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CMake improvements for packaging #197

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CMake improvements for packaging #197

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2ca6076
Set _USE_MATH_DEFINES for MSVC
valgur Feb 28, 2024
f71f6b0
Fix the use of a deprecated CMake property
valgur Feb 28, 2024
a71a4d8
Add BUILD_APPS and BUILD_TESTING options
valgur Feb 28, 2024
0d57de8
Prefer find_dependency() in urdfdom-config.cmake
valgur Feb 28, 2024
075d983
No need to enable C language in project()
valgur Feb 28, 2024
a2fbb27
Add USE_VENDORED_DEPS option, set urdfdom_LIBRARIES to targets
valgur Feb 28, 2024
fbb24ab
config.cmake: find urdfdom_headers directly, drop target creation
valgur Feb 29, 2024
df01ca8
config.cmake: avoid using `${PACKAGE_PREFIX_DIR}` directly
valgur Feb 29, 2024
9492c5a
config.cmake: take APPEND_PROJECT_NAME_TO_INCLUDEDIR into account
valgur Feb 29, 2024
fed22ab
config.cmake: drop onelib target
valgur Feb 29, 2024
c11bd1c
config.cmake: don't need to modify CMAKE_MODULE_PATH
valgur Feb 29, 2024
1512f03
Drop `BUILD_TESTING` option from CMakeLists.txt
valgur Jul 11, 2024
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29 changes: 17 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
cmake_minimum_required( VERSION 3.5 FATAL_ERROR )
project (urdfdom CXX C)
project (urdfdom CXX)

set (URDF_MAJOR_VERSION 4)
set (URDF_MINOR_VERSION 0)
Expand All @@ -12,6 +12,9 @@ message (STATUS "${PROJECT_NAME} version ${URDF_VERSION}")

include(GNUInstallDirs)

option(BUILD_APPS "Build applications" ON)
option(BUILD_TESTING "Build tests" OFF)
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what is the motivation for making BUILD_TESTING an explicit option? Including CTest will automatically add a BUILD_TESTING option that is ON by default.

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That's just because of plain ignorance on my part. Thanks! I'll drop it.

option(USE_VENDORED_DEPS "Use vendored dependencies" ON)
option(APPEND_PROJECT_NAME_TO_INCLUDEDIR
"When ON headers are installed to a folder ending with an extra ${PROJECT_NAME}. \
This avoids include directory search order issues when overriding this package
Expand All @@ -27,8 +30,8 @@ if (NOT CMAKE_BUILD_TYPE)
endif()

# If compiler support symbol visibility, enable it.
include(CheckCCompilerFlag)
check_c_compiler_flag(-fvisibility=hidden HAS_VISIBILITY)
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag(-fvisibility=hidden HAS_VISIBILITY)
if (HAS_VISIBILITY)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
endif()
Expand All @@ -41,15 +44,17 @@ endif()
# with MSVC being set off, but MSVCXX ON.
if(MSVC OR MSVC90 OR MSVC10)
set(MSVC ON)
endif (MSVC OR MSVC90 OR MSVC10)
endif()

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

find_package(tinyxml2_vendor QUIET)
find_package(TinyXML2 REQUIRED)

find_package(urdfdom_headers 1.0 REQUIRED)
find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.

if(USE_VENDORED_DEPS)
find_package(tinyxml2_vendor QUIET)
find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.
endif()
find_package(TinyXML2 REQUIRED)
find_package(console_bridge REQUIRED)

# Control where libraries and executables are placed during the build
Expand All @@ -67,7 +72,6 @@ add_subdirectory(urdf_parser)

set(PKG_NAME ${PROJECT_NAME})
set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
set(PKG_DEPENDS urdfdom_headers)
set(PKG_EXPORTS urdfdom)
set(cmake_conf_file "cmake/urdfdom-config")
include(CMakePackageConfigHelpers)
Expand All @@ -79,6 +83,7 @@ write_basic_package_version_file(
configure_package_config_file("${cmake_conf_file}.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}.cmake"
INSTALL_DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
)
install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}.cmake"
Expand Down Expand Up @@ -108,6 +113,6 @@ add_custom_target(uninstall

message(STATUS "Configuration successful. Type make to compile urdfdom")

SET_DIRECTORY_PROPERTIES(PROPERTIES
ADDITIONAL_MAKE_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/urdfdom-config.cmake
ADDITIONAL_MAKE_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/pkgconfig/urdfdom.pc)
set_directory_properties(PROPERTIES
ADDITIONAL_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/urdfdom-config.cmake
ADDITIONAL_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/pkgconfig/urdfdom.pc)
50 changes: 16 additions & 34 deletions cmake/urdfdom-config.cmake.in
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Original file line number Diff line number Diff line change
Expand Up @@ -5,47 +5,29 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
endif()
set(@PKG_NAME@_CONFIG_INCLUDED TRUE)

set(CMAKE_MODULE_PATH_BACKUP_URDFDOM ${CMAKE_MODULE_PATH})
list(APPEND CMAKE_MODULE_PATH "${@PROJECT_NAME@_DIR}")

set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
set(@PKG_NAME@_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
if(@APPEND_PROJECT_NAME_TO_INCLUDEDIR@)
list(APPEND @PKG_NAME@_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@/..")
endif()

foreach(lib @PKG_LIBRARIES@)
set(onelib "${lib}-NOTFOUND")
set(onelibd "${lib}-NOTFOUND")
find_library(onelib ${lib}
PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
NO_DEFAULT_PATH)
find_library(onelibd ${lib}d
PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
NO_DEFAULT_PATH)
if(onelib-NOTFOUND AND onelibd-NOTFOUND)
message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
endif()
if(onelib AND onelibd)
list(APPEND @PKG_NAME@_LIBRARIES $<$<NOT:$<CONFIG:Debug>>:${onelib}>)
list(APPEND @PKG_NAME@_LIBRARIES $<$<CONFIG:Debug>:${onelibd}>)
else()
if(onelib)
list(APPEND @PKG_NAME@_LIBRARIES ${onelib})
else()
list(APPEND @PKG_NAME@_LIBRARIES ${onelibd})
endif()
endif()
list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
endforeach()

find_package(tinyxml2_vendor QUIET)
foreach(dep @PKG_DEPENDS@)
if(NOT ${dep}_FOUND)
find_package(${dep})
endif()
list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
endforeach()
include(CMakeFindDependencyMacro)
if(@USE_VENDORED_DEPS@)
find_dependency(tinyxml2_vendor QUIET)
find_dependency(console_bridge_vendor QUIET)
else()
find_dependency(TinyXML2 REQUIRED)
find_dependency(console_bridge REQUIRED)
endif()

find_dependency(urdfdom_headers REQUIRED)
list(APPEND @PKG_NAME@_INCLUDE_DIRS "${urdfdom_headers_INCLUDE_DIRS}")

foreach(exp @PKG_EXPORTS@)
include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
endforeach()

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH_BACKUP_URDFDOM})
set(@PKG_NAME@_LIBRARIES ${@PKG_NAME@_TARGETS})
66 changes: 36 additions & 30 deletions urdf_parser/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,9 @@ macro(add_urdfdom_library)
set_target_properties(${add_urdfdom_library_LIBNAME} PROPERTIES
DEFINE_SYMBOL URDFDOM_EXPORTS
SOVERSION ${URDF_MAJOR_MINOR_VERSION})
if(MSVC)
target_compile_definitions(${add_urdfdom_library_LIBNAME} PUBLIC _USE_MATH_DEFINES)
endif()
endmacro()

if(TARGET console_bridge::console_bridge)
Expand Down Expand Up @@ -80,41 +83,44 @@ target_link_libraries(urdf_parser INTERFACE
urdfdom::urdfdom_world)

# --------------------------------
if(BUILD_APPS)
add_executable(check_urdf src/check_urdf.cpp)
target_include_directories(check_urdf PUBLIC include)
target_link_libraries(check_urdf urdfdom_model urdfdom_world)

# Deprecated executable
add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
target_link_libraries(urdf_to_graphiz urdfdom_model)

add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
target_include_directories(urdf_to_graphviz PUBLIC include)
target_link_libraries(urdf_to_graphviz urdfdom_model)

# urdf_mem_test is a binary for testing, not a unit test
add_executable(urdf_mem_test test/memtest.cpp)
target_include_directories(urdf_mem_test PUBLIC include)
target_link_libraries(urdf_mem_test urdfdom_model)
endif()

add_executable(check_urdf src/check_urdf.cpp)
target_include_directories(check_urdf PUBLIC include)
target_link_libraries(check_urdf urdfdom_model urdfdom_world)

# Deprecated executable
add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
target_link_libraries(urdf_to_graphiz urdfdom_model)

add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
target_include_directories(urdf_to_graphviz PUBLIC include)
target_link_libraries(urdf_to_graphviz urdfdom_model)

# urdf_mem_test is a binary for testing, not a unit test
add_executable(urdf_mem_test test/memtest.cpp)
target_include_directories(urdf_mem_test PUBLIC include)
target_link_libraries(urdf_mem_test urdfdom_model)

include(CTest)
if(BUILD_TESTING)
include(CTest)
# TODO: check Shane's comment https://github.com/ros/urdfdom/pull/157/files#r664960227
add_subdirectory(test)
endif()

INSTALL(
TARGETS
check_urdf
urdf_to_graphiz
urdf_to_graphviz
urdf_mem_test
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
INSTALL(
if(BUILD_APPS)
install(
TARGETS
check_urdf
urdf_to_graphiz
urdf_to_graphviz
urdf_mem_test
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
endif()
install(
TARGETS
urdfdom_model
urdfdom_world
Expand All @@ -134,4 +140,4 @@ install(
FILE "urdfdomExport.cmake"
)

INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
install(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})