Merge pull request #746 from diegoferigo/refactor/matlab_bindings

Refactor CMake project for Matlab bindings
robotology · Oct 9, 2020 · d8808b0 · d8808b0
2 parents c41ec8a + a8e7e85
commit d8808b0
Showing 1 changed file with 133 additions and 95 deletions.
diff --git a/bindings/matlab/CMakeLists.txt b/bindings/matlab/CMakeLists.txt
@@ -1,38 +1,10 @@
-# As Matlab support is higly experimental for now in swig, we split the binding generation in two phases:
-#  * Generation of the .cxx code, left to the author of the library that needs to have a recent (non-standard) swig
+# As Matlab support is highly experimental for now in swig, we split the binding generation in two phases:
+#
+#  * Generation of the .cxx code, left to the author of the library that needs to have a recent (non-standard) swig.
 #  * Compilation of the .cxx, that is left to the user that compiles the library.
-# For doing this we split the traditional swig_add_module macro in two macro: one for generating the wrapper and one
-# for compiling it. As soon as upstream swig distributed by the distro gains Matlab support, we can drop this workaround
-macro(SWIG_GENERATE_MODULE name language)
-  SWIG_MODULE_INITIALIZE(${name} ${language})
-  set(swig_dot_i_sources)
-  set(swig_other_sources)
-  foreach(it ${ARGN})
-    if(${it} MATCHES ".*\\.i$")
-      set(swig_dot_i_sources ${swig_dot_i_sources} "${it}")
-    else()
-      set(swig_other_sources ${swig_other_sources} "${it}")
-    endif()
-  endforeach()
-
-  set(swig_generated_sources)
-  foreach(it ${swig_dot_i_sources})
-    SWIG_ADD_SOURCE_TO_MODULE(${name} swig_generated_source ${it})
-    set(swig_generated_sources ${swig_generated_sources} "${swig_generated_source}")
-  endforeach()
-endmacro()
-
-macro(SWIG_COMPILE_MODULE_MEX name language)
-  SWIG_MODULE_INITIALIZE(${name} ${language})
-  matlab_add_mex(NAME ${SWIG_MODULE_${name}_REAL_NAME}
-                 MODULE
-                 SRC ${swig_generated_sources}
-                     ${swig_other_sources})
-  # Avoid the "d" suffix for mex files as it prevents the bindings to call the mex file correctly
-  set_target_properties(${SWIG_MODULE_${name}_REAL_NAME} PROPERTIES DEBUG_POSTFIX "")
-endmacro()
 
 # Options related to installation directories
+#
 # If you want to install bindings for packaging you may need to install
 # following several rules (for example placing the .m files in share
 # and the compiled libraries in some architecture-specific directory)
@@ -41,13 +13,19 @@ endmacro()
 # the bindings for a developer that compiled the library from source:
 # to use the octave bindings just add <prefix>/octave to the octave path,
 # to use the matlab bindings just add <prefix>/mex    to the matlab path.
-set(IDYNTREE_INSTALL_MATLAB_LIBDIR "mex" CACHE STRING "Location (relative to the install prefix) in which the Matlab mex libraries are installed.")
+set(IDYNTREE_INSTALL_MATLAB_LIBDIR "mex" CACHE
+    STRING "Location (relative to the install prefix) in which the Matlab mex libraries are installed.")
+set(IDYNTREE_INSTALL_MATLAB_MFILESDIR "mex" CACHE
+    STRING "Location (relative to the install prefix) in which the Matlab .m files are installed.")
+set(IDYNTREE_INSTALL_OCTAVE_LIBDIR "octave" CACHE
+    STRING "Location (relative to the install prefix) in which the Octave mex libraries are installed.")
+set(IDYNTREE_INSTALL_OCTAVE_MFILESDIR "octave" CACHE
+    STRING "Location (relative to the install prefix) in which the Octave .m files are installed.")
+
+# Mark the cached options as advanced
 mark_as_advanced(IDYNTREE_INSTALL_MATLAB_LIBDIR)
-set(IDYNTREE_INSTALL_MATLAB_MFILESDIR "mex" CACHE STRING "Location (relative to the install prefix) in which the Matlab .m files are installed.")
 mark_as_advanced(IDYNTREE_INSTALL_MATLAB_MFILESDIR)
-set(IDYNTREE_INSTALL_OCTAVE_LIBDIR "octave" CACHE STRING "Location (relative to the install prefix) in which the Octave mex libraries are installed.")
 mark_as_advanced(IDYNTREE_INSTALL_OCTAVE_LIBDIR)
-set(IDYNTREE_INSTALL_OCTAVE_MFILESDIR "octave" CACHE STRING "Location (relative to the install prefix) in which the Octave .m files are installed.")
 mark_as_advanced(IDYNTREE_INSTALL_OCTAVE_MFILESDIR)
 
 # The name of the generated source named is
@@ -58,7 +36,7 @@ set(sourcename iDynTreeMATLAB_wrap)
 # The name of the generated source should instead match the one
 # used by SWIG when generating the .m file.
 # See https://github.com/jaeandersson/swig/issues/44 for more details
-set(mexname    iDynTreeMEX)
+set(mexname iDynTreeMEX)
 
 # Directory in which the bindings are generated
 set(MEX_BINDINGS_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/autogenerated)
@@ -67,97 +45,157 @@ set(MEX_BINDINGS_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/autogenerated)
 set(HIGH_LEVEL_WRAPPERS_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/+iDynTreeWrappers)
 set(MATLAB_WRAPPERS_BINDINGS_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 
-# Generate SWIG wrapper
-if(IDYNTREE_GENERATE_MATLAB)
-  # generate the wrapper
-  set(swig_generated_sources)
-  set_source_files_properties(../iDynTree.i PROPERTIES CPLUSPLUS ON)
-  # generate files in the source directory, so we can commit it
-  set(CMAKE_SWIG_OUTDIR ${MEX_BINDINGS_SOURCE_DIR})
-  #set(CMAKE_SWIG_FLAGS "-redirectoutput")
-  set(SWIG_MODULE_${mexname}_EXTRA_DEPS ${IDYNTREE_SWIG_DEPENDS_I_FILES})
-  swig_generate_module(${mexname} matlab ../iDynTree.i)
-  set_source_files_properties(${MEX_BINDINGS_SOURCE_DIR}/${sourcename}.cxx PROPERTIES GENERATED 1)
-endif()
-
 # use previously generated files
 set(swig_generated_sources ${MEX_BINDINGS_SOURCE_DIR}/${sourcename}.cxx)
 set(swig_other_sources)
 
-# Set the generated mex name to be iDynTreeMEX, as it is the default one used by SWIG while generating bindings
+# Set the .i files to generate the bindings
+set(iDynTree_SWIG_I_FILE ../iDynTree.i)
+set(iDynTree_SWIG_I_OTHER
+    ../ignore.i
+    ../joints.i
+    ../sensors.i
+    matlab.i
+    matlab_mat4x4vec.i
+    matlab_matvec.i
+    matlab_spatialvec.i)
+
+# Generate SWIG wrapper
+macro(GET_LIBRARY_FROM_SWIG_WRAPPER i_main_file i_other_files target_name generate outputdir)
+
+  set_property(SOURCE ${i_main_file} PROPERTY CPLUSPLUS ON)
+  set(CMAKE_SWIG_OUTDIR ${outputdir})
+
+  if(${generate} AND NOT bindings_have_been_generated)
+    find_package(SWIG)
+    set(bindings_have_been_generated TRUE)
+    swig_add_library(${target_name} LANGUAGE matlab SOURCES ${i_main_file})
+    # Add the dependency to other .i files
+    set_property(
+        TARGET ${target_name}
+        PROPERTY SWIG_DEPENDS ${i_other_files})
+  else()
+      add_library(${target_name} MODULE ${swig_generated_sources})
+      set_target_properties(${target_name} PROPERTIES DEBUG_POSTFIX "")
+      set_source_files_properties(${swig_generated_sources} PROPERTIES GENERATED 1)
+  endif()
+
+endmacro()
+
+# ==============
+# COMPILE MATLAB
+# ==============
+
 if(IDYNTREE_USES_MATLAB)
   find_package(Matlab
                REQUIRED
                MX_LIBRARY
                MAIN_PROGRAM)
 
-  swig_compile_module_mex(${mexname} matlab)
-  swig_link_libraries(${mexname} ${Matlab_LIBRARIES} ${IDYNTREE_LIBRARIES} idyntree-core)
-  target_include_directories(${mexname} PUBLIC ${Matlab_INCLUDE_DIRS})
+  set(target_name ${mexname})
+
+  get_library_from_swig_wrapper(
+          ${iDynTree_SWIG_I_FILE}
+          "${iDynTree_SWIG_I_OTHER}"
+          ${target_name}
+          ${IDYNTREE_GENERATE_MATLAB}
+          ${MEX_BINDINGS_SOURCE_DIR})
+
+  set_target_properties(${target_name}
+    PROPERTIES OUTPUT_NAME ${mexname}
+               PREFIX ""
+               SUFFIX .mex)
+
+  target_link_libraries(${target_name} ${IDYNTREE_LIBRARIES} idyntree-core)
+  target_include_directories(${target_name} PUBLIC ${Matlab_INCLUDE_DIRS})
+  set_target_properties(${target_name} PROPERTIES PREFIX "" SUFFIX .${Matlab_MEX_EXTENSION})
 
-  set_target_properties(${mexname} PROPERTIES PREFIX "" SUFFIX .${Matlab_MEX_EXTENSION})
   # entry point in the mex file + taking care of visibility and symbol clashes.
   if(WIN32)
-    set_target_properties(${mexname}
+    set_target_properties(${target_name}
         PROPERTIES
         DEFINE_SYMBOL "DLL_EXPORT_SYM=__declspec(dllexport)")
   endif()
 
   # Install the generated front-end to ${CMAKE_INSTALL_PREFIX}/mex
-  install(DIRECTORY ${MEX_BINDINGS_SOURCE_DIR}/+iDynTree DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
-  install(FILES ${MEX_BINDINGS_SOURCE_DIR}/SwigGet.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
-  install(FILES ${MEX_BINDINGS_SOURCE_DIR}/SwigRef.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
-  install(FILES ${MEX_BINDINGS_SOURCE_DIR}/SwigMem.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
-  install(TARGETS ${mexname} DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_LIBDIR})
+  install(
+      DIRECTORY ${MEX_BINDINGS_SOURCE_DIR}/+iDynTree
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
+  install(
+      FILES
+      ${MEX_BINDINGS_SOURCE_DIR}/SwigGet.m
+      ${MEX_BINDINGS_SOURCE_DIR}/SwigRef.m
+      ${MEX_BINDINGS_SOURCE_DIR}/SwigMem.m
+      DESTINATION
+      ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
+  install(
+      TARGETS ${target_name}
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_LIBDIR})
 
   # Install the high-level-matlab-wrappers
-  install(DIRECTORY ${HIGH_LEVEL_WRAPPERS_SOURCE_DIR} DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
+  install(
+      DIRECTORY ${HIGH_LEVEL_WRAPPERS_SOURCE_DIR}
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
 
   # Install the matlab-visualization-external-functions
-  install(FILES ${IDYNTREE_INTERNAL_MESH2TRI_PATH}/mesh2tri.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
-
-  #On new versions of Clang, MATLAB requires C++11.
-  #I enable it on all Clangs
-  if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-      if(${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-          set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-          if (${CMAKE_GENERATOR} MATCHES "Xcode")
-              #this should set explictly the option in xcode. Unfortunately it does not work.
-              set(XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "C++11")
-          endif(${CMAKE_GENERATOR} MATCHES "Xcode")
-      endif(${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-  endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+  install(
+      FILES ${IDYNTREE_INTERNAL_MESH2TRI_PATH}/mesh2tri.m
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
+
 endif()
 
+# ==============
+# COMPILE OCTAVE
+# ==============
+
 if(IDYNTREE_USES_OCTAVE)
-  find_package(Octave REQUIRED)
-  if ("${OCTAVE_VERSION_STRING}" VERSION_LESS 4.0)
-    message(FATAL_ERROR "Octave mex-based bindings required at least Octave version 4.0 or greater.")
-  endif ()
-
-  # Compile MEX file
-  add_library(idyntreeOctaveMex MODULE ${swig_generated_sources} ${swig_other_sources})
-  target_include_directories(idyntreeOctaveMex PUBLIC ${OCTAVE_INCLUDE_DIRS})
+  find_package(Octave 4.0 REQUIRED)
+
+  set(target_name idyntreeOctaveMex)
+
+  # Get the target
+  get_library_from_swig_wrapper(
+          ${iDynTree_SWIG_I_FILE}
+          "${iDynTree_SWIG_I_OTHER}"
+          ${target_name}
+          ${IDYNTREE_GENERATE_MATLAB}
+          ${MEX_BINDINGS_SOURCE_DIR})
+
+  target_include_directories(${target_name} PUBLIC ${OCTAVE_INCLUDE_DIRS})
+
   if(APPLE)
-    target_link_libraries(idyntreeOctaveMex ${iDynTree_LIBRARIES})
-    set_target_properties(idyntreeOctaveMex PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+    target_link_libraries(${target_name} ${iDynTree_LIBRARIES})
+    set_target_properties(${target_name} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
   else()
-    target_link_libraries(idyntreeOctaveMex ${OCTAVE_LIBRARIES} ${iDynTree_LIBRARIES})
+    target_link_libraries(${target_name} ${OCTAVE_LIBRARIES} ${iDynTree_LIBRARIES})
   endif()
-  set_target_properties(idyntreeOctaveMex
-    PROPERTIES OUTPUT_NAME "iDynTreeMEX"
+
+  set_target_properties(${target_name}
+    PROPERTIES OUTPUT_NAME ${mexname}
                PREFIX ""
                SUFFIX .mex)
-  install(TARGETS idyntreeOctaveMex DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_LIBDIR})
 
-  # Install the generated front-end to ${CMAKE_INSTALL_PREFIX}/mex
-  install(DIRECTORY ${MEX_BINDINGS_SOURCE_DIR}/+iDynTree DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
-  install(FILES ${MEX_BINDINGS_SOURCE_DIR}/SwigGet.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
-  install(FILES ${MEX_BINDINGS_SOURCE_DIR}/SwigRef.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
-  install(FILES ${MEX_BINDINGS_SOURCE_DIR}/SwigMem.m DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
+  # Install the target
+  install(
+      TARGETS ${target_name}
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_LIBDIR})
+
+  # Install the generated front-end to ${CMAKE_INSTALL_PREFIX}/octave
+  install(
+      DIRECTORY ${MEX_BINDINGS_SOURCE_DIR}/+iDynTree
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
+  install(
+      FILES
+      ${MEX_BINDINGS_SOURCE_DIR}/SwigGet.m
+      ${MEX_BINDINGS_SOURCE_DIR}/SwigRef.m
+      ${MEX_BINDINGS_SOURCE_DIR}/SwigMem.m
+      DESTINATION
+      ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
 
   # Install the high-level-matlab-wrappers
-  install(DIRECTORY ${HIGH_LEVEL_WRAPPERS_SOURCE_DIR} DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
+  install(
+      DIRECTORY ${HIGH_LEVEL_WRAPPERS_SOURCE_DIR}
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
 endif()
 
 # if compile tests compile also matlab/octave tests