mirror of
https://github.com/wpilibsuite/allwpilib
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96fb033deb
This is increasingly difficult to maintain, and has very limited benefit. Modern coprocessors with enough horsepower to run Java applications can use the Gradle or Bazel build systems instead.
129 lines
4.3 KiB
CMake
129 lines
4.3 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(
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GLOB wpimath_jni_src
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src/main/native/cpp/jni/DAREJNI.cpp
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src/main/native/cpp/jni/EigenJNI.cpp
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src/main/native/cpp/jni/Exceptions.cpp
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src/main/native/cpp/jni/LinearSystemUtilJNI.cpp
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src/main/native/cpp/jni/Transform3dJNI.cpp
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src/main/native/cpp/jni/Twist3dJNI.cpp
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src/main/native/cpp/jni/autodiff/GradientJNI.cpp
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src/main/native/cpp/jni/autodiff/HessianJNI.cpp
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src/main/native/cpp/jni/autodiff/JacobianJNI.cpp
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src/main/native/cpp/jni/autodiff/VariableJNI.cpp
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src/main/native/cpp/jni/autodiff/VariableMatrixJNI.cpp
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src/main/native/cpp/jni/optimization/ProblemJNI.cpp
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)
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file(
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GLOB_RECURSE wpimath_native_src
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src/main/native/cpp/*.cpp
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src/main/native/thirdparty/sleipnir/src/*.cpp
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)
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list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
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file(GLOB_RECURSE wpimath_protobuf_native_src src/generated/main/native/cpp/wpimath/protobuf/*.cpp)
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add_library(protobuf OBJECT ${wpimath_protobuf_native_src})
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target_link_libraries(protobuf wpiutil)
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add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
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if(MSVC)
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get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
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set(CONFIG_SUFFIX "$<$<BOOL:${IS_MULTI_CONFIG}>:_$<CONFIG>>")
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file(
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GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
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CONTENT $<LIST:JOIN,$<TARGET_OBJECTS:protobuf>,\n>
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)
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add_custom_command(
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TARGET wpimath
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PRE_LINK
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COMMAND
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cmake -E __create_def ${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def
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${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
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)
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target_link_options(
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wpimath
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PRIVATE
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/DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def>
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)
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endif()
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
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set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
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set_property(TARGET wpimath PROPERTY FOLDER "libraries")
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target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
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target_compile_features(wpimath PUBLIC cxx_std_23)
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if(MSVC)
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target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
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endif()
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wpilib_target_warnings(wpimath)
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target_link_libraries(wpimath wpiutil)
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if(NOT USE_SYSTEM_EIGEN)
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install(
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DIRECTORY src/main/native/thirdparty/eigen/include/
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DESTINATION "${include_dest}/wpimath"
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)
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target_include_directories(
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wpimath
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SYSTEM
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
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)
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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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install(
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DIRECTORY src/main/native/thirdparty/gcem/include/ src/main/native/thirdparty/sleipnir/include/
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DESTINATION "${include_dest}/wpimath"
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)
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target_include_directories(
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wpimath
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SYSTEM
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/gcem/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/src>
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)
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install(
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DIRECTORY src/generated/main/native/cpp/
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DESTINATION "${include_dest}/wpimath"
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FILES_MATCHING
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PATTERN "*.h"
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)
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install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpimath")
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target_include_directories(
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wpimath
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/cpp>
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$<INSTALL_INTERFACE:${include_dest}/wpimath>
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)
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install(TARGETS wpimath EXPORT wpimath)
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export(TARGETS wpimath FILE wpimath.cmake NAMESPACE wpimath::)
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configure_file(wpimath-config.cmake.in ${WPILIB_BINARY_DIR}/wpimath-config.cmake)
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install(FILES ${WPILIB_BINARY_DIR}/wpimath-config.cmake DESTINATION share/wpimath)
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install(EXPORT wpimath DESTINATION share/wpimath)
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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 googletest)
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endif()
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