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Use gz-cmake #96

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merged 6 commits into from
Jun 24, 2022
Merged

Use gz-cmake #96

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423647e
Use gz-cmake
chapulina Jun 21, 2022
6d04d74
satisfy rubocop on Jammy
chapulina Jun 21, 2022
00f94ed
Migration
chapulina Jun 21, 2022
7c542ec
satisfy rubocop on Jammy
chapulina Jun 21, 2022
63c5a8e
Fix Ruby on Focal
chapulina Jun 21, 2022
558b881
Disable SafeNavigation at the top level
chapulina Jun 21, 2022
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1 change: 1 addition & 0 deletions .github/ci/packages.apt
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Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
libignition-cmake3-dev
rubocop
243 changes: 39 additions & 204 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,136 +1,35 @@
cmake_minimum_required(VERSION 2.8.12 FATAL_ERROR)
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)

project (ignition-tools2)
#============================================================================
# Initialize the project
#============================================================================
project(ignition-tools2 VERSION 2.0.0)

# Note about ignition-cmake:
# -------------------------
# The project is not using ignition-cmake2 due to problems
# with compatibility when mixed with projects using ignition-cmake0
# When ignition-cmake0 will be EOL the code to implement
# ignition-cmake2 back to this project can be found at:
# https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-tools/pull-requests/6
#============================================================================
# Find gz-cmake
#============================================================================
find_package(ignition-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${ignition-cmake3_VERSION_MAJOR})

string (SUBSTRING ${PROJECT_NAME} 9 -1 IGN_PROJECT_NAME)
string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
#============================================================================
# Configure the project
#============================================================================
gz_configure_project(
VERSION_SUFFIX pre1)

set (PROJECT_MAJOR_VERSION 2)
set (PROJECT_MINOR_VERSION 0)
set (PROJECT_PATCH_VERSION 0~pre1)
#============================================================================
# Set project-specific options
#============================================================================

set (PROJECT_VERSION ${PROJECT_MAJOR_VERSION}.${PROJECT_MINOR_VERSION})
set (PROJECT_VERSION_FULL ${PROJECT_MAJOR_VERSION}.${PROJECT_MINOR_VERSION}.${PROJECT_PATCH_VERSION})
# No project-specific options yet

message (STATUS "${PROJECT_NAME} version ${PROJECT_VERSION_FULL}")
#============================================================================
# Search for project-specific dependencies
#============================================================================
message(STATUS "\n\n-- ====== Finding Dependencies ======")

set (project_cmake_dir ${PROJECT_SOURCE_DIR}/cmake
CACHE PATH "Location of CMake scripts")

include (${project_cmake_dir}/Utils.cmake)

########################################
# Package Creation:
include (${project_cmake_dir}/cpack.cmake)
set (CPACK_PACKAGE_VERSION "${PROJECT_VERSION_FULL}")
set (CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_MAJOR_VERSION}")
set (CPACK_PACKAGE_VERSION_MINOR "${PROJECT_MINOR_VERSION}")
set (CPACK_PACKAGE_VERSION_PATCH "${PROJECT_PATCH_VERSION}")

if (CPACK_GENERATOR)
message(STATUS "Found CPack generators: ${CPACK_GENERATOR}")

configure_file("${project_cmake_dir}/cpack_options.cmake.in"
${PROJECT_CPACK_CFG_FILE} @ONLY)

set(CPACK_PROJECT_CONFIG_FILE ${PROJECT_CPACK_CFG_FILE})
include (CPack)
endif()

# If we're configuring only to package source, stop here
if (PACKAGE_SOURCE_ONLY)
message(WARNING "Configuration was done in PACKAGE_SOURCE_ONLY mode."
"You can build a tarball (make package_source), but nothing else.")
return()
endif()

#################################################
# Documentation:
add_subdirectory(doc)

# If we're configuring only to build docs, stop here
if (DOC_ONLY)
message(WARNING "Configuration was done in DOC_ONLY mode."
" You can build documentation (make doc), but nothing else.")
return()
endif()

enable_testing()

# Use GNUInstallDirst to get canonical paths
include(GNUInstallDirs)

# with -fPIC
if(UNIX AND NOT WIN32)
set (CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "Install Prefix")
find_program(CMAKE_UNAME uname /bin /usr/bin /usr/local/bin )
if(CMAKE_UNAME)
exec_program(uname ARGS -m OUTPUT_VARIABLE CMAKE_SYSTEM_PROCESSOR)
set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL
"processor type (i386 and x86_64)")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
ADD_DEFINITIONS(-fPIC)
endif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
endif(CMAKE_UNAME)
endif()

set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)

# developer's option to cache PKG_CONFIG_PATH and
# LD_LIBRARY_PATH for local installs
if(PKG_CONFIG_PATH)
set (ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_PATH}:$ENV{PKG_CONFIG_PATH})
endif()
if(LD_LIBRARY_PATH)
set (ENV{LD_LIBRARY_PATH} ${LD_LIBRARY_PATH}:$ENV{LD_LIBRARY_PATH})
endif()


set (INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_INCLUDEDIR}/ignition")
set (LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
set (BIN_INSTALL_DIR ${CMAKE_INSTALL_BINDIR})

set (USE_FULL_RPATH OFF CACHE BOOL "Set to true to enable full rpath")

if (USE_FULL_RPATH)
# use, i.e. don't skip the full RPATH for the build tree
set(CMAKE_SKIP_BUILD_RPATH FALSE)

# when building, don't use the install RPATH already
# (but later on when installing)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)

set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")

# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# the RPATH to be used when installing, but only if its not a system directory
list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}" isSystemDir)
if("${isSystemDir}" STREQUAL "-1")
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")
endif("${isSystemDir}" STREQUAL "-1")
endif()

set (BUILD_IGNITION ON CACHE INTERNAL
"Build Ignition ${IGN_PROJECT_NAME}" FORCE)
set (build_errors "" CACHE INTERNAL "build errors" FORCE)
set (build_warnings "" CACHE INTERNAL "build warnings" FORCE)

include (${project_cmake_dir}/DissectVersion.cmake)

message (STATUS "\n\n====== Finding 3rd Party Packages ======")
include (${project_cmake_dir}/SearchForStuff.cmake)
# Rubocop for Ruby linting
find_program(RUBOCOP_PROGRAM rubocop)

# Backtrace
# There appears to be a bug that causes pretty printing backtrace to fail in
Expand All @@ -143,84 +42,20 @@ if (NOT USE_SYSTEM_BACKWARDCPP)
endif()
find_package(Backward)

message (STATUS "----------------------------------------\n")

#################################################
# Print warnings and errors
if ( build_warnings )
message(WARNING "BUILD WARNINGS")
foreach (msg ${build_warnings})
message(WARNING ${msg})
endforeach ()
message(WARNING "END BUILD WARNINGS\n")
endif (build_warnings)

########### Add uninstall target ###############
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
"${CMAKE_COMMAND}" -P
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")

if (build_errors)
message(SEND_ERROR "BUILD ERRORS: These must be resolved before compiling.")
foreach (msg ${build_errors})
message(SEND_ERROR ${msg})
endforeach ()
message(SEND_ERROR "END BUILD ERRORS\n")
message (FATAL_ERROR "Errors encountered in build. "
"Please see the BUILD ERRORS above.")
else (build_errors)

message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")

########################################
# Make the package config files
set(PC_CONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/pkgconfig)
file(RELATIVE_PATH
PC_CONFIG_RELATIVE_PATH_TO_PREFIX
"${CMAKE_INSTALL_PREFIX}/${PC_CONFIG_INSTALL_DIR}"
"${CMAKE_INSTALL_PREFIX}"
)
configure_file(
${CMAKE_SOURCE_DIR}/cmake/pkgconfig/ignition.in
${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${PROJECT_NAME_LOWER}.pc @ONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${PROJECT_NAME_LOWER}.pc
DESTINATION ${PC_CONFIG_INSTALL_DIR}
COMPONENT pkgconfig)

########################################
# Make the cmake config files
set(PKG_NAME ${PROJECT_NAME_UPPER})
set(PKG_LIBRARIES ${PROJECT_NAME_LOWER})
set(PKG_DEPENDS)

include(CMakePackageConfigHelpers)
configure_package_config_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/ignition-config.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake"
INSTALL_DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}
)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake
DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}
COMPONENT cmake)

########################################
# If present, load platform-specific build hooks. This system is used,
# for example, by the Ubuntu overlay, to arrange for installation of
# Ubuntu-specific application-launching configuration.
if (EXISTS ${PROJECT_SOURCE_DIR}/cmake/packager-hooks/CMakeLists.txt)
message(STATUS "Loading packager build hooks from cmake/packager-hooks")
add_subdirectory(cmake/packager-hooks)
endif()
#============================================================================
# Configure the build
#============================================================================
gz_configure_build(QUIT_IF_BUILD_ERRORS)

message(STATUS "Configuration successful. Type make to compile
${PROJECT_NAME_LOWER}")
endif(build_errors)
#============================================================================
# Create package information
#============================================================================
gz_create_packages()

include(CTest)
#============================================================================
# Configure documentation
#============================================================================
configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)

add_subdirectory(src)
add_subdirectory(etc)
gz_create_docs(
TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md")
1 change: 1 addition & 0 deletions Migration.md
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Expand Up @@ -7,5 +7,6 @@ release will remove the deprecated code.

## Gazebo Tools 1.X to 2.X

* This package now depends on gz-cmake
* The environment variable `IGN_CONFIG_PATH` is deprecated. Use `GZ_CONFIG_PATH` instead.
* The `ign` command line executable is deprecated. Use `gz` instead.
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