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Move ScenarIO files into scenario folder
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@diegoferigo
diegoferigo committed May 21, 2021
1 parent 3b2157f commit 1e18c60
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213 changes: 5 additions & 208 deletions CMakeLists.txt
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# This software may be modified and distributed under the terms of the
# GNU Lesser General Public License v2.1 or any later version.

# This file is here only to allow build systems to find the
# real CMake project that is stored in the scenario/ folder.
cmake_minimum_required(VERSION 3.16)
project(Scenario VERSION 1.2.2)

# Add custom functions / macros
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

# C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Include useful features
include(GNUInstallDirs)

# Build type
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING
"Choose the type of build, recommended options are: Debug or Release" FORCE)
endif()
set(SCENARIO_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${SCENARIO_BUILD_TYPES})
endif()

# This new build mode configures the CMake project to be compatible with the pipeline to
# create the PyPI linux wheel
include(AddNewBuildMode)
add_new_build_mode(NAME "PyPI" TEMPLATE "Release")

# Expose shared or static compilation
set(SCENARIO_BUILD_SHARED_LIBRARY TRUE
CACHE BOOL "Compile libraries as shared libraries")

if(NOT ${CMAKE_BUILD_TYPE} STREQUAL "PyPI")
# Apply the user choice
set(BUILD_SHARED_LIBS ${SCENARIO_BUILD_SHARED_LIBRARY})
else()
# Check that is Linux
if(NOT (UNIX AND NOT APPLE))
message(FATAL_ERROR "PyPI packages can be only created for Linux at the moment")
endif()

if(SCENARIO_BUILD_SHARED_LIBRARY)
message(WARNING "Enabling static compilation, required by the PyPI build mode")
endif()

# Force static compilation
set(BUILD_SHARED_LIBS FALSE)
endif()

# Use -fPIC even if statically compiled
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

# Tweak linker flags in Linux
if(UNIX AND NOT APPLE)
if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
get_filename_component(LINKER_BIN ${CMAKE_LINKER} NAME)
if("${LINKER_BIN}" STREQUAL "ld")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--unresolved-symbols=report-all")
endif()
endif()
endif()

# Control where binaries and libraries are placed in the build folder.
# This simplifies tests running in Windows.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")

# Get include-what-you-use information when compiling
option(SCENARIO_USE_IWYU "Get the output of include-what-you-use" OFF)
mark_as_advanced(SCENARIO_USE_IWYU)
if(SCENARIO_USE_IWYU)
find_program(IWYU_PATH NAMES include-what-you-use iwyu)
if(IWYU_PATH)
set(CMAKE_CXX_INCLUDE_WHAT_YOU_USE ${IWYU_PATH})
endif()
endif()

# Settings for RPATH
if(NOT MSVC)
option(ENABLE_RPATH "Enable RPATH installation" TRUE)
mark_as_advanced(ENABLE_RPATH)
endif()

# Dependencies
add_subdirectory(deps)

if(${CMAKE_VERSION} VERSION_GREATER 3.15)
cmake_policy(SET CMP0094 NEW)
endif()

# Find virtualenv's before system's interpreters
set(Python3_FIND_VIRTUALENV "FIRST" CACHE STRING
"Configure the detection of virtual environments")
set(Python3_FIND_VIRTUALENV_TYPES "FIRST" "ONLY" "STANDARD")
mark_as_advanced(Python3_FIND_VIRTUALENV)
set_property(CACHE Python3_FIND_VIRTUALENV PROPERTY STRINGS ${Python3_FIND_VIRTUALENV_TYPES})

# Find Python3
find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
message(STATUS "Using Python: ${Python3_EXECUTABLE}")

# Select the appropriate install prefix used throughout the project.
set(SCENARIO_INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
set(SCENARIO_INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR})
set(SCENARIO_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR})

if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
# Add the libraries installed in the Python site-package folder
set(EXTRA_RPATH_DIRS
"${Python3_SITELIB}"
"${Python3_SITELIB}/scenario/bindings")
else()
# Add the libraries installed in the Python site-package folder
# (that in this case is CMAKE_INSTALL_PREFIX)
set(EXTRA_RPATH_DIRS
"${CMAKE_INSTALL_PREFIX}"
"${CMAKE_INSTALL_PREFIX}/scenario/bindings")
endif()

# Configure RPATH
include(AddInstallRPATHSupport)
add_install_rpath_support(
BIN_DIRS
"${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_BINDIR}"
LIB_DIRS
"${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
"${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}/scenario/plugins"
"${EXTRA_RPATH_DIRS}"
INSTALL_NAME_DIR
"${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
DEPENDS ENABLE_RPATH
USE_LINK_PATH)

# Find a supported Ignition distribution
if(NOT IGNITION_DISTRIBUTION)

include(FindIgnitionDistribution)
set(SUPPORTED_IGNITION_DISTRIBUTIONS "Edifice" "Dome" "Citadel")

foreach(distribution IN LISTS SUPPORTED_IGNITION_DISTRIBUTIONS)

find_ignition_distribution(
CODENAME ${distribution}
PACKAGES
ignition-gazebo
REQUIRED FALSE)

if(${${distribution}_FOUND})
message(STATUS "Found Ignition ${distribution}")

# Select Ignition distribution
set(IGNITION_DISTRIBUTION "${distribution}" CACHE
STRING "The Ignition distribution found in the system")
set_property(CACHE IGNITION_DISTRIBUTION PROPERTY
STRINGS ${SUPPORTED_IGNITION_DISTRIBUTIONS})

break()
endif()

endforeach()

endif()

if(NOT IGNITION_DISTRIBUTION OR "${IGNITION_DISTRIBUTION}" STREQUAL "")
set(USE_IGNITION FALSE)
else()
set(USE_IGNITION TRUE)
endif()

option(SCENARIO_USE_IGNITION
"Build C++ code depending on Ignition"
${USE_IGNITION})

# Fail if Ignition is enabled but no compatible distribution was found
if(SCENARIO_USE_IGNITION AND "${IGNITION_DISTRIBUTION}" STREQUAL "")
message(FATAL_ERROR "Failed to find a compatible Ignition Gazebo distribution")
endif()

# Alias the targets
if(SCENARIO_USE_IGNITION)
include(ImportTargets${IGNITION_DISTRIBUTION})
endif()

# Helper for exporting targets
include(InstallBasicPackageFiles)

# =========
# SCENARI/O
# =========

project(scenario)
add_subdirectory(scenario)

# ========
# BINDINGS
# ========

# Require to find Ignition libraries when packaging for PyPI
if(CMAKE_BUILD_TYPE STREQUAL "PyPI" AND NOT USE_IGNITION)
message(FATAL_ERROR "Found no Ignition distribution for PyPI package")
endif()

find_package(SWIG 4.0 QUIET)
option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})

if(SCENARIO_ENABLE_BINDINGS)
add_subdirectory(bindings)
endif()

# Add unistall target
# The uninstall target resource must be included in the top-level CMakeLists
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/scenario/cmake)
include(AddUninstallTarget)

# =============
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2 changes: 1 addition & 1 deletion docs/sphinx/CMakeLists.txt
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# 2. The folder containing the bindings Python modules
#
set(PYTHON_PACKAGES_DIR "${CMAKE_SOURCE_DIR}/python")
set(BINDINGS_MODULES_DIR "${PROJECT_BINARY_DIR}/bindings")
set(BINDINGS_MODULES_DIR "${PROJECT_BINARY_DIR}/scenario/bindings")

# =============
# APIDOC TARGET
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