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fix CI
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@facontidavide
facontidavide committed Nov 23, 2022
1 parent ddb4d2c commit 2692ff5
Showing 1 changed file with 51 additions and 73 deletions.
124 changes: 51 additions & 73 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)

#---- project configuration ----
option(BUILD_EXAMPLES "Build tutorials and examples" ON)
option(BUILD_SAMPLES "Build sample nodes" ON)
option(BUILD_UNIT_TESTS "Build the unit tests" ON)
option(BUILD_TOOLS "Build commandline tools" ON)
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
Expand All @@ -35,37 +34,31 @@ if(ENABLE_COROUTINES)
if(NOT Boost_VERSION_NODOT VERSION_LESS 105900)
message(STATUS "Found boost::coroutine2.")
add_definitions(-DBT_BOOST_COROUTINE2)
set(BT_COROUTINES true)
set(BT_COROUTINES_FOUND true)
elseif(NOT Boost_VERSION_NODOT VERSION_LESS 105300)
message(STATUS "Found boost::coroutine.")
add_definitions(-DBT_BOOST_COROUTINE)
set(BT_COROUTINES true)
set(BT_COROUTINES_FOUND true)
endif()
include_directories(${Boost_INCLUDE_DIRS})
endif()

if(NOT DEFINED BT_COROUTINES)
if(NOT DEFINED BT_COROUTINES_FOUND)
message(STATUS "Boost coroutines disabled. Install Boost (version 1.59+ recommended).")
endif()
else()
message(STATUS "Boost coroutines disabled by CMake option.")
endif()

if(NOT DEFINED BT_COROUTINES)
if(NOT DEFINED BT_COROUTINES_FOUND)
add_definitions(-DBT_NO_COROUTINES)
endif()

#---- Find other packages ----
find_package(Threads)
find_package(ZMQ)

list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES
${CMAKE_THREAD_LIBS_INIT}
${CMAKE_DL_LIBS}
)

if( ZMQ_FOUND )
message(STATUS "ZeroMQ found.")
message(STATUS "ZeroMQ: found.")
add_definitions( -DZMQ_FOUND )
list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
else()
Expand All @@ -89,8 +82,6 @@ if ( ament_cmake_FOUND )
message(STATUS "BehaviourTree is being built using AMENT.")
message(STATUS "------------------------------------------")

set(BUILD_TOOL_INCLUDE_DIRS ${ament_INCLUDE_DIRS})

elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)

set(catkin_FOUND 1)
Expand All @@ -108,9 +99,6 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
CATKIN_DEPENDS roslib
)

list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})

elseif(BUILD_UNIT_TESTS)
if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
find_package(GTest REQUIRED)
Expand Down Expand Up @@ -170,11 +158,8 @@ list(APPEND BT_SOURCE
if(BUILD_MANUAL_SELECTOR)
find_package(Curses QUIET)
if(CURSES_FOUND)
list(APPEND BT_SOURCE
src/controls/manual_node.cpp
)
list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${CURSES_LIBRARIES})
add_definitions(-DNCURSES_FOUND)
message(STATUS "NCurses: found.")
list(APPEND BT_SOURCE src/controls/manual_node.cpp )
else()
message(WARNING "NCurses NOT found. Skipping the build of manual selector node.")
endif()
Expand All @@ -199,35 +184,48 @@ else()
add_library(${BEHAVIOR_TREE_LIBRARY} STATIC ${BT_SOURCE})
endif()

if( ZMQ_FOUND )
list(APPEND BUILD_TOOL_INCLUDE_DIRS ${ZMQ_INCLUDE_DIRS})
endif()

target_link_libraries(${BEHAVIOR_TREE_LIBRARY}
PUBLIC
${BEHAVIOR_TREE_PUBLIC_LIBRARIES}
PRIVATE
$<BUILD_INTERFACE:Boost::coroutine>
$<BUILD_INTERFACE:${ZMQ_LIBRARIES}>
${CMAKE_THREAD_LIBS_INIT}
${CMAKE_DL_LIBS}
)

target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)

target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
target_include_directories(${BEHAVIOR_TREE_LIBRARY}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
$<BUILD_INTERFACE:${BTCPP_EXTRA_INCLUDE_DIRS}>
)

target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
$<BUILD_INTERFACE:${BUILD_TOOL_INCLUDE_DIRS}>
$<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}>
)
if(ZMQ_FOUND)
target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${ZMQ_LIBRARIES} )
target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${ZMQ_INCLUDE_DIRS} )
target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE ZMQ_FOUND)
endif()

if( ZMQ_FOUND )
target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)
if(BT_COROUTINES_FOUND)
target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${Boost_LIBRARIES} )
target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${Boost_INCLUDE_DIRS} )
endif()

if(CURSES_FOUND)
target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${CURSES_LIBRARIES} )
target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${CURSES_INCLUDE_DIRS} )
target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE NCURSES_FOUND)
endif()


target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)

if(MSVC)
else()
target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
Expand All @@ -242,7 +240,7 @@ if(ament_cmake_FOUND)
$<BUILD_INTERFACE:${ament_index_cpp_INCLUDE_DIRS}> )

target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
$<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )
$<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )

ament_export_dependencies(ament_index_cpp)

Expand All @@ -254,6 +252,13 @@ if(ament_cmake_FOUND)
ament_export_libraries(${BEHAVIOR_TREE_LIBRARY})
ament_package()
elseif(catkin_FOUND)

target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${catkin_INCLUDE_DIRS} )

target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
${catkin_LIBRARIES} )

set( BEHAVIOR_TREE_LIB_DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} )
set( BEHAVIOR_TREE_INC_DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} )
set( BEHAVIOR_TREE_BIN_DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} )
Expand All @@ -268,16 +273,11 @@ message( STATUS "BEHAVIOR_TREE_LIB_DESTINATION: ${BEHAVIOR_TREE_LIB_DESTINATIO
message( STATUS "BEHAVIOR_TREE_BIN_DESTINATION: ${BEHAVIOR_TREE_BIN_DESTINATION} " )
message( STATUS "BUILD_UNIT_TESTS: ${BUILD_UNIT_TESTS} " )


######################################################
# Samples
if (BUILD_SAMPLES)
add_subdirectory(sample_nodes)
endif()
add_subdirectory(sample_nodes)

######################################################
# Test
if (BUILD_UNIT_TESTS AND BUILD_SAMPLES)
if (BUILD_UNIT_TESTS)
add_subdirectory(tests)
endif()

Expand Down Expand Up @@ -307,28 +307,6 @@ install(FILES
DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
)

###### Fix back-compatibility problem ##########

INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
EXPORT BehaviorTreeV3Targets
ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
RUNTIME DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
)

install(EXPORT BehaviorTreeV3Targets
FILE "BehaviorTreeV3Targets.cmake"
DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/BehaviorTreeV3"
NAMESPACE BT::
)

install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/BehaviorTreeV3Config.cmake"
DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/BehaviorTreeV3"
)

################################################

export(PACKAGE ${PROJECT_NAME})

include(CMakePackageConfigHelpers)
Expand All @@ -346,6 +324,6 @@ if(BUILD_TOOLS)
add_subdirectory(tools)
endif()

if(BUILD_EXAMPLES AND BUILD_SAMPLES)
if(BUILD_EXAMPLES)
add_subdirectory(examples)
endif()

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