Switch to jrl-cmakemodules v2

CMakeLists.txt

@@ -1,30 +1,144 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.22)
 
-set(CXX_DISABLE_WERROR 1)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_EXTENSIONS OFF)
+include(cmake/get-jrl-cmakemodules.cmake)
 
-set(PROJECT_NAME DCM_VRPTask)
-set(PROJECT_VERSION 0.1.0)
-set(PROJECT_DESCRIPTION "")
-set(PROJECT_URL "")
+project(DCM_VRPTask LANGUAGES CXX VERSION 0.1.0)
 
-# jrl-cmakemodules minimal settings
-set(PROJECT_USE_CMAKE_EXPORT TRUE)
-set(CXX_DISABLE_WERROR 1)
+# jrl_find_package(eigen-qld REQUIRED NO_MODULE)
 
-include(cmake/base.cmake)
+jrl_find_package(mc_rtc REQUIRED)
+jrl_find_package(gram_savitzky_golay REQUIRED NO_MODULE)
+jrl_find_package(eigen-quadprog REQUIRED)
 
-project(${PROJECT_NAME} LANGUAGES CXX VERSION ${PROJECT_VERSION})
+# Tasks
 
-add_project_dependency(RBDyn REQUIRED NO_MODULE)
-add_project_dependency(eigen-qld REQUIRED NO_MODULE)
-add_project_dependency(Boost REQUIRED COMPONENTS filesystem timer ${BOOST_STACKTRACE})
-add_project_dependency(gram_savitzky_golay REQUIRED NO_MODULE)
+set(Tasks_SRC
+  src/Tasks/DCM_VRPTask.cpp
+)
 
-find_package(mc_rtc REQUIRED)
-find_package(SpaceVecAlg REQUIRED)
-find_package(Tasks REQUIRED)
-find_package(eigen-quadprog REQUIRED)
+add_library(Tasks_DCM_VRPTask SHARED ${Tasks_SRC})
 
-add_subdirectory(src)
+target_link_libraries(Tasks_DCM_VRPTask
+                      PUBLIC
+                      SpaceVecAlg::SpaceVecAlg
+                      eigen-quadprog::eigen-quadprog
+                      Tasks::Tasks
+                      )
+
+target_include_directories(Tasks_DCM_VRPTask
+  PUBLIC "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
+
+jrl_target_headers(Tasks_DCM_VRPTask PUBLIC HEADERS
+  include/Tasks/DCM_VRPTask.h
+  BASE_DIRS include)
+
+# TVM
+
+# set(TVM_SRC
+#   tvm/task_dynamics/ProportionalFF.cpp
+# )
+
+# set(TVM_HDR
+#   ../include/tvm/task_dynamics/ProportionalFF.h
+# )
+
+# add_library(TVM_DCM_VRPTask SHARED ${TVM_SRC} ${TVM_HDR})
+
+# target_link_libraries(TVM_DCM_VRPTask
+#                       PUBLIC
+#                       SpaceVecAlg::SpaceVecAlg
+#                       ${Boost_LIBRARIES}
+#                       eigen-quadprog::eigen-quadprog
+#                       TVM::TVM
+#                       )
+
+# set_target_properties(TVM_DCM_VRPTask PROPERTIES
+#   OUTPUT_NAME TVM_DCM_VRPTask
+#   VERSION TVM_DCM_VRPTask
+#   PUBLIC_HEADER "${TVM_DCM_VRPTask_HDR}"
+#   )
+
+# target_include_directories(TVM_DCM_VRPTask PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/tvm>"
+#   "$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
+
+# install(TARGETS TVM_DCM_VRPTask
+#   EXPORT "${TARGETS_EXPORT_NAME}"
+#   RUNTIME DESTINATION bin
+#   LIBRARY DESTINATION lib
+#   ARCHIVE DESTINATION lib)
+
+# mc_tvm
+
+set(mc_tvm_SRC
+  src/mc_tvm/DCM_VRPFunction.cpp
+  src/mc_tvm/VRPFunction.cpp
+  src/mc_tvm/DCMBoundingFunction.cpp
+  src/mc_tvm/DummyDynamicFunction.cpp
+)
+
+add_library(mc_tvm_DCM_VRPTask SHARED ${mc_tvm_SRC})
+
+target_link_libraries(mc_tvm_DCM_VRPTask
+                      PUBLIC
+                      mc_rtc::mc_rbdyn)
+
+target_include_directories(mc_tvm_DCM_VRPTask
+  PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
+
+jrl_target_headers(mc_tvm_DCM_VRPTask PUBLIC HEADERS
+  include/mc_tvm/DCM_VRPFunction.h
+  include/mc_tvm/VRPFunction.h
+  include/mc_tvm/DCMBoundingFunction.h
+  include/mc_tvm/DummyDynamicFunction.h
+  BASE_DIRS include)
+
+# mc_tasks
+
+set(mc_tasks_SRC
+  src/mc_tasks/DCM_VRPTask.cpp
+  src/DCM_VRPUtils/DCM_VRPtracker.cpp
+  src/DCM_VRPUtils/LinearProblems.cpp
+  src/mc_tasks/DCMTask.cpp
+  src/mc_tasks/VRPTask.cpp
+)
+
+add_library(mc_tasks_DCM_VRPTask SHARED ${mc_tasks_SRC})
+
+target_link_libraries(mc_tasks_DCM_VRPTask
+                      PUBLIC
+                      SpaceVecAlg::SpaceVecAlg
+                      eigen-quadprog::eigen-quadprog
+                      gram_savitzky_golay::gram_savitzky_golay
+                      mc_rtc::mc_tasks
+                      mc_rtc::mc_rbdyn
+                      mc_tvm_DCM_VRPTask
+                      Tasks_DCM_VRPTask)
+                      # TVM_DCM_VRPTask)
+
+
+target_include_directories(mc_tasks_DCM_VRPTask
+  PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
+
+jrl_target_headers(mc_tasks_DCM_VRPTask
+  PUBLIC HEADERS
+  include/mc_tasks/DCM_VRPTask.h
+  include/DCM_VRPUtils/DCM_VRPtracker.h
+  include/DCM_VRPUtils/LinearProblems.h
+  include/DCM_VRPUtils/GUIInterpolator.h
+  include/mc_tasks/DCMTask.h
+  include/mc_tasks/VRPTask.h
+  BASE_DIRS include)
+
+jrl_add_export_component(NAME DCM_VRPTask TARGETS Tasks_DCM_VRPTask mc_tvm_DCM_VRPTask mc_tasks_DCM_VRPTask)
+
+
+#### Exporting targets and installing ####
+jrl_export_package()
+
+jrl_print_dependencies_summary()
+jrl_print_options_summary()

cmake/get-jrl-cmakemodules.cmake

@@ -0,0 +1,49 @@
+# Get jrl-cmakemodules package
+
+# Option 1: pass -DJRL_CMAKEMODULES_SOURCE_DIR=... to cmake command line
+if(JRL_CMAKEMODULES_SOURCE_DIR)
+  message(
+    DEBUG
+    "JRL_CMAKEMODULES_SOURCE_DIR variable set, adding jrl-cmakemodules from source directory: ${JRL_CMAKEMODULES_SOURCE_DIR}"
+  )
+  add_subdirectory(${JRL_CMAKEMODULES_SOURCE_DIR} jrl-cmakemodules)
+  return()
+endif()
+
+# Option 2: use JRL_CMAKEMODULES_SOURCE_DIR environment variable (pixi might unset it, prefer option 1)
+if(ENV{JRL_CMAKEMODULES_SOURCE_DIR})
+  message(
+    DEBUG
+    "JRL_CMAKEMODULES_SOURCE_DIR environement variable set, adding jrl-cmakemodules from source directory: ${JRL_CMAKEMODULES_SOURCE_DIR}"
+  )
+  add_subdirectory(${JRL_CMAKEMODULES_SOURCE_DIR} jrl-cmakemodules)
+  return()
+endif()
+
+# Try to look for the installed package
+message(DEBUG "Looking for jrl-cmakemodules using find_package().")
+find_package(jrl-cmakemodules 1.2.0 CONFIG QUIET)
+
+# If we have the package, we are done.
+if(jrl-cmakemodules_FOUND)
+  message(DEBUG "Found jrl-cmakemodules package via find_package().")
+  return()
+else()
+  message(DEBUG "jrl-cmakemodules package not found using find_package().")
+endif()
+
+# Fallback to FetchContent if not found
+set(JRL_GIT_REPOSITORY "https://github.com/ahoarau/jrl-cmakemodules.git")
+set(JRL_GIT_TAG "jrl-next")
+
+message(
+  DEBUG
+  "Fetching jrl-cmakemodules using FetchContent:
+  GIT_REPOSITORY: ${JRL_GIT_REPOSITORY}
+  GIT_TAG       : ${JRL_GIT_TAG}
+"
+)
+
+include(FetchContent)
+FetchContent_Declare(jrl-cmakemodules GIT_REPOSITORY ${JRL_GIT_REPOSITORY} GIT_TAG ${JRL_GIT_TAG})
+FetchContent_MakeAvailable(jrl-cmakemodules)