hlrc / client / cpp / CMakeLists.txt @ e8a50634
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1 | 0c286af0 | Simon Schulz | SET( PROJECT_NAME hlrc_client_cpp ) |
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2 | PROJECT( ${PROJECT_NAME} ) |
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3 | |||
4 | #debug? |
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5 | set(CMAKE_BUILD_TYPE Debug) |
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6 | |||
7 | CMAKE_MINIMUM_REQUIRED(VERSION 2.8) |
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8 | INCLUDE(FindPkgConfig) |
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9 | |||
10 | SET(HLRC_CLIENT_LIBNAME "${PROJECT_NAME}") |
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11 | SET(HLRC_CLIENT_VERSION_MAJOR "0") |
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12 | SET(HLRC_CLIENT_VERSION_MINOR "1") |
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13 | SET(HLRC_CLIENT_VERSION_REVISION "0") |
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14 | SET(HLRC_CLIENT_VERSION "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}.${HLRC_CLIENT_VERSION_REVISION}") |
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15 | SET(HLRC_CLIENT_SOVERSION "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}") |
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16 | SET(HLRC_CLIENT_PACKAGE "${HLRC_CLIENT_LIBNAME}-${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}") |
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17 | |||
18 | SET(PREFIX ${CMAKE_INSTALL_PREFIX}) |
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19 | SET(BINDIR "${PREFIX}/bin") |
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20 | SET(INCLUDEDIR "${PREFIX}/include/hlrc_client") |
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21 | SET(MANDIR "${PREFIX}/man") |
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22 | SET(LIBDIR "${PREFIX}/lib") |
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23 | SET(PKGDIR "${PREFIX}/lib/pkgconfig") |
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24 | SET(DATADIR "${PREFIX}/share/hlrc_client") |
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25 | |||
26 | ####################################### |
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27 | 3c77f276 | Robert Haschke | FIND_PACKAGE(hlrc_server) |
28 | |||
29 | c5a47e56 | Simon Schulz | ####################################### |
30 | #allow forced disable of RSB |
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31 | option(IGNORE_RSB "IGNORE_RSB" OFF) |
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32 | 9aa2bb7c | semeyerz | |
33 | c5a47e56 | Simon Schulz | ####################################### |
34 | # check if we have RSB support: |
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35 | IF (IGNORE_RSB) |
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36 | MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
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37 | ELSE (IGNORE_RSB) |
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38 | 23fe067c | Robert Haschke | FIND_PACKAGE(RSB 0.11 QUIET) |
39 | 0c286af0 | Simon Schulz | IF (RSB_FOUND) |
40 | #RSB |
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41 | SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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42 | FIND_PACKAGE(RSC 0.11 REQUIRED) |
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43 | FIND_PACKAGE(RSB 0.11 REQUIRED) |
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44 | #RST |
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45 | FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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46 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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47 | ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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48 | |||
49 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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50 | LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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51 | #RSB |
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52 | SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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53 | FIND_PACKAGE(RSC 0.11 REQUIRED) |
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54 | FIND_PACKAGE(RSB 0.11 REQUIRED) |
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55 | #RST |
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56 | FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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57 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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58 | ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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59 | |||
60 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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61 | LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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62 | |||
63 | message(STATUS "RSB Support is ON") |
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64 | add_definitions(-DRSB_SUPPORT=1) |
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65 | 23fe067c | Robert Haschke | ELSE(RSB_FOUND) |
66 | message(STATUS "RSB not found.") |
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67 | ENDIF(RSB_FOUND) |
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68 | c5a47e56 | Simon Schulz | ENDIF(IGNORE_RSB) |
69 | |||
70 | 0c286af0 | Simon Schulz | ################################################################ |
71 | # check for ROS support: |
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72 | 23fe067c | Robert Haschke | find_package(catkin QUIET) |
73 | IF(catkin_FOUND) |
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74 | 0c286af0 | Simon Schulz | SET(ROS_FOUND 1) |
75 | |||
76 | catkin_package( |
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77 | INCLUDE_DIRS include |
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78 | 96284eda | Fabian Berthold | LIBRARIES ${HLRC_CLIENT_LIBNAME} |
79 | 0c286af0 | Simon Schulz | ) |
80 | 462c8a3c | sschulz | |
81 | 96284eda | Fabian Berthold | find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg hlrc_server humotion tf2_eigen actionlib) |
82 | |||
83 | 0c286af0 | Simon Schulz | message(STATUS "ROS Support is ON") |
84 | add_definitions(-DROS_SUPPORT=1) |
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85 | 02461ac8 | Robert Haschke | include_directories(${catkin_INCLUDE_DIRS}) |
86 | 23fe067c | Robert Haschke | ELSE(catkin_FOUND) |
87 | message(STATUS "ROS not found.") |
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88 | ENDIF(catkin_FOUND) |
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89 | 0c286af0 | Simon Schulz | |
90 | add_definitions ("-Wall") |
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91 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fstack-protector-all ") |
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92 | set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" ) |
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93 | |||
94 | 462c8a3c | sschulz | #search for Boost |
95 | 0c286af0 | Simon Schulz | find_package( Boost 1.46 REQUIRED COMPONENTS thread program_options system filesystem regex) |
96 | LINK_DIRECTORIES( ${Boost_LIBRARY_DIRS} ) |
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97 | include_directories(${Boost_INCLUDE_DIRS} ) |
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98 | 23fe067c | Robert Haschke | message(STATUS "using ${Boost_LIBRARIES}") |
99 | 0c286af0 | Simon Schulz | |
100 | ef67692b | Simon Schulz | INCLUDE_DIRECTORIES(${CMAKE_INSTALL_PREFIX}/include) |
101 | 0c286af0 | Simon Schulz | |
102 | # SET(PREFIX ${CMAKE_INSTALL_PREFIX}) |
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103 | # SET(BINDIR "${PREFIX}/bin") |
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104 | # SET(INCLUDEDIR "${PREFIX}/include") |
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105 | # SET(MANDIR "${PREFIX}/man") |
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106 | # SET(LIBDIR "${PREFIX}/lib") |
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107 | # SET(DATADIR "${PREFIX}/share/${NAME}") |
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108 | |||
109 | #this dummy list will make all header files appear if you use qtcreator to open the cmake project |
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110 | file(GLOB HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h ) |
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111 | |||
112 | SET(LIB_CLASSES |
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113 | src/RobotController.cpp |
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114 | src/Middleware.cpp |
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115 | src/MiddlewareROS.cpp |
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116 | src/MiddlewareRSB.cpp |
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117 | ) |
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118 | |||
119 | add_library(${HLRC_CLIENT_LIBNAME} SHARED |
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120 | ${LIB_CLASSES} |
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121 | ${HEADER_LIST} |
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122 | ) |
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123 | |||
124 | SET(INSTALL_HEADER_LIST |
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125 | include/RobotController.h |
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126 | include/RobotGaze.h |
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127 | 462c8a3c | sschulz | include/RobotTimestamp.h |
128 | 0c286af0 | Simon Schulz | include/RobotMouth.h |
129 | include/RobotEmotion.h |
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130 | include/RobotHeadAnimation.h |
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131 | ) |
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132 | |||
133 | SET_TARGET_PROPERTIES(${HLRC_CLIENT_LIBNAME} PROPERTIES VERSION ${HLRC_CLIENT_VERSION} SOVERSION ${HLRC_CLIENT_SOVERSION}) |
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134 | INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/include) |
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135 | LINK_DIRECTORIES(${LIBDIR}) |
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136 | IF (ROS_FOUND) |
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137 | 02461ac8 | Robert Haschke | add_dependencies(${HLRC_CLIENT_LIBNAME} ${catkin_EXPORTED_TARGETS}) |
138 | 0c286af0 | Simon Schulz | ENDIF (ROS_FOUND) |
139 | |||
140 | target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${catkin_LIBRARIES}) |
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141 | |||
142 | #build & install demo |
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143 | #ADD_EXECUTABLE(testMarkerTracker example/testMarkerTracker.cc) |
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144 | #TARGET_LINK_LIBRARIES(testMarkerTracker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart) |
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145 | #install(TARGETS testMarkerTracker DESTINATION bin) |
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146 | #build test |
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147 | #ADD_EXECUTABLE(testKalmanMarker src/KalmanMarker.cc) |
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148 | #TARGET_LINK_LIBRARIES(testKalmanMarker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart) |
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149 | |||
150 | install (TARGETS ${HLRC_CLIENT_LIBNAME} DESTINATION lib ) |
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151 | INSTALL(FILES ${INSTALL_HEADER_LIST} DESTINATION ${INCLUDEDIR}) |
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152 | |||
153 | set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib) |
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154 | set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE) |
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155 | |||
156 | #create package config file |
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157 | SET(PKGCONFIG_FILENAME "hlrc_client.pc") |
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158 | configure_file("${PKGCONFIG_FILENAME}.in" "${PKGCONFIG_FILENAME}" @ONLY) |
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159 | INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PKGCONFIG_FILENAME}" DESTINATION "${PKGDIR}") |
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160 | |||
161 | #create cmake config files |
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162 | SET(CMAKECONFIG_FILENAME "hlrc_clientConfig.cmake") |
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163 | configure_file("${CMAKECONFIG_FILENAME}.in" "${CMAKECONFIG_FILENAME}" @ONLY) |
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164 | INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIG_FILENAME}" DESTINATION "${DATADIR}") |
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165 | |||
166 | SET(CMAKECONFIGVERSION_FILENAME "hlrc_clientConfigVersion.cmake") |
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167 | configure_file("${CMAKECONFIGVERSION_FILENAME}.in" "${CMAKECONFIGVERSION_FILENAME}" @ONLY) |
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168 | INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIGVERSION_FILENAME}" DESTINATION "${DATADIR}") |
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169 | |||
170 | #ADD_EXECUTABLE(${PROJECT_NAME} main.cpp ${SRC_FILES}) |
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171 | 462c8a3c | sschulz | #TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} ) |
172 | 0c286af0 | Simon Schulz | |
173 | #build & install examples |
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174 | ADD_EXECUTABLE(${PROJECT_NAME}_example_random_gaze examples/random_gaze/main.cpp) |
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175 | TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_random_gaze ${HLRC_CLIENT_LIBNAME}) |
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176 | #install(TARGETS ${PROJECT_NAME}_calibrate_camera DESTINATION bin) |
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177 | ADD_EXECUTABLE(${PROJECT_NAME}_example_speech_test examples/speech_test/main.cpp) |
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178 | TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_speech_test ${HLRC_CLIENT_LIBNAME}) |