Just first commit, it compiles and install correctly, but the job is …

…not done
robotology · May 15, 2020 · fb40900 · fb40900
1 parent 0351f2b
commit fb40900
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Showing 5 changed files with 145 additions and 68 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,12 @@
 
 cmake_minimum_required(VERSION 3.12)
 
-project(iCub)
+
+set(ROOT_PROJECT_NAME ICUB)
+set(ICUB_INSTALL_INCLUDE_DIR ${CMAKE_INSTALL_PREFIX}/include/iCub)
+project(${ROOT_PROJECT_NAME} LANGUAGES C CXX
+                             VERSION 1.15.100)
+
 
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_STANDARD 14)
@@ -38,10 +43,12 @@ set_property(GLOBAL PROPERTY ICUB_DEPENDENCIES_FLAGS) # this is populated iCubFi
 set(ICUB_MODULE_PATH ${PROJECT_SOURCE_DIR}/conf)
 set(CMAKE_MODULE_PATH ${ICUB_MODULE_PATH} ${CMAKE_MODULE_PATH})
 
-# get the current version of the iCub build
-include(${PROJECT_SOURCE_DIR}/conf/iCubVersion.cmake)
-
-# add functionalities like icub_add_library/icub_add_executable
+#TODO we need it??
+## get the current version of the iCub build
+#include(${PROJECT_SOURCE_DIR}/conf/iCubVersion.cmake)
+#
+## add functionalities like icub_add_library/icub_add_executable
+#todo remove it
 include(${PROJECT_SOURCE_DIR}/conf/iCubHelpers.cmake)
 
 # Import common options (disable flags in windows, rpath, etc..)
@@ -51,6 +58,35 @@ include(${PROJECT_SOURCE_DIR}/conf/iCubOptions.cmake)
 # find dependencies and set variables
 include(${PROJECT_SOURCE_DIR}/conf/iCubFindDependencies.cmake)
 
+# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
+# See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
+# See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Build position independent code.
+# Position Independent Code (PIC) is commonly used for shared libraries so that
+# the same shared library code can be loaded in each program address space in a
+# location where it will not overlap with any other uses of such memory.
+# In particular, this option avoids problems occurring when a process wants to
+# load more than one shared library at the same virtual address.
+# Since shared libraries cannot predict where other shared libraries could be
+# loaded, this is an unavoidable problem with the traditional shared library
+# concept.
+# Generating position-independent code is often the default behavior for most
+# modern compilers.
+# Moreover linking a static library that is not built with PIC from a shared
+# library will fail on some compiler/architecture combinations.
+# Further details on PIC can be found here:
+# https://eli.thegreenplace.net/2011/11/03/position-independent-code-pic-in-shared-libraries/
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+# Enable RPATH support for installed binaries and libraries
+include(AddInstallRPATHSupport)
+add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
+                          LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          USE_LINK_PATH)
+
+
 ### enable testing
 option(ICUB_DASHBOARD_SUBMIT "Submit compile tests to cdash" FALSE)
 
@@ -59,27 +95,29 @@ if(ICUB_DASHBOARD_SUBMIT)
 endif()
 
 ### this makes everything go in $ICUB_DIR/lib and $ICUB_DIR/bin
-set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
-set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
-message(STATUS "Libraries go to ${LIBRARY_OUTPUT_PATH}")
-message(STATUS "Executables go to ${EXECUTABLE_OUTPUT_PATH}")
-# this doesn't happen automatically for makefiles
-make_directory(${LIBRARY_OUTPUT_PATH})
-make_directory(${EXECUTABLE_OUTPUT_PATH})
-mark_as_advanced(LIBRARY_OUTPUT_PATH EXECUTABLE_OUTPUT_PATH)
-mark_as_advanced(CMAKE_BACKWARDS_COMPATIBILITY)
+#TODO do we need it?
+#set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
+#set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
+#message(STATUS "Libraries go to ${LIBRARY_OUTPUT_PATH}")
+#message(STATUS "Executables go to ${EXECUTABLE_OUTPUT_PATH}")
+## this doesn't happen automatically for makefiles
+#make_directory(${LIBRARY_OUTPUT_PATH})
+#make_directory(${EXECUTABLE_OUTPUT_PATH})
+#mark_as_advanced(LIBRARY_OUTPUT_PATH EXECUTABLE_OUTPUT_PATH)
+#mark_as_advanced(CMAKE_BACKWARDS_COMPATIBILITY)
 
 # clean up:
 # icub-export-build.cmake, icub-export-build-includes.cmake and icub-export-inst-includes.cmake
 # this is a required step because we will append data to these files during the build
-file(WRITE ${CMAKE_BINARY_DIR}/icub-export-build.cmake "")
-file(WRITE ${CMAKE_BINARY_DIR}/icub-export-build-includes.cmake "")
-file(WRITE ${CMAKE_BINARY_DIR}/icub-export-inst-includes.cmake "")
+#file(WRITE ${CMAKE_BINARY_DIR}/icub-export-build.cmake "")
+#file(WRITE ${CMAKE_BINARY_DIR}/icub-export-build-includes.cmake "")
+#file(WRITE ${CMAKE_BINARY_DIR}/icub-export-inst-includes.cmake "")
 
+#TODO do we need it?
 # Some options: mostly cache variables
-file(TO_CMAKE_PATH "$ENV{ICUB_ROOT}" env_icub_root)
-set(ICUB_APPLICATIONS_PREFIX ${env_icub_root} CACHE PATH "Prefix directory for installing applications. Read only, set ICUB_ROOT environment variable to affect this setting." FORCE)
-mark_as_advanced(ICUB_APPLICATIONS_PREFIX)
+#file(TO_CMAKE_PATH "$ENV{ICUB_ROOT}" env_icub_root)
+#set(ICUB_APPLICATIONS_PREFIX ${env_icub_root} CACHE PATH "Prefix directory for installing applications. Read only, set ICUB_ROOT environment variable to affect this setting." FORCE)
+#mark_as_advanced(ICUB_APPLICATIONS_PREFIX)
 
 # Force dynamic plugins. Must be set before
 # yarp_configure_external_installation to ensure that iCub.ini is
@@ -99,52 +137,55 @@ set(ICUB_ASK_REFERENCE_TO_FIRMWARE TRUE CACHE BOOL "Pos/Vel/Trq references will
 
 ########### populate applications
 add_subdirectory(app)
-
 # Create everything needed to build our executables.
 add_subdirectory(src)
 
+
+include(InstallBasicPackageFiles)
+install_basic_package_files(${ROOT_PROJECT_NAME}
+        VERSION ${${ROOT_PROJECT_NAME}_VERSION}
+        COMPATIBILITY AnyNewerVersion
+        VARS_PREFIX ${ROOT_PROJECT_NAME}
+        NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
 ########### propagate version info to targets
-get_property(ICUB_TARGETS GLOBAL PROPERTY ICUB_TARGETS)
-foreach(t ${ICUB_TARGETS})
-  set_target_properties(${t} PROPERTIES VERSION ${ICUB_GENERIC_VERSION}
-                        SOVERSION ${ICUB_GENERIC_SOVERSION})
-endforeach()
+#TODO we need it???
+#get_property(ICUB_TARGETS GLOBAL PROPERTY ICUB_TARGETS)
+#foreach(t ${ICUB_TARGETS})
+#  set_target_properties(${t} PROPERTIES VERSION ${ICUB_GENERIC_VERSION}
+#                        SOVERSION ${ICUB_GENERIC_SOVERSION})
+#endforeach()
 ######################
 
 # export the build tree
-message(STATUS "Now exporting build tree")
-include(${PROJECT_SOURCE_DIR}/conf/iCubExportBuildTree.cmake)
-
-# export the installed project
-message(STATUS "Now exporting for install")
-include(${PROJECT_SOURCE_DIR}/conf/iCubExportForInstall.cmake)
-
-## install cmake scripts
-message(STATUS "Installing cmake scripts")
-set(ICUB_CMAKE_SCRIPTS iCubHelpers.cmake iCubOptions.cmake)
-
-foreach(conf ${ICUB_CMAKE_SCRIPTS})
-  # in YARP we used to copy Find* scripts to the build directory
-  # this has changed in YARP but NOT in iCub.
-  configure_file(${CMAKE_SOURCE_DIR}/conf/${conf}
-                 ${CMAKE_BINARY_DIR}/conf/${conf} COPYONLY IMMEDIATE)
-
-  # on the other hand we do need to install Find* script at install time
-  install(FILES  conf/${conf} DESTINATION share/iCub/cmake/ COMPONENT Development)
-
-endforeach(conf)
+#TODO probably remove
+#message(STATUS "Now exporting build tree")
+#include(${PROJECT_SOURCE_DIR}/conf/iCubExportBuildTree.cmake)
+#
+## export the installed project
+#message(STATUS "Now exporting for install")
+#include(${PROJECT_SOURCE_DIR}/conf/iCubExportForInstall.cmake)
+#
+### install cmake scripts
+#message(STATUS "Installing cmake scripts")
+#set(ICUB_CMAKE_SCRIPTS iCubHelpers.cmake iCubOptions.cmake)
+#
+#foreach(conf ${ICUB_CMAKE_SCRIPTS})
+#  # in YARP we used to copy Find* scripts to the build directory
+#  # this has changed in YARP but NOT in iCub.
+#  configure_file(${CMAKE_SOURCE_DIR}/conf/${conf}
+#                 ${CMAKE_BINARY_DIR}/conf/${conf} COPYONLY IMMEDIATE)
+#
+#  # on the other hand we do need to install Find* script at install time
+#  install(FILES  conf/${conf} DESTINATION share/iCub/cmake/ COMPONENT Development)
+#
+#endforeach(conf)
 
 ## add the "uninstall" target
-configure_file(
-  "${CMAKE_CURRENT_SOURCE_DIR}/conf/template/icub-config-uninstall.cmake.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/icub-config-uninstall.cmake"
-  IMMEDIATE @ONLY)
+include(AddUninstallTarget)
 
 include(${PROJECT_SOURCE_DIR}/conf/iCubPackage.cmake)
 
-add_custom_target(uninstall
-  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/icub-config-uninstall.cmake")
-
 if(ICUB_COMPILE_BINDINGS)
   add_subdirectory(bindings)
 endif()
diff --git a/src/libraries/actionPrimitives/CMakeLists.txt b/src/libraries/actionPrimitives/CMakeLists.txt
@@ -14,9 +14,18 @@ target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${PROJECT_S
 
 target_link_libraries(${PROJECT_NAME} perceptiveModels ${YARP_LIBRARIES})
 
-icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
-                                    DEPENDS perceptiveModels
-                                    DESTINATION include/iCub/action
-                                    FILES ${folder_header})
+#icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
+#                                    DEPENDS perceptiveModels
+#                                    DESTINATION include/iCub/action
+#                                    FILES ${folder_header})
+
+set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${folder_header}")
+
+install(TARGETS ${PROJECT_NAME}
+        EXPORT  ${ROOT_PROJECT_NAME}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${ICUB_INSTALL_INCLUDE_DIR}/action)
 
 
diff --git a/src/libraries/ctrlLib/CMakeLists.txt b/src/libraries/ctrlLib/CMakeLists.txt
@@ -50,7 +50,16 @@ if(ICUB_USE_GSL)
   target_link_libraries(${PROJECT_NAME} ${GSL_LIBRARIES})
 endif()
 
-icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
-                                    DESTINATION include/iCub/ctrl
-                                    FILES ${folder_header})
+#icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
+#                                    DESTINATION include/iCub/ctrl
+#                                    FILES ${folder_header})
+
+set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${folder_header}")
+
+install(TARGETS ${PROJECT_NAME}
+        EXPORT  ${ROOT_PROJECT_NAME}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${ICUB_INSTALL_INCLUDE_DIR}/ctrl)
 
diff --git a/src/libraries/learningMachine/CMakeLists.txt b/src/libraries/learningMachine/CMakeLists.txt
@@ -69,8 +69,17 @@ if(YARP_gsl_FOUND)
   target_link_libraries(${LM_LIB} PUBLIC  YARP::YARP_os YARP::YARP_sig YARP::YARP_math
                                   PRIVATE YARP::YARP_gsl ${GSL_LIBRARIES})
 
-  icub_export_library(${LM_LIB} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
-                                DESTINATION include/iCub/learningMachine
-                                FILES ${LM_HEADER})
+#  icub_export_library(${LM_LIB} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
+#                                DESTINATION include/iCub/learningMachine
+#                                FILES ${LM_HEADER})
+
+  set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${LM_HEADER}")
+
+  install(TARGETS ${PROJECT_NAME}
+          EXPORT  ${ROOT_PROJECT_NAME}
+          RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+          LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+          ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+          PUBLIC_HEADER DESTINATION ${ICUB_INSTALL_INCLUDE_DIR}/learningMachine)
 endif()
 
diff --git a/src/libraries/perceptiveModels/CMakeLists.txt b/src/libraries/perceptiveModels/CMakeLists.txt
@@ -29,8 +29,17 @@ target_link_libraries(${PROJECT_NAME} ctrlLib
                                       learningMachine
                                       ${YARP_LIBRARIES})
 
-icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
-                                    DEPENDS ctrlLib learningMachine
-                                    DESTINATION include/iCub/perception
-                                    FILES ${folder_header})
+#icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
+#                                    DEPENDS ctrlLib learningMachine
+#                                    DESTINATION include/iCub/perception
+#                                    FILES ${folder_header})
+
+set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${folder_header}")
+
+install(TARGETS ${PROJECT_NAME}
+        EXPORT  ${ROOT_PROJECT_NAME}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${ICUB_INSTALL_INCLUDE_DIR}/perception)