Move Eigen headers out of main include folder (#1854)

This allows using Eigen as a separate cmake package, e.g. for vcpkg.

CMakeLists.txt

@@ -52,6 +52,7 @@ option(WITH_TESTS "build unit tests (requires internet connection)" OFF)
 option(USE_EXTERNAL_HAL "Use a separately built HAL" OFF)
 set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
 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)
 
 if (NOT WITHOUT_JAVA AND NOT BUILD_SHARED_LIBS)
@@ -78,6 +79,10 @@ if (USE_VCPKG_LIBUV)
 set (LIBUV_VCPKG_REPLACE "find_package(unofficial-libuv CONFIG)")
 endif()
 
+if (USE_VCPKG_EIGEN)
+set (EIGEN_VCPKG_REPLACE "find_package(eigen3 CONFIG)")
+endif()
+
 if (MSVC OR FLAT_INSTALL_WPILIB)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
 set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")

ThirdPartyNotices.txt

@@ -37,8 +37,7 @@ Feather Icons         wpiutil/src/main/native/resources/feather-*
 jQuery                wpiutil/src/main/native/resources/jquery-*
 popper.js             wpiutil/src/main/native/resources/popper-*
 units                 wpiutil/src/main/native/include/units/units.h
-Eigen                 wpiutil/src/main/native/include/Eigen/
-                      wpiutil/src/main/native/include/unsupported/
+Eigen                 wpiutil/src/main/native/eigeninclude/
 StackWalker           wpiutil/src/main/native/windows/StackWalker.*
 
 

wpilib-config.cmake.in

@@ -3,6 +3,7 @@ include(CMakeFindDependencyMacro)
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_dependency(Threads)
 @LIBUV_VCPKG_REPLACE@
+@EIGEN_VCPKG_REPLACE@
 @WPIUTIL_DEP_REPLACE@
 @NTCORE_DEP_REPLACE@
 @CSCORE_DEP_REPLACE@

wpiutil/.styleguide

@@ -10,7 +10,7 @@ cppSrcFileInclude {
 generatedFileExclude {
   src/main/native/cpp/http_parser\.cpp$
   src/main/native/cpp/llvm/
-  src/main/native/include/Eigen/
+  src/main/native/eigeninclude/
   src/main/native/include/llvm/
   src/main/native/include/units/units\.h$
   src/main/native/include/unsupported/

wpiutil/CMakeLists.txt

@@ -123,6 +123,16 @@ endif()
 wpilib_target_warnings(wpiutil)
 target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS} ${ATOMIC})
 
+if (NOT USE_VCPKG_EIGEN)
+    install(DIRECTORY src/main/native/eigen/ DESTINATION "${include_dest}/wpiutil")
+    target_include_directories(wpiutil PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/eigen>
+                            $<INSTALL_INTERFACE:${include_dest}/wpiutil>)
+else()
+    find_package(eigen3 CONFIG REQUIRED)
+    target_include_directories (wpiutil PUBLIC ${EIGEN3_INCLUDE_DIRS})
+endif()
+
 if (NOT USE_VCPKG_LIBUV)
     target_sources(wpiutil PRIVATE ${uv_native_src})
     install(DIRECTORY src/main/native/libuv/include/ DESTINATION "${include_dest}/wpiutil")

wpiutil/build.gradle

@@ -171,6 +171,9 @@ cppHeadersZip {
     from('src/main/native/libuv/include') {
         into '/'
     }
+    from('src/main/native/eigeninclude') {
+        into '/'
+    }
 }
 
 model {
@@ -178,7 +181,7 @@ model {
         all {
             it.sources.each {
                 it.exportedHeaders {
-                    srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
+                    srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src', 'src/main/native/eigeninclude'
                 }
             }
         }