Add CMakePresets.json and robot preset (#1001)

Co-authored-by: Ugo Pattacini <[email protected]>

.github/workflows/ci.yml

@@ -161,28 +161,9 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
+        cmake --preset robot -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
               -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
               -DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \
-              -DICUB_USE_icub_firmware_shared:BOOL=ON \
-              -DENABLE_icubmod_skinWrapper:BOOL=ON \
-              -DENABLE_icubmod_sharedcan:BOOL=ON \
-              -DENABLE_icubmod_bcbBattery:BOOL=ON \
-              -DENABLE_icubmod_canmotioncontrol:BOOL=ON \
-              -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \
-              -DENABLE_icubmod_canBusInertialMTB:BOOL=ON \
-              -DENABLE_icubmod_canBusSkin:BOOL=ON \
-              -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \
-              -DENABLE_icubmod_embObjFTsensor:BOOL=ON \
-              -DENABLE_icubmod_embObjIMU:BOOL=ON \
-              -DENABLE_icubmod_embObjInertials:BOOL=ON \
-              -DENABLE_icubmod_embObjMais:BOOL=ON \
-              -DENABLE_icubmod_embObjMotionControl:BOOL=ON \
-              -DENABLE_icubmod_embObjBattery:BOOL=ON \
-              -DENABLE_icubmod_embObjSkin:BOOL=ON \
-              -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \
-              -DENABLE_icubmod_parametricCalibrator:BOOL=ON \
-              -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \
               -DBUILD_TESTING:BOOL=ON \
               -DICUB_SHARED_LIBRARY=OFF \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
@@ -193,26 +174,9 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
+        cmake --preset robot \
+              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
               -DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \
-              -DICUB_USE_icub_firmware_shared:BOOL=ON \
-              -DENABLE_icubmod_skinWrapper:BOOL=ON \
-              -DENABLE_icubmod_sharedcan:BOOL=ON \
-              -DENABLE_icubmod_canmotioncontrol:BOOL=ON \
-              -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \
-              -DENABLE_icubmod_canBusInertialMTB:BOOL=ON \
-              -DENABLE_icubmod_canBusSkin:BOOL=ON \
-              -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \
-              -DENABLE_icubmod_embObjFTsensor:BOOL=ON \
-              -DENABLE_icubmod_embObjIMU:BOOL=ON \
-              -DENABLE_icubmod_embObjInertials:BOOL=ON \
-              -DENABLE_icubmod_embObjMais:BOOL=ON \
-              -DENABLE_icubmod_embObjMotionControl:BOOL=ON \
-              -DENABLE_icubmod_embObjBattery:BOOL=ON \
-              -DENABLE_icubmod_embObjSkin:BOOL=ON \
-              -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \
-              -DENABLE_icubmod_parametricCalibrator:BOOL=ON \
-              -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \
               -DBUILD_TESTING:BOOL=ON \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 

CMakePresets.json

@@ -0,0 +1,58 @@
+{
+  "version": 3,
+  "cmakeMinimumRequired": {
+    "major": 3,
+    "minor": 22,
+    "patch": 1
+  },
+  "configurePresets": [
+    {
+      "name": "default",
+      "displayName": "Default Configuration",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release",
+        "ENABLE_icubmod_cartesiancontrollerclient": "ON",
+        "ENABLE_icubmod_cartesiancontrollerserver": "ON",
+        "ENABLE_icubmod_gazecontrollerclient": "ON"
+      }
+    },
+    {
+      "name": "robot",
+      "inherits": "default",
+      "displayName": "Robot Configuration",
+      "cacheVariables": {
+        "ICUB_USE_icub_firmware_shared": "ON",
+        "ENABLE_icubmod_skinWrapper": "ON",
+        "ENABLE_icubmod_sharedcan": "ON",
+        "ENABLE_icubmod_bcbBattery": "ON",
+        "ENABLE_icubmod_canmotioncontrol": "ON",
+        "ENABLE_icubmod_canBusAnalogSensor": "ON",
+        "ENABLE_icubmod_canBusInertialMTB": "ON",
+        "ENABLE_icubmod_canBusSkin": "ON",
+        "ENABLE_icubmod_canBusFtSensor": "ON",
+        "ENABLE_icubmod_canBusVirtualAnalogSensor": "ON",
+        "ENABLE_icubmod_embObjBattery": "ON",
+        "ENABLE_icubmod_embObjFTsensor": "ON",
+        "ENABLE_icubmod_embObjMultipleFTsensors": "ON",
+        "ENABLE_icubmod_embObjIMU": "ON",
+        "ENABLE_icubmod_embObjMais": "ON",
+        "ENABLE_icubmod_embObjMotionControl": "ON",
+        "ENABLE_icubmod_embObjSkin": "ON",
+        "ENABLE_icubmod_embObjPOS": "ON",
+        "ENABLE_icubmod_parametricCalibrator": "ON",
+        "ENABLE_icubmod_parametricCalibratorEth": "ON"
+      }
+    }
+  ],
+  "buildPresets": [
+    {
+      "name": "default",
+      "configurePreset": "default"
+    },
+    {
+      "name": "robot",
+      "configurePreset": "robot"
+    }
+  ]
+}