-
Notifications
You must be signed in to change notification settings - Fork 10
/
CMakeLists.txt
235 lines (186 loc) · 8.83 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
if(COMMAND CMAKE_POLICY)
CMAKE_POLICY(SET CMP0003 NEW)
CMAKE_POLICY(SET CMP0004 NEW)
endif(COMMAND CMAKE_POLICY)
enable_testing()
project (Gazebo)
string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
set (GAZEBO_VERSION_NAME "hydrogen")
set (GAZEBO_MAJOR_VERSION 1)
set (GAZEBO_MINOR_VERSION 0)
set (GAZEBO_PATCH_VERSION 1)
set (GAZEBO_VERSION ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION}.${GAZEBO_PATCH_VERSION})
message (STATUS "${PROJECT_NAME} version ${GAZEBO_VERSION}")
set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
#if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
# set (CMAKE_INSTALL_PREFIX "/usr/" CACHE PATH "Gazebo install prefix" FORCE)
#endif()
set (USE_FULL_RPATH OFF CACHE BOOL "Set to true to enable full rpath")
if (USE_FULL_RPATH)
# use, i.e. don't skip the full RPATH for the build tree
set(CMAKE_SKIP_BUILD_RPATH FALSE)
# when building, don't use the install RPATH already
# (but later on when installing)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
# 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 "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
if("${isSystemDir}" STREQUAL "-1")
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
endif("${isSystemDir}" STREQUAL "-1")
endif()
set (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE)
set (build_errors "" CACHE INTERNAL "build errors" FORCE)
set (build_warnings "" CACHE INTERNAL "build warnings" FORCE)
set (INCLUDE_INSTALL_DIR "include/gazebo-${GAZEBO_VERSION}/gazebo")
set (LIB_INSTALL_DIR "lib")
set (BIN_INSTALL_DIR "bin")
# with -fPIC
if(UNIX AND NOT WIN32)
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(UNIX AND NOT WIN32)
set (MIN_OGRE_VERSION 1.7.1 CACHE INTERNAL "Ogre version requirement" FORCE)
set (MIN_BOOST_VERSION 1.40.0 CACHE INTERNAL "Boost min version requirement" FORCE)
set (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version requirement" FORCE)
set (FREEIMAGE_MINOR_VERSION 9 CACHE INTERNAL "FreeImage minor version requirement" FORCE)
set (MIN_FREEIMAGE_VERSION ${FREEIMAGE_MAJOR_VERSION}.${FREEIMAGE_MINOR_VERSION}.0 CACHE INTERNAL "FreeImage version requirement" FORCE)
set (gazebo_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH "Location of CMake scripts")
include (${gazebo_cmake_dir}/DissectVersion.cmake)
#####################################
# Build type cflags
set (CMAKE_C_FLAGS_ALL " -Wall -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic" CACHE INTERNAL "General C Flags")
#####################################
# Build type link flags
set (CMAKE_LINK_FLAGS_RELEASE " " CACHE INTERNAL "Link flags fro release" FORCE)
set (CMAKE_LINK_FLAGS_DEBUG " " CACHE INTERNAL "Link flags for debug" FORCE)
set (CMAKE_LINK_FLAGS_PROFILE " -pg" CACHE INTERNAL "Link flags for profile" FORCE)
set (CMAKE_LINK_FLAGS_CHECK " --coverage" CACHE INTERNAL "Link flags for static code checking" FORCE)
message (STATUS "\n\n====== Finding 3rd Party Packages ======")
include (${gazebo_cmake_dir}/SearchForStuff.cmake)
message (STATUS "----------------------------------------\n")
if (SSE2_FOUND)
set (CMAKE_C_FLAGS_ALL "${CMAKE_C_FLAGS_ALL} -msse -msse2 -mfpmath=sse")
endif()
if (SSE3_FOUND)
set (CMAKE_C_FLAGS_ALL "${CMAKE_C_FLAGS_ALL} -msse3")
endif()
if (SSSE3_FOUND)
set (CMAKE_C_FLAGS_ALL "${CMAKE_C_FLAGS_ALL} -mssse3")
endif()
if (SSE4_1_FOUND)
set (CMAKE_C_FLAGS_ALL "${CMAKE_C_FLAGS_ALL} -msse4.1")
endif()
if (SSE4_2_FOUND)
set (CMAKE_C_FLAGS_ALL "${CMAKE_C_FLAGS_ALL} -msse4.2")
endif()
set (CMAKE_C_FLAGS_RELEASE " -s -O2 -DNDEBUG ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release" FORCE)
set (CMAKE_CXX_FLAGS_RELEASE ${CMAKE_C_FLAGS_RELEASE})
set (CMAKE_C_FLAGS_DEBUG " -ggdb3 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for debug" FORCE)
set (CMAKE_CXX_FLAGS_DEBUG ${CMAKE_C_FLAGS_DEBUG})
set (CMAKE_C_FLAGS_PROFILE " -fno-omit-frame-pointer -g -pg ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for profile" FORCE)
set (CMAKE_CXX_FLAGS_PROFILE ${CMAKE_C_FLAGS_PROFILE})
set (CMAKE_C_FLAGS_CHECK " -g -O0 -Wformat=2 --coverage -fno-inline ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for static code checking" FORCE)
set (CMAKE_CXX_FLAGS_CHECK "${CMAKE_C_FLAGS_CHECK} -fno-elide-constructors -fno-default-inline -fno-implicit-inline-templates")
#####################################
# Set the default build type
if (NOT CMAKE_BUILD_TYPE)
set (CMAKE_BUILD_TYPE "RELEASE" CACHE STRING
"Choose the type of build, options are: debug release profile check" FORCE)
endif (NOT CMAKE_BUILD_TYPE)
string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE)
#####################################
# Set all the global build flags
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE}}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}}")
set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}}")
set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}}")
set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}}")
if ("${CMAKE_BUILD_TYPE}" STREQUAL "PROFILE")
set (BUILD_TYPE_PROFILE TRUE)
else()
set (BUILD_TYPE_PROFILE FALSE)
endif()
if ( "${CMAKE_BUILD_TYPE}" STREQUAL "RELEASE")
set (BUILD_TYPE_RELEASE TRUE)
else()
set (BUILD_TYPE_RELEASE FALSE)
endif()
if ( "${CMAKE_BUILD_TYPE}" STREQUAL "DEBUG")
set (BUILD_TYPE_DEBUG TRUE)
else()
set (BUILD_TYPE_DEBUG FALSE)
endif()
message (STATUS "\n\n====== Configuring 3rd Party Packages ======")
add_subdirectory(deps)
message (STATUS "----------------------------------------\n")
#################################################
# Print warnings and errors
if ( build_warnings )
message(STATUS "BUILD WARNINGS")
foreach (msg ${build_warnings})
message(STATUS ${msg})
endforeach ()
message(STATUS "END BUILD WARNINGS\n")
endif (build_warnings)
if (build_errors)
message(STATUS "BUILD ERRORS: These must be resolved before compiling.")
foreach (msg ${build_errors})
message(STATUS ${msg})
endforeach ()
message(STATUS "END BUILD ERRORS\n")
message (FATAL_ERROR "Errors encountered in build.")
else (build_errors)
########################################
# Write the config.h file
configure_file (${gazebo_cmake_dir}/gazebo_config.h.in ${PROJECT_BINARY_DIR}/gazebo_config.h)
INSTALL_INCLUDES("" ${PROJECT_BINARY_DIR}/gazebo_config.h)
configure_file(${CMAKE_SOURCE_DIR}/cmake/setup.sh.in ${PROJECT_BINARY_DIR}/setup.sh @ONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gazebo-${GAZEBO_VERSION}/)
include_directories(${PROJECT_SOURCE_DIR} ${PROJECT_BINARY_DIR})
message (STATUS "C Flags:${CMAKE_CXX_FLAGS}")
message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
add_subdirectory(doc)
if (BUILD_GAZEBO)
add_subdirectory(src)
add_subdirectory(sdf)
add_subdirectory(Media)
add_subdirectory(test)
add_subdirectory(tools)
add_subdirectory(plugins)
add_subdirectory(interfaces)
endif (BUILD_GAZEBO)
########################################
# Make the package config files
set (pkgconfig_files gazebo_ode gazebo_transport gazebo)
foreach (pkgconfig ${pkgconfig_files})
configure_file(${CMAKE_SOURCE_DIR}/cmake/pkgconfig/${pkgconfig}.in ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${pkgconfig}.pc @ONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${pkgconfig}.pc DESTINATION lib/pkgconfig COMPONENT pkgconfig)
endforeach()
########################################
# Package Creation:
include (${gazebo_cmake_dir}/gazebo_cpack.cmake)
set (CPACK_PACKAGE_VERSION "${GAZEBO_VERSION}")
set (CPACK_PACKAGE_VERSION_MAJOR "${GAZEBO_MAJOR_VERSION}")
set (CPACK_PACKAGE_VERSION_MINOR "${GAZEBO_MINOR_VERSION}")
set (CPACK_PACKAGE_VERSION_PATCH "${GAZEBO_PATCH_VERSION}")
if (CPACK_GENERATOR)
message(STATUS "Found CPack generators: ${CPACK_GENERATOR}")
configure_file("${gazebo_cmake_dir}/cpack_options.cmake.in" ${GAZEBO_CPACK_CFG_FILE} @ONLY)
set(CPACK_PROJECT_CONFIG_FILE ${GAZEBO_CPACK_CFG_FILE})
include (CPack)
endif()
message(STATUS "Configuration successful. Type make to compile gazebo")
endif(build_errors)