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CMakeLists.txt
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CMakeLists.txt
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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)