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Fix some CMake issues #1310

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merged 4 commits into from
Feb 15, 2022
Merged

Fix some CMake issues #1310

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5fb77b0
[cmake] Remove unnecessary add_subdirectory
gergondet Feb 14, 2022
bf592f3
[cmake] Correctly set file-level dependencies
gergondet Feb 14, 2022
89d8ac4
[cmake] Change USE_HRPSYSUTIL into an option
gergondet Feb 14, 2022
e78f533
[cmake] Remove the FindEigen module
gergondet Feb 14, 2022
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63 changes: 21 additions & 42 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -135,53 +135,33 @@ include(CPack)

find_package(LibXml2 REQUIRED)
find_package(QuickHull REQUIRED)
find_package(SDL)
if ( NOT SDL_FOUND )
message(WARNING "Package SDL is not found!")
endif( NOT SDL_FOUND )
find_package(OpenGL)
if ( NOT OPENGL_FOUND )
message(WARNING "Package OpenGL is not found!")
endif( NOT OPENGL_FOUND )
find_package(GLUT)
if ( NOT GLUT_FOUND )
message(WARNING "Package GLUT is not found!")
endif( NOT GLUT_FOUND )
include(FindPkgConfig)
pkg_check_modules(OpenCV opencv)
if (NOT OpenCV_FOUND)
pkg_check_modules(OpenCV opencv-2.3.1)

option(USE_HRPSYSUTIL "Build hrpsysUtil" ON)

if(USE_HRPSYSUTIL)
find_package(SDL REQUIRED)
find_package(OpenGL REQUIRED)
find_package(GLUT REQUIRED)
pkg_check_modules(OpenCV opencv)
if (NOT OpenCV_FOUND)
pkg_check_modules(OpenCV opencv4)
pkg_check_modules(OpenCV opencv-2.3.1)
if (NOT OpenCV_FOUND)
message(WARNING "opencv not found")
pkg_check_modules(OpenCV opencv4)
if (NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV is required to build hrpsysUtil")
endif()
endif()
endif()
endif()
pkg_check_modules(GLEW glew)
if (NOT GLEW_FOUND)
message(WARNING "Package GLEW is not found")
endif()
find_package(PCL)
if(OpenCV_FOUND AND OPENGL_FOUND AND GLEW_FOUND AND GLUT_FOUND AND SDL_FOUND)
if(APPLE)
if(PCL_FOUND) # qhull is included in pcl
set(USE_HRPSYSUTIL true)
else()
set(USE_HRPSYSUTIL false)
endif()
else()
set(USE_HRPSYSUTIL true)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
pkg_check_modules(GLEW glew)
if (NOT GLEW_FOUND)
message(FATAL_ERROR "GLEW is required to build hrpsysUtil")
endif()
else()
set(USE_HRPSYSUTIL false)
endif()

include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
if(NOT QNXNTO)
find_package(Eigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})
find_package(PCL)
if(USE_HRPSYSUTIL AND APPLE AND NOT PCL_FOUND)
message(FATAL_ERROR "PCL is required to build hrpsysUtil on Apple platform")
endif()

execute_process(
Expand Down Expand Up @@ -226,7 +206,6 @@ if (NOT QNXNTO)
add_subdirectory(util)
endif()
add_subdirectory(sample)
add_subdirectory(test)

#if catkin environment
string(REGEX MATCH "catkin" need_catkin "$ENV{_}")
Expand Down
26 changes: 0 additions & 26 deletions cmake_modules/FindEigen.cmake
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This file was deleted.

7 changes: 2 additions & 5 deletions sample/SampleRobot/rtc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,19 +31,16 @@ add_custom_target(SampleComponentService.idl.compiled ALL DEPENDS SampleComponen
# plugins comps
set(comp_sources SampleComponent.cpp SampleComponent_impl.cpp SampleComponentServiceSk.cpp SampleComponentServiceDynSk.cpp)

add_library(SampleComponent SHARED ${comp_sources})
add_library(SampleComponent SHARED ${comp_sources} SampleComponentService.hh)
target_link_libraries(SampleComponent ${libs})
set_target_properties(SampleComponent PROPERTIES PREFIX "")
include_directories(${CMAKE_CURRENT_BINARY_DIR})

add_executable(SampleComponentComp SampleComponentComp.cpp ${comp_sources})
add_executable(SampleComponentComp SampleComponentComp.cpp ${comp_sources} SampleComponentService.hh)
target_link_libraries(SampleComponentComp ${libs})

set(target SampleComponent SampleComponentComp)

add_dependencies(SampleComponent SampleComponentService.hh)
add_dependencies(SampleComponentComp SampleComponentService.hh)

configure_file(samplerobot_sample_component.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_sample_component.py)

install(PROGRAMS
Expand Down