyxml_FAIL)
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message (STATUS "Looking for tinyxml.h - not found")
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BUILD_ERROR("Missing: tinyxml")
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endif()
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else()
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# Needed in WIN32 since in UNIX the flag is added in the code installed
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add_definitions(-DTIXML_USE_STL)
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include_directories (${PROJECT_SOURCE_DIR}/src/win/tinyxml)
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set (tinyxml_LIBRARIES "tinyxml")
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set (tinyxml_LIBRARY_DIRS "")
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endif()
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################################################
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# Find urdfdom parser
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if (USE_EXTERNAL_URDF)
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if (NOT PKG_CONFIG_FOUND)
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BUILD_ERROR ("pkgconfig not found. Please install to so USE_EXTERNAL_URDF can found the urdf library")
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else()
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# check for urdfdom with pkg-config
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pkg_check_modules(URDF urdfdom>=0.3)
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if (NOT URDF_FOUND)
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# version >= 0.3.x not found, check for urdfdom again with no version
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# restriction.
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pkg_check_modules(URDF urdfdom)
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if (NOT URDF_FOUND)
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BUILD_ERROR ("URDF library not found. Please install it to use with USE_EXTERNAL_URDF or set this flag to false to use internal URDF code")
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else()
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# urdfdom library found < 0.3, unset flag
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set (URDF_GE_0P3 FALSE)
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endif()
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else()
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# urdfdom library found >= 0.3, set flag
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set (URDF_GE_0P3 TRUE)
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endif()
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# what am I doing here? pkg-config and cmake
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set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
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set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
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endif()
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else()
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# the internal copy is currently 0.3.0
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set (URDF_GE_0P3 TRUE)
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endif()
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################################################
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# Find the Python interpreter for running the
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# check_test_ran.py script
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find_package(PythonInterp QUIET)
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################################################
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# Find psutil python package for memory tests
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find_python_module(psutil)
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if(NOT PY_PSUTIL)
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BUILD_WARNING("Python psutil package not found. Memory leak tests will be skipped")
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endif()
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################################################
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# Find Valgrind for checking memory leaks in the
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# tests
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find_program(VALGRIND_PROGRAM NAMES valgrind PATH ${VALGRIND_ROOT}/bin)
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option(SDFORMAT_RUN_VALGRIND_TESTS "Run sdformat tests with Valgrind" FALSE)
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mark_as_advanced(SDFORMAT_RUN_VALGRIND_TESTS)
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if (SDFORMAT_RUN_VALGRIND_TESTS AND NOT VALGRIND_PROGRAM)
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BUILD_WARNING("valgrind not found. Memory check tests will be skipped.")
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endif()
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################################################
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# Find ruby executable to produce xml schemas
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find_program(RUBY ruby)
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if (NOT RUBY)
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BUILD_ERROR ("Ruby version 1.9 is needed to build xml schemas")
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else()
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message(STATUS "Found ruby executable: ${RUBY}")
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endif()
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#################################################
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# Macro to check for visibility capability in compiler
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# Original idea from: https://gitorious.org/ferric-cmake-stuff/
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macro (check_gcc_visibility)
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include (CheckCXXCompilerFlag)
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check_cxx_compiler_flag(-fvisibility=hidden GCC_SUPPORTS_VISIBILITY)
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endmacro()
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########################################
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# Find ignition math
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set(IGNITION-MATH_REQUIRED_MAJOR_VERSION 2)
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if (NOT DEFINED IGNITION-MATH_LIBRARY_DIRS AND NOT DEFINED IGNITION-MATH_INCLUDE_DIRS AND NOT DEFINED IGNITION-MATH_LIBRARIES)
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find_package(ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION} QUIET)
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if (NOT ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION}_FOUND)
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message(STATUS "Looking for ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION}-config.cmake - not found")
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BUILD_ERROR ("Missing: Ignition math${IGNITION-MATH_REQUIRED_MAJOR_VERSION} library.")
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else()
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message(STATUS "Looking for ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION}-config.cmake - found")
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endif()
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endif()
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