Make build of rendering and studio modules optional

CMakeLists.txt

@@ -11,6 +11,9 @@ if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 
+option(BUILD_RENDERING "Build the rendering module" ON)
+option(BUILD_STUDIO "Build the studio module" ON)
+
 add_subdirectory(common)
 add_subdirectory(acm)
 add_subdirectory(collision)
@@ -21,13 +24,43 @@ add_subdirectory(joint_trajectory)
 add_subdirectory(kinematic_groups)
 add_subdirectory(manipulation)
 add_subdirectory(plot)
-add_subdirectory(rendering)
 add_subdirectory(scene_graph)
 add_subdirectory(planning)
 add_subdirectory(srdf)
 add_subdirectory(tool_path)
 add_subdirectory(workbench)
-add_subdirectory(studio)
+
+set(DEPS
+    "Qt5 COMPONENTS Core Gui Widgets Svg OpenGL Xml"
+    "Boost COMPONENTS program_options"
+    tesseract_environment
+    tesseract_kinematics
+    tesseract_scene_graph
+    tesseract_common
+    tesseract_support
+    tesseract_urdf
+    tesseract_srdf
+    tesseract_visualization
+    tesseract_command_language
+    tesseract_motion_planners
+    tesseract_task_composer)
+
+if(${BUILD_RENDERING})
+  message("Building rendering module")
+  add_subdirectory(rendering)
+  list(
+    APPEND
+    DEPS
+    gz-rendering7
+    gz-math7-eigen3
+    "gz-common5 COMPONENTS profiler events av")
+endif()
+
+if(${BUILD_STUDIO} AND ${BUILD_RENDERING})
+  message("Building studio module")
+  add_subdirectory(studio)
+  list(APPEND DEPS qtadvanceddocking)
+endif()
 
 install(FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/FindQwt.cmake" "${CMAKE_CURRENT_LIST_DIR}/cmake/FindGraphviz.cmake"
         DESTINATION lib/cmake/${PROJECT_NAME})
@@ -37,22 +70,6 @@ install(FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/tesseract_qt-extras.cmake" DESTIN
 configure_package(
   NAMESPACE tesseract
             DEPENDENCIES
-            "Qt5 COMPONENTS Core Gui Widgets Svg OpenGL Xml"
-            "Boost COMPONENTS program_options"
-            tesseract_environment
-            tesseract_kinematics
-            tesseract_scene_graph
-            tesseract_common
-            tesseract_support
-            tesseract_urdf
-            tesseract_srdf
-            tesseract_visualization
-            tesseract_command_language
-            tesseract_motion_planners
-            tesseract_task_composer
-            qtadvanceddocking
-            gz-rendering7
-            gz-math7-eigen3
-            "gz-common5 COMPONENTS profiler events av"
+            ${DEPS}
             CFG_EXTRAS
             tesseract_qt-extras.cmake)

plot/CMakeLists.txt

@@ -8,7 +8,6 @@ find_package(
              Xml
   REQUIRED)
 find_package(Qwt REQUIRED)
-find_package(qtadvanceddocking REQUIRED)
 
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
@@ -17,15 +16,13 @@ qt5_wrap_ui(
   PLOT_headers_UI
   include/tesseract_qt/plot/plot_widget_editor.ui
   include/tesseract_qt/plot/plot_widget_transforms.ui
-  include/tesseract_qt/plot/plot_docker_toolbar.ui
   include/tesseract_qt/plot/transforms/first_derivative.ui
   include/tesseract_qt/plot/transforms/integral_transform.ui
   include/tesseract_qt/plot/transforms/moving_average_filter.ui
   include/tesseract_qt/plot/transforms/moving_rms.ui
   include/tesseract_qt/plot/transforms/outlier_removal.ui
   include/tesseract_qt/plot/transforms/scale_transform.ui
   include/tesseract_qt/plot/transforms/transform_selector.ui)
-
 qt5_wrap_cpp(
   PLOT_headers_MOC
   include/tesseract_qt/plot/custom_tracker.h
@@ -36,7 +33,6 @@ qt5_wrap_cpp(
   include/tesseract_qt/plot/plot_widget_editor.h
   include/tesseract_qt/plot/plot_widget_transforms.h
   include/tesseract_qt/plot/plot_zoomer.h
-  include/tesseract_qt/plot/plot_docker.h
   include/tesseract_qt/plot/plot_subplots.h
   include/tesseract_qt/plot/transform_function.h
   include/tesseract_qt/plot/transforms/transform_selector.h)
@@ -54,7 +50,6 @@ add_library(
   src/plot_widget_editor.cpp
   src/plot_widget_transforms.cpp
   src/plot_zoomer.cpp
-  src/plot_docker.cpp
   src/plot_subplots.cpp
   src/point_series_xy.cpp
   src/timeseries_qwt.cpp
@@ -76,7 +71,6 @@ target_link_libraries(
          Qt5::Xml
          Qwt::Qwt
          tesseract::tesseract_common
-         ads::qtadvanceddocking
          ${PROJECT_NAME}_common)
 target_include_directories(
   ${PROJECT_NAME}_plot PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"

plot/demo/CMakeLists.txt

@@ -3,20 +3,10 @@ target_link_libraries(${PROJECT_NAME}_plot_demo PRIVATE ${PROJECT_NAME}_plot)
 target_include_directories(${PROJECT_NAME}_plot_demo PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                             "$<INSTALL_INTERFACE:include>")
 
-add_executable(${PROJECT_NAME}_plot_docker_demo plot_docker_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_plot_docker_demo PRIVATE ${PROJECT_NAME}_plot)
-target_include_directories(
-  ${PROJECT_NAME}_plot_docker_demo PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                          "$<INSTALL_INTERFACE:include>")
-
 add_executable(${PROJECT_NAME}_plot_subplots_demo plot_subplots_demo.cpp)
 target_link_libraries(${PROJECT_NAME}_plot_subplots_demo PRIVATE ${PROJECT_NAME}_plot)
 target_include_directories(
   ${PROJECT_NAME}_plot_subplots_demo PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                             "$<INSTALL_INTERFACE:include>")
 
-install_targets(
-  TARGETS
-  ${PROJECT_NAME}_plot_demo
-  ${PROJECT_NAME}_plot_docker_demo
-  ${PROJECT_NAME}_plot_subplots_demo)
+install_targets(TARGETS ${PROJECT_NAME}_plot_demo ${PROJECT_NAME}_plot_subplots_demo)

srdf/CMakeLists.txt

@@ -7,6 +7,8 @@ tesseract_variables()
 qt5_wrap_cpp(SRDF_EDITOR_WIDGET_headers_MOC include/tesseract_qt/srdf/srdf_editor_widget.h)
 qt5_wrap_ui(SRDF_EDITOR_WIDGET_headers_UI include/tesseract_qt/srdf/srdf_editor_widget.ui)
 
+set(SRDF_TARGETS ${PROJECT_NAME}_srdf)
+
 add_library(${PROJECT_NAME}_srdf SHARED ${SRDF_EDITOR_WIDGET_headers_MOC} ${SRDF_EDITOR_WIDGET_headers_UI}
                                         src/srdf_editor_widget.cpp)
 target_link_libraries(
@@ -21,16 +23,20 @@ target_include_directories(
   ${PROJECT_NAME}_srdf PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                               "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/srdf>" "$<INSTALL_INTERFACE:include>")
 
-add_executable(${PROJECT_NAME}_srdf_app src/srdf_editor_app.cpp)
-target_link_libraries(
-  ${PROJECT_NAME}_srdf_app
-  PRIVATE ${PROJECT_NAME}_srdf
-          ${PROJECT_NAME}_render_widgets
-          ${PROJECT_NAME}_environment_widgets
-          tesseract::tesseract_common)
+if(${BUILD_RENDERING})
+  add_executable(${PROJECT_NAME}_srdf_app src/srdf_editor_app.cpp)
+  target_link_libraries(
+    ${PROJECT_NAME}_srdf_app
+    PRIVATE ${PROJECT_NAME}_srdf
+            ${PROJECT_NAME}_render_widgets
+            ${PROJECT_NAME}_environment_widgets
+            tesseract::tesseract_common)
+
+  list(APPEND SRDF_TARGETS ${PROJECT_NAME}_srdf_app)
+endif()
 
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
 
 # Install
-install_targets(TARGETS ${PROJECT_NAME}_srdf ${PROJECT_NAME}_srdf_app)
+install_targets(TARGETS ${SRDF_TARGETS})

studio/CMakeLists.txt

@@ -16,10 +16,17 @@ endif()
 # Variable for task composer plugins
 set(TESSERACT_STUDIO_PLUGINS "")
 
-qt5_wrap_cpp(STUDIO_PLUGIN_FACTORY_headers_MOC include/tesseract_qt/studio/studio_dock_widget.h)
+qt5_wrap_ui(STUDIO_PLUGIN_FACTORY_headers_UI include/tesseract_qt/studio/plot_docker_toolbar.ui)
+qt5_wrap_cpp(STUDIO_PLUGIN_FACTORY_headers_MOC include/tesseract_qt/studio/studio_dock_widget.h
+             include/tesseract_qt/studio/plot_docker.h)
 
-add_library(${PROJECT_NAME}_studio_plugin_factory ${STUDIO_PLUGIN_FACTORY_headers_MOC}
-                                                  src/studio_dock_widget_factory.cpp src/studio_dock_widget.cpp)
+add_library(
+  ${PROJECT_NAME}_studio_plugin_factory
+  ${STUDIO_PLUGIN_FACTORY_headers_UI}
+  ${STUDIO_PLUGIN_FACTORY_headers_MOC}
+  src/studio_dock_widget_factory.cpp
+  src/studio_dock_widget.cpp
+  src/plot_docker.cpp)
 
 target_link_libraries(
   ${PROJECT_NAME}_studio_plugin_factory
@@ -28,7 +35,8 @@ target_link_libraries(
          Qt5::Gui
          Qt5::Widgets
          ads::qtadvanceddocking
-         ${PROJECT_NAME}_common)
+         ${PROJECT_NAME}_common
+         ${PROJECT_NAME}_plot)
 target_include_directories(
   ${PROJECT_NAME}_studio_plugin_factory
   PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/studio>"
@@ -132,6 +140,9 @@ target_include_directories(
   ${PROJECT_NAME}_studio PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                  "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/studio>" "$<INSTALL_INTERFACE:include>")
 
+# Add the demo subdirectory
+add_subdirectory(demo)
+
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
 

studio/demo/CMakeLists.txt

@@ -0,0 +1,3 @@
+add_executable(${PROJECT_NAME}_plot_docker_demo plot_docker_demo.cpp)
+target_link_libraries(${PROJECT_NAME}_plot_docker_demo PRIVATE ${PROJECT_NAME}_studio_plugin_factory)
+install_targets(TARGETS ${PROJECT_NAME}_plot_docker_demo)

plot/demo/plot_docker_demo.cpp → studio/demo/plot_docker_demo.cpp

@@ -28,7 +28,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <QDebug>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_qt/plot/plot_docker.h>
+#include <tesseract_qt/studio/plot_docker.h>
 
 int main(int argc, char** argv)
 {

plot/src/plot_docker.cpp → studio/src/plot_docker.cpp

@@ -20,7 +20,7 @@
  * along with this program; if not, write to the Free Software Foundation,
  * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  */
-#include <tesseract_qt/plot/plot_docker.h>
+#include <tesseract_qt/studio/plot_docker.h>
 #include <tesseract_qt/plot/plot_widget_editor.h>
 #include <tesseract_qt/common/svg_util.h>
 #include <DockSplitter.h>