Release/0.6 (#10)

Changelog at https://github.com/flexivrobotics/flexiv_rdk/releases/

.github/workflows/cmake.yml

@@ -2,9 +2,9 @@ name: CMake
 
 on:
   push:
-    branches: [ main ]
+    branches: [main]
   pull_request:
-    branches: [ main ]
+    branches: [main]
   workflow_dispatch:
 
 env:
@@ -20,23 +20,32 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+      - uses: actions/checkout@v2
 
-    - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: | 
-        cd ${{github.workspace}}
-        rm -rf build
-        mkdir -p build && cd build
-        cmake .. -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+      - name: Build and install library
+        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to an external directory.
+        run: |
+          cd ${{github.workspace}}
+          rm -rf build && mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make install
+
+      - name: Build examples
+        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
+        run: |
+          cd ${{github.workspace}}/example
+          rm -rf build && mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make -j$(nproc)
+
+      - name: Build tests
+        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
+        run: |
+          cd ${{github.workspace}}/test
+          rm -rf build && mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make -j$(nproc)
 
-    - name: Build
-      # Build examples and tests
-      run: | 
-        cd ${{github.workspace}}/build
-        make -j$(nproc)
-      
   build-ubuntu18:
     # The CMake configure and build commands are platform agnostic and should work equally
     # well on Windows or Mac.  You can convert this to a matrix build if you need
@@ -45,21 +54,28 @@ jobs:
     runs-on: ubuntu-18.04
 
     steps:
-    - uses: actions/checkout@v2
+      - uses: actions/checkout@v2
 
-    - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: | 
-        cd ${{github.workspace}}
-        rm -rf build
-        mkdir -p build && cd build
-        cmake .. -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+      - name: Build and install library
+        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to an external directory.
+        run: |
+          cd ${{github.workspace}}
+          rm -rf build && mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make install
 
-    - name: Build
-      # Build examples and tests
-      run: | 
-        cd ${{github.workspace}}/build
-        make -j$(nproc)
+      - name: Build examples
+        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
+        run: |
+          cd ${{github.workspace}}/example
+          rm -rf build && mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make -j$(nproc)
 
-  
+      - name: Build tests
+        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
+        run: |
+          cd ${{github.workspace}}/test
+          rm -rf build && mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make -j$(nproc)

.gitignore

@@ -1,5 +1,7 @@
 .vscode
 .vs
+.DS_Store
 config.h
 build/
-html/
+html/
+__pycache__

CMakeLists.txt

@@ -1,117 +1,85 @@
-# use cmake 3 which supports targets
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.4)
 
-# ===================================
-#      PROJECT SETUP
-# ===================================
-project(FlexivRdkExampleAndTest)
+# ===================================================================
+#      PROJECT CONFIG
+# ===================================================================
+project(flexiv_rdk VERSION 0.6.0)
 
-if( NOT CMAKE_BUILD_TYPE )
-  set( CMAKE_BUILD_TYPE Release CACHE STRING
-       "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
-       FORCE )
-endif()
+# C++14 required
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-option(BUILD_FOR_ARM64 "Link to RDK library for arm64 processor, otherwise link to x64" OFF)
+# Configure build type
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
+endif()
 
-set(CMAKE_VERBOSE_MAKEFILE ON)
+# Configure processor platform
+set(BUILD_PLATFORM "x86_64" CACHE STRING "Processor platform")
+set_property(CACHE BUILD_PLATFORM PROPERTY STRINGS "x86_64" "arm64")
+
+# Set static library
+message("Building for system: ${CMAKE_SYSTEM_NAME}")
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  if(${BUILD_PLATFORM} STREQUAL "x86_64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.x86_64-linux-gnu.a")
+  elseif(${BUILD_PLATFORM} STREQUAL "arm64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.aarch64-linux-gnu.a")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+  if(${BUILD_PLATFORM} STREQUAL "x86_64")
+    message(FATAL_ERROR "Mac with x86_64 processor is currently not supported.")
+  elseif(${BUILD_PLATFORM} STREQUAL "arm64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.arm64-darwin.a")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+  if(${BUILD_PLATFORM} STREQUAL "x86_64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/FlexivRdk.x86_64-windows.lib")
+  elseif(${BUILD_PLATFORM} STREQUAL "arm64")
+    message(FATAL_ERROR "Windows with arm64 processor is currently not supported.")
+  endif()
+endif()
 
+# ===================================================================
+#      PROJECT DEPENDENCIES
+# ===================================================================
+# pthread
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
 
-# ===================================
-#      CONFIGURE ALL EXAMPLES
-# ===================================
-# examples bin output directory
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/example) 
-
-# list of examples
-set(EXAMPLE_LIST
-  auto_recovery
-  cartesian_impedance_control
-  clear_fault
-  display_robot_states
-  floating_with_soft_limits
-  gripper_control
-  joint_impedance_control
-  joint_position_control
-  plan_execution
-  primitive_execution
-  robot_dynamics
-  series_operation
-  visualization
-)
-
-foreach(example ${EXAMPLE_LIST})
-  # create executable from source
-  add_executable(${example} example/${example}.cpp)
-
-  # link dependencies
-  target_include_directories(${example} 
-    PUBLIC 
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen3
-  )
+# ===================================================================
+#      PROJECT LIBRARIES
+# ===================================================================
+# Create an INTERFACE library with no source file to compile
+add_library(${PROJECT_NAME} INTERFACE)
 
-  # Link basic libraries
-  target_link_libraries(${example} 
-      Threads::Threads
-      anl
-  )
+# Create an alias of the library using flexiv namespace, 
+# to imitate the install target which uses flexiv namespace.
+add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
-  # Link arm64 or x64 version of libFlexivRdk
-  if (${BUILD_FOR_ARM64})
-    target_link_libraries(${example} 
-      ${CMAKE_CURRENT_SOURCE_DIR}/lib/linux/cpp/arm64/libFlexivRdk.a)
-  else()
-    target_link_libraries(${example} 
-      ${CMAKE_CURRENT_SOURCE_DIR}/lib/linux/cpp/x64/libFlexivRdk.a)
-  endif()
-
-endforeach()
-
-
-# ===================================
-#      CONFIGURE ALL TESTS
-# ===================================
-# tests bin output directory
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/test) 
-
-# list of tests
-set(TEST_LIST
-  test_dynamics_engine
-  test_dynamics_with_tool
-  test_endurance
-  test_log
-  test_loop_latency
-  test_scheduler
-  test_timeliness_monitor
+target_include_directories(${PROJECT_NAME} INTERFACE 
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
 )
 
-foreach(test ${TEST_LIST})
-  # create executable from source
-  add_executable(${test} test/${test}.cpp)
+target_link_libraries(${PROJECT_NAME} INTERFACE
+  ${RDK_STATIC_LIBRARY}
+  Threads::Threads
+)
 
-  # link dependencies
-  target_include_directories(${test} 
-    PUBLIC 
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen3
-  )
+# Use moderate compiler warning option 
+if(MSVC)
+  target_compile_options(${PROJECT_NAME} INTERFACE /W1)
+else()
+  target_compile_options(${PROJECT_NAME} INTERFACE -Wall -Wextra)
+endif()
 
-  # Link basic libraries
-  target_link_libraries(${test} 
-      Threads::Threads
-      anl
-  )
+# Install the INTERFACE library
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
+FlexivInstallLibrary()
 
-  # Link arm64 or x64 version of libFlexivRdk
-  if (${BUILD_FOR_ARM64})
-    target_link_libraries(${test} 
-      ${CMAKE_CURRENT_SOURCE_DIR}/lib/linux/cpp/arm64/libFlexivRdk.a)
-  else()
-    target_link_libraries(${test} 
-      ${CMAKE_CURRENT_SOURCE_DIR}/lib/linux/cpp/x64/libFlexivRdk.a)
-  endif()
-
-endforeach()
+# Also install Eigen headers
+install(
+  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen3/Eigen
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} 
+)