hlrc / client / cpp / CMakeLists.txt @ 482adb6d
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SET( PROJECT_NAME hlrc_client_cpp ) |
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PROJECT( ${PROJECT_NAME} ) |
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|
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#debug? |
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set(CMAKE_BUILD_TYPE Debug) |
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|
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CMAKE_MINIMUM_REQUIRED(VERSION 2.8) |
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INCLUDE(FindPkgConfig) |
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|
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SET(HLRC_CLIENT_LIBNAME "${PROJECT_NAME}") |
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SET(HLRC_CLIENT_VERSION_MAJOR "0") |
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SET(HLRC_CLIENT_VERSION_MINOR "1") |
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SET(HLRC_CLIENT_VERSION_REVISION "0") |
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SET(HLRC_CLIENT_VERSION "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}.${HLRC_CLIENT_VERSION_REVISION}") |
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SET(HLRC_CLIENT_SOVERSION "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}") |
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SET(HLRC_CLIENT_PACKAGE "${HLRC_CLIENT_LIBNAME}-${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}") |
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|
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SET(PREFIX ${CMAKE_INSTALL_PREFIX}) |
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SET(BINDIR "${PREFIX}/bin") |
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SET(INCLUDEDIR "${PREFIX}/include/hlrc_client") |
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SET(MANDIR "${PREFIX}/man") |
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SET(LIBDIR "${PREFIX}/lib") |
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SET(PKGDIR "${PREFIX}/lib/pkgconfig") |
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SET(DATADIR "${PREFIX}/share/hlrc_client") |
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|
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####################################### |
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FIND_PACKAGE(hlrc_server) |
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|
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####################################### |
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#allow forced disable of RSB |
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option(IGNORE_RSB "IGNORE_RSB" OFF) |
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|
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####################################### |
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# check if we have RSB support: |
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IF (IGNORE_RSB) |
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MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
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ELSE (IGNORE_RSB) |
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FIND_PACKAGE(RSB 0.11 QUIET) |
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IF (RSB_FOUND) |
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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|
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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|
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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|
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message(STATUS "RSB Support is ON") |
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add_definitions(-DRSB_SUPPORT=1) |
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ELSE(RSB_FOUND) |
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message(STATUS "RSB not found.") |
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ENDIF(RSB_FOUND) |
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ENDIF(IGNORE_RSB) |
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|
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################################################################ |
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# check for ROS support: |
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find_package(catkin QUIET) |
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IF(catkin_FOUND) |
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SET(ROS_FOUND 1) |
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|
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catkin_package( |
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INCLUDE_DIRS include |
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LIBRARIES ${HLRC_CLIENT_LIBNAME} |
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) |
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|
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find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg hlrc_server humotion tf2_eigen actionlib) |
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|
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message(STATUS "ROS Support is ON") |
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add_definitions(-DROS_SUPPORT=1) |
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include_directories(${catkin_INCLUDE_DIRS}) |
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ELSE(catkin_FOUND) |
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message(STATUS "ROS not found.") |
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ENDIF(catkin_FOUND) |
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|
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add_definitions ("-Wall") |
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fstack-protector-all ") |
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set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" ) |
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|
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#search for Boost |
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find_package( Boost 1.46 REQUIRED COMPONENTS thread program_options system filesystem regex) |
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LINK_DIRECTORIES( ${Boost_LIBRARY_DIRS} ) |
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include_directories(${Boost_INCLUDE_DIRS} ) |
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message(STATUS "using ${Boost_LIBRARIES}") |
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|
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INCLUDE_DIRECTORIES(${CMAKE_INSTALL_PREFIX}/include) |
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|
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# SET(PREFIX ${CMAKE_INSTALL_PREFIX}) |
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# SET(BINDIR "${PREFIX}/bin") |
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# SET(INCLUDEDIR "${PREFIX}/include") |
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# SET(MANDIR "${PREFIX}/man") |
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# SET(LIBDIR "${PREFIX}/lib") |
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# SET(DATADIR "${PREFIX}/share/${NAME}") |
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|
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#this dummy list will make all header files appear if you use qtcreator to open the cmake project |
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file(GLOB HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h ) |
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|
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SET(LIB_CLASSES |
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src/RobotController.cpp |
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src/Middleware.cpp |
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src/MiddlewareROS.cpp |
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src/MiddlewareRSB.cpp |
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) |
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|
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add_library(${HLRC_CLIENT_LIBNAME} SHARED |
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${LIB_CLASSES} |
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${HEADER_LIST} |
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) |
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|
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SET(INSTALL_HEADER_LIST |
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include/RobotController.h |
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include/RobotGaze.h |
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include/RobotTimestamp.h |
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include/RobotMouth.h |
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include/RobotEmotion.h |
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include/RobotHeadAnimation.h |
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) |
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|
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SET_TARGET_PROPERTIES(${HLRC_CLIENT_LIBNAME} PROPERTIES VERSION ${HLRC_CLIENT_VERSION} SOVERSION ${HLRC_CLIENT_SOVERSION}) |
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/include) |
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LINK_DIRECTORIES(${LIBDIR}) |
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IF (ROS_FOUND) |
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add_dependencies(${HLRC_CLIENT_LIBNAME} ${catkin_EXPORTED_TARGETS}) |
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ENDIF (ROS_FOUND) |
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|
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target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${catkin_LIBRARIES}) |
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|
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#build & install demo |
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#ADD_EXECUTABLE(testMarkerTracker example/testMarkerTracker.cc) |
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#TARGET_LINK_LIBRARIES(testMarkerTracker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart) |
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#install(TARGETS testMarkerTracker DESTINATION bin) |
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#build test |
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#ADD_EXECUTABLE(testKalmanMarker src/KalmanMarker.cc) |
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#TARGET_LINK_LIBRARIES(testKalmanMarker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart) |
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|
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install (TARGETS ${HLRC_CLIENT_LIBNAME} DESTINATION lib ) |
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INSTALL(FILES ${INSTALL_HEADER_LIST} DESTINATION ${INCLUDEDIR}) |
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|
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set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib) |
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set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE) |
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|
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#create package config file |
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SET(PKGCONFIG_FILENAME "hlrc_client.pc") |
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configure_file("${PKGCONFIG_FILENAME}.in" "${PKGCONFIG_FILENAME}" @ONLY) |
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INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PKGCONFIG_FILENAME}" DESTINATION "${PKGDIR}") |
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|
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#create cmake config files |
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SET(CMAKECONFIG_FILENAME "hlrc_clientConfig.cmake") |
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configure_file("${CMAKECONFIG_FILENAME}.in" "${CMAKECONFIG_FILENAME}" @ONLY) |
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INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIG_FILENAME}" DESTINATION "${DATADIR}") |
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|
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SET(CMAKECONFIGVERSION_FILENAME "hlrc_clientConfigVersion.cmake") |
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configure_file("${CMAKECONFIGVERSION_FILENAME}.in" "${CMAKECONFIGVERSION_FILENAME}" @ONLY) |
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INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIGVERSION_FILENAME}" DESTINATION "${DATADIR}") |
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|
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#ADD_EXECUTABLE(${PROJECT_NAME} main.cpp ${SRC_FILES}) |
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#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} ) |
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|
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#build & install examples |
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ADD_EXECUTABLE(${PROJECT_NAME}_example_random_gaze examples/random_gaze/main.cpp) |
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TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_random_gaze ${HLRC_CLIENT_LIBNAME}) |
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#install(TARGETS ${PROJECT_NAME}_calibrate_camera DESTINATION bin) |
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ADD_EXECUTABLE(${PROJECT_NAME}_example_speech_test examples/speech_test/main.cpp) |
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TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_speech_test ${HLRC_CLIENT_LIBNAME}) |