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[build] Add CMake option to use system Sleipnir install (#9028)

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This allows using an alternate version from FetchContent.
This commit is contained in:
Tyler Veness
2026-06-27 12:11:54 -07:00
committed by GitHub
parent 32bf24aa19
commit a5d66fb4ff
3 changed files with 36 additions and 14 deletions
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3
CMakeLists.txt
View File

@@ -84,9 +84,10 @@ option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
option(WITH_BENCHMARK "Build the benchmark project" ON)
# Options for using a package manager (e.g., vcpkg) for certain dependencies.
option(USE_SYSTEM_EIGEN "Use system Eigen" OFF)
option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
option(USE_SYSTEM_SLEIPNIR "Use system Sleipnir" OFF)
option(USE_LINKED_AVAHI "Use directly linked Avahi instead of loading at runtime" OFF)
# Options for compilation flags.

43
wpimath/CMakeLists.txt
View File

@@ -20,13 +20,11 @@ file(
src/main/native/cpp/jni/optimization/ProblemJNI.cpp
)
file(
GLOB_RECURSE wpimath_native_src
src/main/native/cpp/*.cpp
src/main/native/thirdparty/sleipnir/src/*.cpp
)
file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp)
list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
file(GLOB_RECURSE sleipnir_native_src src/main/native/thirdparty/sleipnir/src/*.cpp)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
file(GLOB_RECURSE wpimath_protobuf_native_src src/generated/main/native/cpp/wpimath/protobuf/*.cpp)
@@ -86,19 +84,38 @@ else()
target_link_libraries(wpimath Eigen3::Eigen)
endif()
install(
DIRECTORY src/main/native/thirdparty/gcem/include/ src/main/native/thirdparty/sleipnir/include/
DESTINATION "${include_dest}/wpimath"
)
install(DIRECTORY src/main/native/thirdparty/gcem/include/ DESTINATION "${include_dest}/wpimath")
target_include_directories(
wpimath
SYSTEM
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/gcem/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/src>
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/gcem/include>
)
if(NOT USE_SYSTEM_SLEIPNIR)
target_sources(wpimath PRIVATE ${sleipnir_native_src})
install(
DIRECTORY src/main/native/thirdparty/sleipnir/include/
DESTINATION "${include_dest}/wpimath"
)
target_include_directories(
wpimath
SYSTEM
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/src>
)
else()
find_package(Sleipnir CONFIG REQUIRED)
target_link_libraries(wpimath Sleipnir::Sleipnir)
if(MSVC)
get_target_property(Sleipnir_includes Sleipnir::Sleipnir INTERFACE_INCLUDE_DIRECTORIES)
foreach(dir ${Sleipnir_includes})
target_compile_options(wpimath PUBLIC /external:I "${dir}")
endforeach()
target_compile_options(wpimath PUBLIC /external:W0)
endif()
endif()
install(
DIRECTORY src/generated/main/native/cpp/
DESTINATION "${include_dest}/wpimath"

4
wpimath/wpimath-config.cmake.in
View File

@@ -6,5 +6,9 @@ if(@USE_SYSTEM_EIGEN@)
find_dependency(Eigen3)
endif()
if(@USE_SYSTEM_SLEIPNIR@)
find_dependency(Sleipnir)
endif()
@FILENAME_DEP_REPLACE@
include(${SELF_DIR}/wpimath.cmake)