[build] Add WITH_GUI cmake option

.github/workflows/ci.yml

@@ -106,7 +106,7 @@ jobs:
             brew install opencv
           fi
       - name: configure
-        run: mkdir build && cd build && cmake -DWITH_SIMULATION_MODULES=OFF ${{ matrix.flags }} ..
+        run: mkdir build && cd build && cmake -DWITH_GUI=OFF ${{ matrix.flags }} ..
       - name: build
         working-directory: build
         run: make -j3
@@ -130,7 +130,7 @@ jobs:
         uses: lukka/run-cmake@v3
         with:
           buildDirectory: ${{ runner.workspace }}/build/
-          cmakeAppendedArgs: -DWITH_JAVA=OFF -DWITH_SIMULATION_MODULES=OFF
+          cmakeAppendedArgs: -DWITH_JAVA=OFF -DWITH_GUI=OFF
           cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
           useVcpkgToolchainFile: true
       - name: Run Tests

CMakeLists.txt

@@ -46,6 +46,7 @@ option(WITH_JAVA "Include java and JNI in the build" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, wpimath, and myRobot (needs OpenCV)" ON)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
+option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
 
 # Options for external HAL.
@@ -155,7 +156,7 @@ endif()
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)
 
-if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
+if (WITH_GUI)
     add_subdirectory(imgui)
     add_subdirectory(wpigui)
 endif()

simulation/CMakeLists.txt

@@ -1,4 +1,6 @@
-add_subdirectory(halsim_gui)
+if (WITH_GUI)
+    add_subdirectory(halsim_gui)
+endif()
 #add_subdirectory(gz_msgs)
 #add_subdirectory(frc_gazebo_plugins)
 #add_subdirectory(halsim_gazebo)