[build] Refactor CMake flags (#2788)

The CMake enable/disable flags as currently structured are a confusing mix of WITH, WITHOUT, and USE with odd defaults. This changes the flags to consistently use WITH and default the build options to everything enabled.
2026-06-19 00:41:43 +00:00 · 2020-10-23 00:52:24 -04:00
parent 5cdffeaba1
commit 5fe8f9017f
13 changed files with 86 additions and 55 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -94,7 +94,7 @@ jobs:
          - os: macos-latest
            name: macOS
            container: ""
-            flags: "-DWITHOUT_JAVA=ON"
+            flags: "-DWITH_JAVA=OFF"
    name: "Build - CMake ${{ matrix.name }}"
    runs-on: ${{ matrix.os }}
    container: ${{ matrix.container }}
@@ -106,7 +106,7 @@ jobs:
            brew install opencv
          fi
      - name: configure
-        run: mkdir build && cd build && cmake -DWITHOUT_ALLWPILIB=OFF -DWITH_TESTS=ON ${{ matrix.flags }} ..
+        run: mkdir build && cd build && cmake -DWITH_SIMULATION_MODULES=OFF ${{ matrix.flags }} ..
      - name: build
        working-directory: build
        run: make -j3
@@ -130,7 +130,7 @@ jobs:
        uses: lukka/run-cmake@v3
        with:
          buildDirectory: ${{ runner.workspace }}/build/
-          cmakeAppendedArgs: -DWITHOUT_JAVA=ON -DWITHOUT_ALLWPILIB=OFF -DWITHOUT_CSCORE=OFF -DWITH_TESTS=ON
+          cmakeAppendedArgs: -DWITH_JAVA=OFF -DWITH_SIMULATION_MODULES=OFF
          cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
          useVcpkgToolchainFile: true
      - name: Run Tests
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,28 +40,48 @@ IF("${isSystemDir}" STREQUAL "-1")
   SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/wpilib/lib")
 ENDIF("${isSystemDir}" STREQUAL "-1")

-option(WITHOUT_JAVA "don't include java and JNI in the build" OFF)
-option(BUILD_SHARED_LIBS "build with shared libs (needed for JNI)" ON)
-option(WITHOUT_CSCORE "Don't build cscore (removes OpenCV requirement)" OFF)
-option(WITHOUT_ALLWPILIB "Don't build allwpilib (removes OpenCV requirement)" ON)
-option(WITH_TESTS "build unit tests (requires internet connection)" OFF)
-option(USE_EXTERNAL_HAL "Use a separately built HAL" OFF)
+# Options for building certain parts of the repo. Everything is built by default.
+option(WITH_JAVA "Include java and JNI in the build" ON)
+option(WITH_SHARED_LIBS "Build with shared libs (needed for JNI)" 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_SIMULATION_MODULES "Build simulation modules" ON)
+
+# Options for external HAL.
+option(WITH_EXTERNAL_HAL "Use a separately built HAL" OFF)
 set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
+
+# Options for using a package manager (vcpkg) for certain dependencies.
 option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
 option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
-option(FLAT_INSTALL_WPILIB "Use a flat install directory" OFF)
-option(WITH_SIMULATION_MODULES "build simulation modules" OFF)
+
+# Options for installation.
+option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
+
+# Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")

-if (NOT WITHOUT_JAVA AND NOT BUILD_SHARED_LIBS)
+# Set default build type to release with debug info (i.e. release mode optimizations
+# are performed, but debug info still exists).
+if (NOT CMAKE_BUILD_TYPE)
+    set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
+endif()
+
+# We always want flat install with MSVC.
+if (MSVC)
+  set(WITH_FLAT_INSTALL ON)
+endif()
+
+if (WITH_JAVA AND NOT WITH_SHARED_LIBS)
    message(FATAL_ERROR "
 FATAL: Cannot build static libs with Java enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITHOUT_JAVA=ON
+       Static libs requires both WITH_SHARED_LIBS=OFF and
+       WITH_JAVA=OFF
 ")
 endif()

-if (WITHOUT_JAVA OR WITHOUT_CSCORE)
+if (NOT WITH_JAVA OR NOT WITH_CSCORE)
    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
        message(WARNING "
 WARNING: OpenCV Java dir set but java is not enabled!
@@ -70,13 +90,20 @@ It will be ignored.
    endif()
 endif()

+if (NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
+    message(FATAL_ERROR "
+FATAL: Cannot build simulation modules with wpilib disabled.
+       Enable wpilib by setting WITH_WPILIB=ON
+")
+endif()
+
 set( wpilib_dest wpilib)
 set( include_dest wpilib/include )
 set( main_lib_dest wpilib/lib )
 set( java_lib_dest wpilib/java )
 set( jni_lib_dest wpilib/jni )

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (wpilib_config_dir ${wpilib_dest})
 else()
    set (wpilib_config_dir share/wpilib)
@@ -90,7 +117,7 @@ if (USE_VCPKG_EIGEN)
 set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
 endif()

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
 set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
 set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
@@ -120,17 +147,17 @@ endif()
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)

-if (WITH_SIMULATION_MODULES AND NOT USE_EXTERNAL_HAL)
+if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
    add_subdirectory(imgui)
    add_subdirectory(wpigui)
 endif()

-if (NOT WITHOUT_CSCORE)
+if (WITH_CSCORE)
    set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
    set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
    add_subdirectory(cscore)
    add_subdirectory(cameraserver)
-    if (NOT WITHOUT_ALLWPILIB)
+    if (WITH_WPILIB)
        set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
        set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
        add_subdirectory(hal)
@@ -141,7 +168,7 @@ if (NOT WITHOUT_CSCORE)
    endif()
 endif()

-if (WITH_SIMULATION_MODULES AND NOT USE_EXTERNAL_HAL)
+if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
    add_subdirectory(simulation)
 endif()

--- a/README-CMAKE.md
+++ b/README-CMAKE.md
@@ -27,19 +27,19 @@ If you are building with unit tests or simulation modules, you will also need an

 The following build options are available:

-* `WITHOUT_JAVA` (OFF Default)
-  * Enabling this option will disable Java and JNI builds. If this is off, `BUILD_SHARED_LIBS` must be on. Otherwise CMake will error.
-* `BUILD_SHARED_LIBS` (ON Default)
-  * Disabling this option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITHOUT_JAVA` must be on. Otherwise CMake will error.
-* `WITH_TESTS` (OFF Default)
-  * Enabling this option will build C++ unit tests. These can be run via `make test`.
-* `WITHOUT_CSCORE` (OFF Default)
-  * Enabling this option will cause cscore to not be built. This will also implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is on, the OpenCV build requirement is removed.
-* `WITHOUT_ALLWPILIB` (ON Default)
-  * Disabling this option will build the hal and wpilib during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
-* `WITH_SIMULATION_MODULES` (OFF Default)
-  * Enabling this option will build simulation modules, including wpigui and the HALSim plugins.
-* `USE_EXTERNAL_HAL` (OFF Default)
+* `WITH_JAVA` (ON Default)
+  * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_SHARED_LIBS` (ON Default)
+  * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
+* `WITH_TESTS` (ON Default)
+  * This option will build C++ unit tests. These can be run via `make test`.
+* `WITH_CSCORE` (ON Default)
+  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is off, the OpenCV build requirement is removed.
+* `WITH_WPILIB` (ON Default)
+  * This option will build the hal, wpilibc/j, and wpimath during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
+* `WITH_SIMULATION_MODULES` (ON Default)
+  * This option will build simulation modules, including wpigui and the HALSim plugins.
+* `WITH_EXTERNAL_HAL` (OFF Default)
  * TODO
 * `EXTERNAL_HAL_FILE`
  * TODO
@@ -146,4 +146,4 @@ CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:

 If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.

-In addition, if you do not need Java, you can disable it with `-DWITHOUT_JAVA=ON`.
+In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.
--- a/cameraserver/CMakeLists.txt
+++ b/cameraserver/CMakeLists.txt
@@ -6,7 +6,7 @@ include(AddTest)
 find_package( OpenCV REQUIRED )

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
    find_package(Java REQUIRED)
    include(UseJava)
    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
@@ -43,11 +43,11 @@ set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
 install(TARGETS cameraserver EXPORT cameraserver DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")

-if (NOT WITHOUT_JAVA AND MSVC)
+if (WITH_JAVA AND MSVC)
    install(TARGETS cameraserver RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
 endif()

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (cameraserver_config_dir ${wpilib_dest})
 else()
    set (cameraserver_config_dir share/cameraserver)
--- a/cscore/CMakeLists.txt
+++ b/cscore/CMakeLists.txt
@@ -40,7 +40,7 @@ set_property(TARGET cscore PROPERTY FOLDER "libraries")
 install(TARGETS cscore EXPORT cscore DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (cscore_config_dir ${wpilib_dest})
 else()
    set (cscore_config_dir share/cscore)
@@ -75,7 +75,7 @@ foreach(example ${cscore_examples})
 endforeach()

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
    find_package(Java REQUIRED)
    find_package(JNI REQUIRED)
    include(UseJava)
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -59,7 +59,7 @@ install(TARGETS hal EXPORT hal DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen/ DESTINATION "${include_dest}/hal")

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (hal_config_dir ${wpilib_dest})
 else()
    set (hal_config_dir share/hal)
@@ -70,7 +70,7 @@ install(FILES ${CMAKE_BINARY_DIR}/hal-config.cmake DESTINATION ${hal_config_dir}
 install(EXPORT hal DESTINATION ${hal_config_dir})

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
    find_package(Java REQUIRED)
    find_package(JNI REQUIRED)
    include(UseJava)
--- a/ntcore/CMakeLists.txt
+++ b/ntcore/CMakeLists.txt
@@ -20,7 +20,7 @@ set_property(TARGET ntcore PROPERTY FOLDER "libraries")
 install(TARGETS ntcore EXPORT ntcore DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/ntcore")

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (ntcore_config_dir ${wpilib_dest})
 else()
    set (ntcore_config_dir share/ntcore)
@@ -31,7 +31,7 @@ install(FILES ${CMAKE_BINARY_DIR}/ntcore-config.cmake DESTINATION ${ntcore_confi
 install(EXPORT ntcore DESTINATION ${ntcore_config_dir})

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
    find_package(Java REQUIRED)
    find_package(JNI REQUIRED)
    include(UseJava)
--- a/ntcore/src/test/native/cpp/ValueTest.cpp
+++ b/ntcore/src/test/native/cpp/ValueTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -241,7 +241,11 @@ TEST_F(ValueTest, StringArray) {
  NT_DisposeValue(&cv);
 }

+#ifdef NDEBUG
+TEST_F(ValueDeathTest, DISABLED_GetAssertions) {
+#else
 TEST_F(ValueDeathTest, GetAssertions) {
+#endif
  Value v;
  ASSERT_DEATH((void)v.GetBoolean(), "type == NT_BOOLEAN");
  ASSERT_DEATH((void)v.GetDouble(), "type == NT_DOUBLE");
--- a/wpigui/CMakeLists.txt
+++ b/wpigui/CMakeLists.txt
@@ -40,7 +40,7 @@ target_link_libraries(wpiguidev wpigui)
 install(TARGETS wpigui EXPORT wpigui DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpigui")

-#if (MSVC OR FLAT_INSTALL_WPILIB)
+#if (WITH_FLAT_INSTALL)
 #    set (wpigui_config_dir ${wpilib_dest})
 #else()
 #    set (wpigui_config_dir share/wpigui)
--- a/wpilibc/CMakeLists.txt
+++ b/wpilibc/CMakeLists.txt
@@ -24,7 +24,7 @@ set_property(TARGET wpilibc PROPERTY FOLDER "libraries")
 install(TARGETS wpilibc EXPORT wpilibc DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibc")

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (wpilibc_config_dir ${wpilib_dest})
 else()
    set (wpilibc_config_dir share/wpilibc)
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -3,7 +3,7 @@ project (wpilibj)
 find_package( OpenCV REQUIRED )

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
    find_package(Java REQUIRED)
    include(UseJava)
    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
@@ -25,7 +25,7 @@ if (NOT WITHOUT_JAVA)

    set_property(TARGET wpilibj_jar PROPERTY FOLDER "java")

-    if (MSVC OR FLAT_INSTALL_WPILIB)
+    if (WITH_FLAT_INSTALL)
        set (wpilibj_config_dir ${wpilib_dest})
    else()
        set (wpilibj_config_dir share/wpilibj)
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -7,7 +7,7 @@ include(AddTest)
 file(GLOB wpimath_jni_src src/main/native/cpp/jni/WPIMathJNI.cpp)

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
  find_package(Java REQUIRED)
  find_package(JNI REQUIRED)
  include(UseJava)
@@ -121,11 +121,11 @@ target_include_directories(wpimath PUBLIC
 install(TARGETS wpimath EXPORT wpimath DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpimath")

-if (NOT WITHOUT_JAVA AND MSVC)
+if (WITH_JAVA AND MSVC)
    install(TARGETS wpimath RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
 endif()

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (wpimath_config_dir ${wpilib_dest})
 else()
    set (wpimath_config_dir share/wpimath)
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -8,7 +8,7 @@ include(AddTest)
 file(GLOB wpiutil_jni_src src/main/native/cpp/jni/WPIUtilJNI.cpp)

 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
  find_package(Java REQUIRED)
  find_package(JNI REQUIRED)
  include(UseJava)
@@ -185,11 +185,11 @@ target_include_directories(wpiutil PUBLIC
 install(TARGETS wpiutil EXPORT wpiutil DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpiutil")

-if (NOT WITHOUT_JAVA AND MSVC)
+if (WITH_JAVA AND MSVC)
    install(TARGETS wpiutil RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
 endif()

-if (MSVC OR FLAT_INSTALL_WPILIB)
+if (WITH_FLAT_INSTALL)
    set (wpiutil_config_dir ${wpilib_dest})
 else()
    set (wpiutil_config_dir share/wpiutil)