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use FORCE_COMPILE_HRPSYSUTIL if you want to know whethere hrpsysUtils is build or not #1321

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use FORCE_COMPILE_HRPSYSUTIL if you want to know whethere hrpsysUtils is build or not #1321

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9f71c57
use FORCE_COMPILE_HRPSYSUTIL if you want to know whethere hrpsysUtils…
k-okada Jul 25, 2022
9eb9613
use OPENGL_FOUND instead of OpenGL_FOUND for old CMake
k-okada Jul 25, 2022
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54 changes: 38 additions & 16 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -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)
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Suggested change
if (NOT OpenGL_FOUND)
if (NOT OPENGL_FOUND)

OpenGL_FOUNDではなくOPENGL_FOUNDに値がセットされるようです。

https://github.com/fkanehiro/hrpsys-base/pull/1310/files#diff-1e7de1ae2d059d21e1dd75d5812d5a34b0222cef273b7c3a2af62eb747f9d20aL166

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i think default behavior of find_packaeg(<package is to set <package>_FOUND
https://cmake.org/cmake/help/v3.0/command/find_package.html

but

$ cat CMakeLists.txt 
cmake_minimum_required(VERSION 2.4)
project(hrpsys)
find_package(OpenGL REQUIRED)
message("=> OpenGL_FOUND: ${OpenGL_FOUND}")
message("=> OPENGL_FOUND: ${OPENGL_FOUND}")

outputs

-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
=> OpenGL_FOUND: TRUE
=> OPENGL_FOUND: TRUE

???

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find_package(OpenGL)をするとFindOpenGL.cmakeが実行されるのですが、

FindOpenGL.cmakeの中でFIND_PACKAGE_HANDLE_STANDARD_ARGS関数が呼ばれると、FIND_PACKAGE_HANDLE_STANDARD_ARGS関数の中でOpenGL_FOUNDとOPENGL_FOUND両方がセットされるようです。

ところが、cmake 2.4.7を使っているような古いPCでは、FindOpenGL.cmakeの中でFIND_PACKAGE_HANDLE_STANDARD_ARGSが呼ばれず、OPENGL_FOUNDだけを直接セットしているようです。

そのため、古いcmakeと今のcmake両方で動くようにするためには、OpenGL_FOUNDではなくOPENGL_FOUNDを使う必要があるのではないかと思います。

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thank you. please create PR.

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お手数ですが上の僕のコメントの中でSuggested Changeの枠で表示されている内容についても、ブラウザ上でマウス操作でmergeできますので、取り入れていただけますでしょうか

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done

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}")
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endif()

execute_process(
Expand Down