From 9f71c57fbf39b088e2e4f0e781aa9837d7d15167 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 25 Jul 2022 13:57:57 +0900
Subject: [PATCH 1/2] use FORCE_COMPILE_HRPSYSUTIL if you want to know whethere
 hrpsysUtils is build or not

---
 CMakeLists.txt | 54 +++++++++++++++++++++++++++++++++++---------------
 1 file changed, 38 insertions(+), 16 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb40757a659..a271106783c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ include(FindPkgConfig)
 include(CheckIncludeFiles)
 
 option(ENABLE_INSTALL_RPATH "Enable RPATH setting for installed binary files" OFF)
-option(USE_HRPSYSUTIL "Build hrpsysUtil" ON)
+option(FORCE_COMPILE_HRPSYSUTIL "Try to build hrpsysUtil even if dependencies are missing" ON)
 option(USE_IRRLICHT "Build Irrlicht components" OFF)
 option(NO_DIGITAL_INPUT "Disable readDigitalInput and lengthDigitalInput" OFF)
 option(USE_QPOASES "Build qpOASES" OFF)
@@ -142,30 +142,52 @@ include(CPack)
 find_package(LibXml2 REQUIRED)
 find_package(QuickHull REQUIRED)
 
-if(USE_HRPSYSUTIL)
-  find_package(SDL REQUIRED)
-  find_package(OpenGL REQUIRED)
-  find_package(GLUT REQUIRED)
-  pkg_check_modules(OpenCV opencv)
+set(USE_HRPSYSUTIL ON)
+find_package(SDL REQUIRED)
+if (NOT SDL_FOUND)
+  message(WARNING "SDL is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+find_package(OpenGL REQUIRED)
+if (NOT OpenGL_FOUND)
+  message(WARNING "OpenGL is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+find_package(GLUT REQUIRED)
+if (NOT GLUT_FOUND)
+  message(WARNING "GLUT is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+pkg_check_modules(OpenCV opencv)
+if (NOT OpenCV_FOUND)
+  pkg_check_modules(OpenCV opencv-2.3.1)
   if (NOT OpenCV_FOUND)
-    pkg_check_modules(OpenCV opencv-2.3.1)
+    pkg_check_modules(OpenCV opencv4)
     if (NOT OpenCV_FOUND)
       pkg_check_modules(OpenCV opencv4)
       if (NOT OpenCV_FOUND)
-        message(FATAL_ERROR "OpenCV is required to build hrpsysUtil")
+        message(WARNING "OpenCV is required to build hrpsysUtil")
+        set(USE_HRPSYSUTIL OFF)
       endif()
     endif()
   endif()
-  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()
 endif()
+include_directories(${OpenCV_INCLUDE_DIRS})
+link_directories(${OpenCV_LIBRARY_DIRS})
+pkg_check_modules(GLEW glew)
+if (NOT GLEW_FOUND)
+  message(WARNING "GLEW is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+
 find_package(PCL)
-if(USE_HRPSYSUTIL AND APPLE AND NOT PCL_FOUND)
-  message(FATAL_ERROR "PCL is required to build hrpsysUtil on Apple platform")
+if(PCL_FOUND)
+  message(WARNING "PCL is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+
+if(FORCE_COMPILE_HRPSYSUTIL AND (NOT USE_HRPSYSUTIL))
+  message(FATAL_ERROR "dependencies required to build hrpsysUtil is not found : SDL_FOUND: ${SDL_FOUND} / OpenGL_FOUND: ${OpenGL_FOUND} / GLUT_FOUND: ${GLUT_FOUND} / OpenCV_FOUND: ${OpenCV_FOUND} / GLEW_FOUND: ${GLEW_FOUND}")
 endif()
 
 execute_process(

From 9eb9613186ffd2a47807decfcc5c5350ddfd407a Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 25 Jul 2022 17:29:17 +0900
Subject: [PATCH 2/2] use OPENGL_FOUND instead of OpenGL_FOUND for old CMake

Co-authored-by: Naoki Hiraoka <32383525+Naoki-Hiraoka@users.noreply.github.com>
---
 CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a271106783c..67ed40667cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -149,7 +149,7 @@ if (NOT SDL_FOUND)
   set(USE_HRPSYSUTIL OFF)
 endif()
 find_package(OpenGL REQUIRED)
-if (NOT OpenGL_FOUND)
+if (NOT OPENGL_FOUND)
   message(WARNING "OpenGL is required to build hrpsysUtil")
   set(USE_HRPSYSUTIL OFF)
 endif()
@@ -187,7 +187,7 @@ if(PCL_FOUND)
 endif()
 
 if(FORCE_COMPILE_HRPSYSUTIL AND (NOT USE_HRPSYSUTIL))
-  message(FATAL_ERROR "dependencies required to build hrpsysUtil is not found : SDL_FOUND: ${SDL_FOUND} / OpenGL_FOUND: ${OpenGL_FOUND} / GLUT_FOUND: ${GLUT_FOUND} / OpenCV_FOUND: ${OpenCV_FOUND} / GLEW_FOUND: ${GLEW_FOUND}")
+  message(FATAL_ERROR "dependencies required to build hrpsysUtil is not found : SDL_FOUND: ${SDL_FOUND} / OPENGL_FOUND: ${OPENGL_FOUND} / GLUT_FOUND: ${GLUT_FOUND} / OpenCV_FOUND: ${OpenCV_FOUND} / GLEW_FOUND: ${GLEW_FOUND}")
 endif()
 
 execute_process(