mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
5fe8f9017f
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.
143 lines
5.5 KiB
CMake
143 lines
5.5 KiB
CMake
project(wpimath)
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include(SubDirList)
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include(CompileWarnings)
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include(AddTest)
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file(GLOB wpimath_jni_src src/main/native/cpp/jni/WPIMathJNI.cpp)
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# Java bindings
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if (WITH_JAVA)
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find_package(Java REQUIRED)
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find_package(JNI REQUIRED)
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include(UseJava)
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set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
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if(NOT EXISTS "${CMAKE_BINARY_DIR}/wpimath/thirdparty/ejml/ejml-simple-0.38.jar")
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set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
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set(JAR_ROOT "${CMAKE_BINARY_DIR}/wpimath/thirdparty/ejml")
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message(STATUS "Downloading EJML jarfiles...")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-cdense/0.38/ejml-cdense-0.38.jar"
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"${JAR_ROOT}/ejml-cdense-0.38.jar")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-core/0.38/ejml-core-0.38.jar"
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"${JAR_ROOT}/ejml-core-0.38.jar")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-ddense/0.38/ejml-ddense-0.38.jar"
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"${JAR_ROOT}/ejml-ddense-0.38.jar")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-dsparse/0.38/ejml-dsparse-0.38.jar"
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"${JAR_ROOT}/ejml-dsparse-0.38.jar")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-fdense/0.38/ejml-fdense-0.38.jar"
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"${JAR_ROOT}/ejml-fdense-0.38.jar")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-simple/0.38/ejml-simple-0.38.jar"
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"${JAR_ROOT}/ejml-simple-0.38.jar")
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file(DOWNLOAD "${BASE_URL}org/ejml/ejml-zdense/0.38/ejml-zdense-0.38.jar"
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"${JAR_ROOT}/ejml-zdense-0.38.jar")
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message(STATUS "All files downloaded.")
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endif()
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file(GLOB EJML_JARS "${CMAKE_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
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file(GLOB JACKSON_JARS "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
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set(CMAKE_JAVA_INCLUDE_PATH wpimath.jar ${EJML_JARS} ${JACKSON_JARS})
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execute_process(COMMAND python3 ${CMAKE_SOURCE_DIR}/wpimath/generate_numbers.py ${CMAKE_BINARY_DIR}/wpimath RESULT_VARIABLE generateResult)
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if(NOT (generateResult EQUAL "0"))
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# Try python
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execute_process(COMMAND python ${CMAKE_SOURCE_DIR}/wpimath/generate_numbers.py ${CMAKE_BINARY_DIR}/wpimath RESULT_VARIABLE generateResult)
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if(NOT (generateResult EQUAL "0"))
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message(FATAL_ERROR "python and python3 generate_numbers.py failed")
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endif()
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endif()
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set(CMAKE_JNI_TARGET true)
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file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java ${CMAKE_BINARY_DIR}/wpimath/generated/*.java)
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if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
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set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
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add_jar(wpimath_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} wpiutil_jar OUTPUT_NAME wpimath)
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else()
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add_jar(wpimath_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} wpiutil_jar OUTPUT_NAME wpimath GENERATE_NATIVE_HEADERS wpimath_jni_headers)
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endif()
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get_property(WPIMATH_JAR_FILE TARGET wpimath_jar PROPERTY JAR_FILE)
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install(FILES ${WPIMATH_JAR_FILE} DESTINATION "${java_lib_dest}")
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set_property(TARGET wpimath_jar PROPERTY FOLDER "java")
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add_library(wpimathjni ${wpimath_jni_src})
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wpilib_target_warnings(wpimathjni)
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target_link_libraries(wpimathjni PUBLIC wpimath)
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set_property(TARGET wpimathjni PROPERTY FOLDER "libraries")
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if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
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target_include_directories(wpimathjni PRIVATE ${JNI_INCLUDE_DIRS})
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target_include_directories(wpimathjni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
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else()
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target_link_libraries(wpimathjni PRIVATE wpimath_jni_headers)
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endif()
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add_dependencies(wpimathjni wpimath_jar)
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if (MSVC)
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install(TARGETS wpimathjni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
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endif()
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install(TARGETS wpimathjni EXPORT wpimathjni DESTINATION "${main_lib_dest}")
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endif()
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file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp)
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list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
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add_library(wpimath ${wpimath_native_src})
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set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
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set_property(TARGET wpimath PROPERTY FOLDER "libraries")
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target_compile_features(wpimath PUBLIC cxx_std_17)
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if (MSVC)
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target_compile_options(wpimath PUBLIC /bigobj)
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endif()
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wpilib_target_warnings(wpimath)
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target_link_libraries(wpimath wpiutil)
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if (NOT USE_VCPKG_EIGEN)
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install(DIRECTORY src/main/native/eigeninclude/ DESTINATION "${include_dest}/wpimath")
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target_include_directories(wpimath PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/eigeninclude>
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$<INSTALL_INTERFACE:${include_dest}/wpimath>)
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else()
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find_package(Eigen3 CONFIG REQUIRED)
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target_link_libraries (wpimath Eigen3::Eigen)
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endif()
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target_include_directories(wpimath PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
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$<INSTALL_INTERFACE:${include_dest}/wpimath>)
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install(TARGETS wpimath EXPORT wpimath DESTINATION "${main_lib_dest}")
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install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpimath")
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if (WITH_JAVA AND MSVC)
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install(TARGETS wpimath RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
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endif()
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if (WITH_FLAT_INSTALL)
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set (wpimath_config_dir ${wpilib_dest})
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else()
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set (wpimath_config_dir share/wpimath)
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endif()
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configure_file(wpimath-config.cmake.in ${CMAKE_BINARY_DIR}/wpimath-config.cmake )
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install(FILES ${CMAKE_BINARY_DIR}/wpimath-config.cmake DESTINATION ${wpimath_config_dir})
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install(EXPORT wpimath DESTINATION ${wpimath_config_dir})
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if (WITH_TESTS)
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wpilib_add_test(wpimath src/test/native/cpp)
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target_include_directories(wpimath_test PRIVATE src/test/native/include)
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target_link_libraries(wpimath_test wpimath gmock_main)
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endif()
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