CMakeLists.txt

cmake_minimum_required(VERSION 3.5.1)

project(PnC)

##=============================================================================
## CMake Flags
##=============================================================================
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel" FORCE)
endif()
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_EXTENSIONS on)
set(CXX_DISABLE_WERROR True)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)


##=============================================================================
## Build Setup
##=============================================================================
set(INSTALL_LIB_DIR ${CMAKE_INSTALL_PREFIX}/lib )
set(INSTALL_BIN_DIR ${CMAKE_INSTALL_PREFIX}/bin )
set(INSTALL_INCLUDE_DIR ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
set(PYTHON_BINDING TRUE)

##=============================================================================
## Include Directory
##=============================================================================
include_directories("${PROJECT_SOURCE_DIR}")
include_directories("${PROJECT_SOURCE_DIR}/build")
include_directories("/usr/local/include")
link_directories("/usr/local/lib")

##=============================================================================
## Dependancy
##=============================================================================

# dart
find_package(DART 6.10 REQUIRED COMPONENTS utils-urdf gui-osg CONFIG)
include_directories(${DART_INCLUDE_DIRS})

# eigen
if(NOT EIGEN_FOUND)
    find_package(Eigen 3.3 REQUIRED)
endif()
include_directories(${EIGEN_INCLUDE_DIRS})

# doxygen
find_package(Doxygen)
if(DOXYGEN_FOUND)
  set(DOXYGEN_DOXYFILE_IN      "${PROJECT_SOURCE_DIR}/doxygen/Doxyfile.in"    )
  set(DOXYGEN_DOXYFILE         "${PROJECT_BINARY_DIR}/doxygen/Doxyfile"       )
  set(DOXYGEN_HTML_INDEX       "${PROJECT_BINARY_DIR}/doxygen/html/index.html")
  set(DOXYGEN_OUTPUT_ROOT      "${PROJECT_BINARY_DIR}/doxygen/html"           )
  set(DOXYGEN_GENERATE_TAGFILE "${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag"   )
  set(DOXYGEN_INCLUDE_PATH     "${PROJECT_SOURCE_DIR}"                        )
  set(DOXYGEN_INPUT_ROOT       "${PROJECT_SOURCE_DIR}/pnc"                    )
  set(DOXYGEN_EXTRA_INPUTS     "${PROJECT_SOURCE_DIR}/doxygen/mainpage.dox"   )
  set(DOXYGEN_EXCLUDE          "${PROJECT_SOURCE_DIR}/pnc/draco_pnc \
                                ${PROJECT_SOURCE_DIR}/pnc/atlas_pnc"          )
  set(DOXYGEN_STRIP_FROM_PATH  "${CMAKE_CURRENT_SOURCE_DIR}"                  )

  # Generate a Doxyfile. This uses the variables:
  #
  # - DOXYGEN_OUTPUT_ROOT
  # - DOXYGEN_GENERATE_TAGFILE
  # - DOXYGEN_EXTRA_INPUTS
  # - DOXYGEN_INPUT_ROOT
  # - DOXYGEN_EXCLUDE
  # - DOXYGEN_STRIP_FROM_PATH
  configure_file(${DOXYGEN_DOXYFILE_IN} ${DOXYGEN_DOXYFILE} @ONLY)
  add_custom_command(
    OUTPUT ${DOXYGEN_HTML_INDEX}
    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
    # Strip path prefix from all paths in dart.tag
    COMMAND ${CMAKE_COMMAND} -E echo "Stripping paths from"
        "${DOXYGEN_GENERATE_TAGFILE}"
    COMMAND sed -i s:${DOXYGEN_STRIP_FROM_PATH}::g ${DOXYGEN_GENERATE_TAGFILE}
    # Strip all doxygen="path" HTML tags
    COMMAND ${CMAKE_COMMAND} -E echo "Stripping Doxygen HTML tags"
    COMMAND find "${DOXYGEN_OUTPUT_ROOT}" -type f -name "*.html"
        -exec sed -i 's: doxygen=\"[^\"]*\"::g' {} \\$<SEMICOLON>
    COMMAND ${CMAKE_COMMAND} -E echo "Done."
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
    DEPENDS ${DOXYGEN_DOXYFILE}
  )
  # add_custom_target(docs ALL DEPENDS ${DOXYGEN_HTML_INDEX})
  add_custom_target(docs DEPENDS ${DOXYGEN_HTML_INDEX})
  add_custom_target(
    docs_forced
    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
    COMMAND ${CMAKE_COMMAND} -E echo "Done."
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
  )

  # Add the "view_docs" target that opens the generated API documentation.
  if(APPLE)
    set(OPEN_COMMAND "open")
  else()
    set(OPEN_COMMAND "xdg-open")
  endif()

  add_custom_target(view_docs "${OPEN_COMMAND}" "${DOXYGEN_HTML_INDEX}"
    DEPENDS "${DOXYGEN_HTML_INDEX}"
    COMMENT "Opening documentation in a web browser.")
endif()

# zmq and protobuf
set(B_MESSAGING false)
find_package(ZMQ)
find_package(Protobuf)
if(ZMQ_FOUND AND Protobuf_FOUND)
  include_directories(${ZMQ_INCLUDE_DIRS})
  include_directories(${Protobuf_INCLUDE_DIRS})
  add_subdirectory(messages)
  set(B_MESSAGING true)
endif()

# pybind11
if(PYTHON_BINDING)
  # control pc requires this snippet for some reason..
  set(pybind11_DIR "/home/apptronik/.local/lib/python3.6/site-packages/pybind11/share/cmake/pybind11")
  find_package(Python COMPONENTS Interpreter Development)
  find_package(pybind11 CONFIG REQUIRED)
  include_directories(${pybind11_INCLUDE_DIRS})
  add_subdirectory(bindings)
endif()


##=============================================================================
## Add Subdirectory
##=============================================================================
add_subdirectory(simulator)
add_subdirectory(utils)
add_subdirectory(third_party)
add_subdirectory(pnc)
add_subdirectory(test)

##=============================================================================
## Configuration File
##=============================================================================
set(THIS_COM "${PROJECT_SOURCE_DIR}/" )
set(SERVO_RATE 0.001)
CONFIGURE_FILE(${PROJECT_SOURCE_DIR}/config.h.cmake
    ${PROJECT_SOURCE_DIR}/configuration.hpp)
install(FILES ${PROJECT_SOURCE_DIR}/configuration.hpp DESTINATION "${INSTALL_INCLUDE_DIR}")