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CMakeLists.txt
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CMakeLists.txt
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# Software License Agreement (BSD License)
# Copyright (c) 2020, AMBF.
# (https://github.com/WPI-AIM/ambf)
#
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
#
# * Neither the name of authors nor the names of its contributors may
# be used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# $Author: seb $
# $Author: Adnan Munawar $
# $Author: Melody Su $
# $Date: April, 2019 $
# $Rev: $
#
# project configuration
#
# COURTESY:
# Starting point from CMakeLists of CHAI3D by SEB
cmake_minimum_required (VERSION 3.0.0)
project (AMBF)
# set version info
file (READ ${PROJECT_SOURCE_DIR}/ambf_framework/version VERSION)
STRING (REGEX REPLACE ".*MAJOR=([0-9]+).*" "\\1" MAJOR_VERSION "${VERSION}")
STRING (REGEX REPLACE ".*MINOR=([0-9]+).*" "\\1" MINOR_VERSION "${VERSION}")
STRING (REGEX REPLACE ".*RELEASE=([0-9]+).*" "\\1" RELEASE_VERSION "${VERSION}")
set (PROJECT_VERSION ${MAJOR_VERSION}.${MINOR_VERSION}.${RELEASE_VERSION})
# platform detection
if (${CMAKE_SYSTEM_NAME} MATCHES Windows)
set (OS "win")
if (${CMAKE_CL_64})
set (ARCH "x64")
else ()
set (ARCH "Win32")
endif ()
elseif (${CMAKE_SYSTEM_NAME} MATCHES Linux)
set (OS "lin")
if (${CMAKE_SIZEOF_VOID_P} EQUAL 8)
set (ARCH "x86_64")
else ()
set (ARCH "i686")
endif ()
elseif (${CMAKE_SYSTEM_NAME} MATCHES Darwin)
set (OS "mac")
set (ARCH "x86_64")
endif ()
# enforce build type
if (NOT CMAKE_BUILD_TYPE)
set (CMAKE_BUILD_TYPE Release CACHE STRING "Setting build mode to Release" FORCE)
endif()
# output location
set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin/${OS}-${ARCH})
set (CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PROJECT_SOURCE_DIR}/bin-debug/${OS}-${ARCH})
set (CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${PROJECT_SOURCE_DIR}/bin/${OS}-${ARCH})
set (CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PROJECT_SOURCE_DIR}/bin/${OS}-${ARCH})
set (CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${PROJECT_SOURCE_DIR}/bin/${OS}-${ARCH})
# find dependencies
find_package(yaml-cpp REQUIRED)
find_package(OpenGL REQUIRED)
find_package(Boost REQUIRED)
include_directories(${YAML_CPP_INCLUDE_DIR})
include_directories (${OPENGL_INCLUDE_DIR})
include_directories(${Boost_INCLUDE_DIRS})
set(AMBF_ROS_INCLUDE_DIRS "")
set(AMBF_ROS_LIBRARIES "")
# ROS Dependency
if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
find_package(catkin COMPONENTS
roscpp
)
if (${catkin_FOUND})
message("-- *** FOUND ROS ON THIS MACHINE, ENABLING SUPPORT FOR AMBF_ROS MODULES")
add_subdirectory(${PROJECT_SOURCE_DIR}/ambf_ros_modules)
add_subdirectory(${PROJECT_SOURCE_DIR}/external/tf_function)
# Call find catkin again, with REQUIRED this time, it's okay to write over previously
# imported catkin variables
find_package(catkin QUIET COMPONENTS ambf_comm ambf_msgs dvrk_arm razer_hydra cv_bridge image_transport)
find_package(tf_function REQUIRED)
if(${ambf_comm_FOUND} AND ${ambf_msgs_FOUND} AND ${dvrk_arm_FOUND})
message("-- *** FOUND AMBF_COMM, AMBF_MSGS and DVRK_ARM, ENABLING DVRK DEVICE SUPPORT")
set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${catkin_LIBRARIES})
add_definitions(-DC_ENABLE_AMBF_COMM_SUPPORT)
add_definitions(-DC_ENABLE_AMBF_DVRK_DEVICE_SUPPORT)
set (CHAI3D_DEFINITIONS -DC_ENABLE_AMBF_COMM_SUPPORT)
set (CHAI3D_DEFINITIONS -DC_ENABLE_AMBF_DVRK_DEVICE_SUPPORT)
else()
message("-- *** AMBF_COMM, AMBF_MSGS and DVRK_ARM NOT FOUND")
endif()
find_package(OpenCV QUIET)
if(${OpenCV_FOUND})
message("-- *** FOUND OPENCV")
if(${cv_bridge_FOUND} AND ${image_transport_FOUND})
message("-- *** FOUND ROS_CV_BRIDGE and IMAGE_TRANSPORT, ENABLING VIDEO PUBLISHING SUPPORT")
add_definitions(-DAF_ENABLE_OPEN_CV_SUPPORT)
set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${OpenCV_LIBRARIES})
set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${catkin_LIBRARIES})
else()
message("-- *** ROS CV_BRIDGE and IMAGE_TRANSPORT NOT FOUND")
endif()
endif()
if (${razer_hydra_FOUND})
message("-- *** FOUND RAZER HYDRA'S ROS PACKAGE, ENABLING DEVICE SUPPORT")
set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${razer_hydra_INCLUDE_DIRS})
set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${razer_hydra_LIBRARIES})
add_definitions(-DC_ENABLE_RAZER_HYDRA_DEVICE_SUPPORT)
set (CHAI3D_DEFINITIONS -DC_ENABLE_RAZER_HYDRA_DEVICE_SUPPORT)
else()
message("-- *** RAZER HYDRA'S ROS PACKAGE NOT FOUND")
endif()
endif()
include_directories(${catkin_INCLUDE_DIRS})
endif()
# Windows global build options
if (${CMAKE_SYSTEM_NAME} MATCHES Windows)
# VisualStudio compiler
if (MSVC)
add_definitions (-D_CRT_SECURE_NO_DEPRECATE)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP")
if (${CMAKE_CL_64})
add_definitions (-DWIN64)
else ()
add_definitions (-DWIN32)
endif ()
# MinGW compiler
elseif (MINGW)
add_definitions (-DWIN32)
add_definitions (-DHAVE_GCC_DESTRUCTOR)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wno-deprecated -std=c++0x")
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native -Wno-deprecated")
endif ()
# Linux global build options
elseif (${CMAKE_SYSTEM_NAME} MATCHES Linux)
add_definitions (-DLINUX)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -march=native -Wno-deprecated -std=c++0x")
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -march=native -Wno-deprecated")
# Mac OS X global build options
elseif (${CMAKE_SYSTEM_NAME} MATCHES Darwin)
add_definitions (-DMACOSX)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Qunused-arguments -Wno-deprecated -std=c++0x -stdlib=libc++")
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Qunused-arguments -Wno-deprecated")
endif ()
# on non-Windows, DHD dependency
if (NOT ${CMAKE_SYSTEM_NAME} MATCHES Windows)
include_directories (${PROJECT_SOURCE_DIR}/external/DHD/include)
if(${CMAKE_GENERATOR} STREQUAL Xcode)
set (DHD_LIBRARY_DIRS ${PROJECT_SOURCE_DIR}/external/DHD/lib/${OS})
else()
set (DHD_LIBRARY_DIRS ${PROJECT_SOURCE_DIR}/external/DHD/lib/${OS}-${ARCH})
endif()
link_directories (${DHD_LIBRARY_DIRS})
endif ()
#
# static library
#
# Setting CMake to prepent rather than append include directories
set(CMAKE_INCLUDE_DIRECTORIES_BEFORE TRUE)
# GLFW
add_subdirectory (${PROJECT_SOURCE_DIR}/external/GLFW)
# GLFW Includes
find_package(GLFW REQUIRED)
include_directories (${GLFW_INCLUDE_DIRS})
# header search path
include_directories (${PROJECT_SOURCE_DIR}/ambf_framework)
include_directories (${PROJECT_SOURCE_DIR}/external/chai3d/src)
include_directories (${PROJECT_SOURCE_DIR}/external/chai3d-bullet/src)
include_directories (${PROJECT_SOURCE_DIR}/external/chai3d-gel/src)
include_directories (${PROJECT_SOURCE_DIR}/external/bullet/src)
include_directories (${PROJECT_SOURCE_DIR}/external/Eigen)
include_directories (${PROJECT_SOURCE_DIR}/external/glew/include)
include_directories (${PROJECT_SOURCE_DIR}/external/giflib/include)
include_directories (${PROJECT_SOURCE_DIR}/external/lib3ds/include)
include_directories (${PROJECT_SOURCE_DIR}/external/libjpeg/include)
include_directories (${PROJECT_SOURCE_DIR}/external/libpng/include)
include_directories (${PROJECT_SOURCE_DIR}/external/openal/include)
include_directories (${PROJECT_SOURCE_DIR}/external/openal/OpenAL32/Include)
include_directories (${PROJECT_SOURCE_DIR}/external/openal/Alc)
include_directories (${PROJECT_SOURCE_DIR}/external/pugixml/include)
include_directories (${PROJECT_SOURCE_DIR}/external/theoraplayer/include/theoraplayer)
include_directories (${PROJECT_SOURCE_DIR}/external/theoraplayer/external/ogg/include)
include_directories (${PROJECT_SOURCE_DIR}/external/theoraplayer/external/theora/include)
include_directories (${PROJECT_SOURCE_DIR}/external/theoraplayer/external/vorbis/include)
include_directories (${PROJECT_SOURCE_DIR}/external/theoraplayer/external/vorbis/lib)
include_directories (${PROJECT_SOURCE_DIR}/external/theoraplayer/src/Theora)
# static library source files
file (GLOB_RECURSE source RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/ambf_framework/*.cpp ${PROJECT_SOURCE_DIR}/ambf_framework/*.h)
# static library external dependencies source files
file (GLOB_RECURSE source_chai3d RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/chai3d/src/*.cpp ${PROJECT_SOURCE_DIR}/external/chai3d/src/*.h)
file (GLOB_RECURSE source_chai3d_bullet RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/chai3d-bullet/src/*.cpp ${PROJECT_SOURCE_DIR}/external/chai3d-bullet/src/*.h)
file (GLOB_RECURSE source_chai3d_gel RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/chai3d-gel/src/*.cpp ${PROJECT_SOURCE_DIR}/external/chai3d-gel/src/*.h)
file (GLOB_RECURSE source_bullet_collision RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/bullet/src/BulletCollision/*.cpp ${PROJECT_SOURCE_DIR}/external/bullet/src/BulletCollision/*.h)
file (GLOB_RECURSE source_bullet_dynamics RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/bullet/src/BulletDynamics/*.cpp ${PROJECT_SOURCE_DIR}/external/bullet/src/BulletDynamics/*.h)
file (GLOB_RECURSE source_bullet_softbody RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/bullet/src/BulletSoftBody/*.cpp ${PROJECT_SOURCE_DIR}/external/bullet/src/BulletSoftBody/*.h)
file (GLOB_RECURSE source_bullet_linearmath RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/bullet/src/LinearMath/*.cpp ${PROJECT_SOURCE_DIR}/external/bullet/src/LinearMath/*.h)
# static library external dependencies source files
file (GLOB_RECURSE source_eigen RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/Eigen/Eigen/*)
file (GLOB_RECURSE source_gif RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/giflib/*.c ${PROJECT_SOURCE_DIR}/external/giflib/*.h)
file (GLOB_RECURSE source_glew RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/glew/*.c ${PROJECT_SOURCE_DIR}/external/glew/*.h)
file (GLOB_RECURSE source_3ds RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/lib3ds/*.c ${PROJECT_SOURCE_DIR}/external/lib3ds/*.h)
file (GLOB_RECURSE source_jpeg RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/libjpeg/*.c ${PROJECT_SOURCE_DIR}/external/libjpeg/*.h)
file (GLOB_RECURSE source_png RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/libpng/*.c ${PROJECT_SOURCE_DIR}/external/libpng/*.h)
file (GLOB_RECURSE source_pugixml RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/pugixml/*.c ${PROJECT_SOURCE_DIR}/external/pugixml/*.h)
file (GLOB_RECURSE source_openal RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/openal/*.c ${PROJECT_SOURCE_DIR}/external/openal/*.h)
file (GLOB_RECURSE source_theora RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/theoraplayer/*.c ${PROJECT_SOURCE_DIR}/external/theoraplayer/*.cpp ${PROJECT_SOURCE_DIR}/external/theoraplayer/*.h)
# build flags
set (PROJECT_DEFINITIONS "${PROJECT_DEFINITIONS} -DBT_USE_DOUBLE_PRECISION")
add_definitions (${PROJECT_DEFINITIONS})
# platform-specific source files adjustments
if (${CMAKE_SYSTEM_NAME} MATCHES Windows)
file (GLOB_RECURSE source_theora_exclude RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/theoraplayer/external/theora/lib/x86/*.c)
else ()
file (GLOB_RECURSE source_theora_exclude RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/external/theoraplayer/external/theora/lib/x86_vc/*.c)
endif ()
list (REMOVE_ITEM source_theora ${source_theora_exclude})
# group source files (MSVC likes this)
foreach (FILE ${source} ${source_eigen} ${source_gif} ${source_glew} ${source_3ds} ${source_jpeg} ${source_png} ${source_pugixml} ${source_openal} ${source_theora} ${source_bullet_collision} ${source_bullet_dynamics} ${source_bullet_softbody} ${source_bullet_linearmath})
get_filename_component (PARENT_DIR "${FILE}" PATH)
string (REGEX REPLACE "(\\./)?(src|include)/?" "" GROUP "${PARENT_DIR}")
string (REPLACE "/" "\\" GROUP "${GROUP}")
source_group ("${GROUP}" FILES "${FILE}")
endforeach ()
# internal library build flags
if (${CMAKE_BUILD_TYPE} MATCHES Debug)
add_definitions ("-DDEBUG")
message (USING X86_64_ASM)
endif ()
if (${CMAKE_SIZEOF_VOID_P} EQUAL 8)
if (NOT ${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "aarch64")
message (USING X86_64_ASM)
add_definitions ("-DUSE_X86_64_ASM")
endif ()
endif ()
# build flags
add_definitions (${PROJECT_DEFINITIONS} -DGLEW_STATIC -DAL_ALEXT_PROTOTYPES -DAL_BUILD_LIBRARY -DAL_LIBTYPE_STATIC -D__THEORA -D_LIB)
# static library
add_library (ambf_framework STATIC ${source} ${source_eigen} ${source_gif} ${source_glew} ${source_3ds}
${source_jpeg} ${source_png} ${source_pugixml} ${source_openal} ${source_theora} ${source_chai3d}
${source_chai3d_bullet} ${source_chai3d_gel} ${source_bullet_collision} ${source_bullet_dynamics}
${source_bullet_softbody} ${source_bullet_linearmath} )
# To ensure the ambf_ros_modules are build before the ambf_framework,
# add catkin's targets as build dependency
if (${catkin_FOUND})
add_dependencies(ambf_framework ${catkin_EXPORTED_TARGETS})
endif()
# AMBF library exports
set (AMBF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/src" "${PROJECT_SOURCE_DIR}/external/bullet/src"
"${PROJECT_SOURCE_DIR}/external/Eigen" "${PROJECT_SOURCE_DIR}/external/glew/include" ${OPENGL_INCLUDE_DIR})
set (AMBF_LIBRARIES ambf_framework ${OPENGL_LIBRARIES} ${YAML_CPP_LIBRARIES})
set (AMBF_DEFINITIONS ${PROJECT_DEFINITIONS})
# ROS CATKIN INCLUDES AND LIBRARIES
if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
set (AMBF_INCLUDE_DIRS ${AMBF_INCLUDE_DIRS} ${AMBF_ROS_INCLUDE_DIRS})
set (AMBF_LIBRARIES ${AMBF_LIBRARIES} ${AMBF_ROS_LIBRARIES})
endif()
if (NOT ${CMAKE_SYSTEM_NAME} MATCHES Windows)
if (${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "aarch64")
set (AMBF_LIBRARIES ${AMBF_LIBRARIES})
else ()
set (AMBF_LIBRARIES ${AMBF_LIBRARIES} drd)
endif ()
set (AMBF_LIBRARY_DIRS ${AMBF_LIBRARY_DIRS} ${DHD_LIBRARY_DIRS})
else ()
set (AMBF_LIBRARIES ${AMBF_LIBRARIES} winmm)
endif ()
if (${OS} MATCHES lin)
set (AMBF_LIBRARIES ${AMBF_LIBRARIES} usb-1.0 rt pthread dl)
elseif (${OS} MATCHES mac)
set (AMBF_LIBRARIES ${AMBF_LIBRARIES} "-framework CoreFoundation" "-framework IOKit" "-framework CoreServices" "-framework CoreAudio" "-framework AudioToolbox" "-framework AudioUnit")
endif ()
set (AMBF_SOURCE_DIR ${PROJECT_SOURCE_DIR})
#
# executables
#
# AMBF Simulator
add_subdirectory (${PROJECT_SOURCE_DIR}/ambf_simulator)
# AMBF Controller
if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
if (${catkin_FOUND})
add_subdirectory (${PROJECT_SOURCE_DIR}/ambf_controller)
endif()
endif()
#
# export package
#
# export package for use from the build tree
export (TARGETS ambf_framework FILE ${PROJECT_BINARY_DIR}/AMBFTargets.cmake)
export (PACKAGE AMBF)
# configure package
set (CONF_INCLUDE_DIRS ${AMBF_INCLUDE_DIRS})
set (CONF_DEFINITIONS ${AMBF_DEFINITIONS})
# create package configuration and version files
configure_file (AMBFConfig.cmake.in "${PROJECT_BINARY_DIR}/AMBFConfig.cmake" @ONLY)
configure_file (AMBFConfigVersion.cmake.in "${PROJECT_BINARY_DIR}/AMBFConfigVersion.cmake" @ONLY)