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allwpilib/wpiutil/CMakeLists.txt
Peter Johnson 42993b15c6 [wpimath] Move math functionality into new wpimath library (#2629) 
The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).

Package names / include file names were NOT changed to minimize breakage.  In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.

While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore.  It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.

This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units

And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
2020-08-06 23:57:39 -07:00

237 lines
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CMake
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project(wpiutil)
include(SubDirList)
include(GenResources)
include(CompileWarnings)
include(AddTest)
file(GLOB wpiutil_jni_src src/main/native/cpp/jni/WPIUtilJNI.cpp)
# Java bindings
if (NOT WITHOUT_JAVA)
find_package(Java REQUIRED)
find_package(JNI REQUIRED)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
if(NOT EXISTS "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.10.0.jar")
set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
set(JAR_ROOT "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/jackson")
message(STATUS "Downloading Jackson jarfiles...")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.10.0/jackson-core-2.10.0.jar"
"${JAR_ROOT}/jackson-core-2.10.0.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.10.0/jackson-databind-2.10.0.jar"
"${JAR_ROOT}/jackson-databind-2.10.0.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.10.0/jackson-annotations-2.10.0.jar"
"${JAR_ROOT}/jackson-annotations-2.10.0.jar")
message(STATUS "All files downloaded.")
endif()
file(GLOB JACKSON_JARS
${CMAKE_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar)
set(CMAKE_JAVA_INCLUDE_PATH wpiutil.jar ${JACKSON_JARS})
set(CMAKE_JNI_TARGET true)
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${JACKSON_JARS} OUTPUT_NAME wpiutil)
else()
add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${JACKSON_JARS} OUTPUT_NAME wpiutil GENERATE_NATIVE_HEADERS wpiutil_jni_headers)
endif()
get_property(WPIUTIL_JAR_FILE TARGET wpiutil_jar PROPERTY JAR_FILE)
install(FILES ${WPIUTIL_JAR_FILE} DESTINATION "${java_lib_dest}")
set_property(TARGET wpiutil_jar PROPERTY FOLDER "java")
add_library(wpiutiljni ${wpiutil_jni_src})
wpilib_target_warnings(wpiutiljni)
target_link_libraries(wpiutiljni PUBLIC wpiutil)
set_property(TARGET wpiutiljni PROPERTY FOLDER "libraries")
if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
target_include_directories(wpiutiljni PRIVATE ${JNI_INCLUDE_DIRS})
target_include_directories(wpiutiljni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
else()
target_link_libraries(wpiutiljni PRIVATE wpiutil_jni_headers)
endif()
add_dependencies(wpiutiljni wpiutil_jar)
if (MSVC)
install(TARGETS wpiutiljni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
install(TARGETS wpiutiljni EXPORT wpiutiljni DESTINATION "${main_lib_dest}")
endif()
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
if (NOT MSVC AND NOT APPLE)
find_library(ATOMIC NAMES atomic libatomic.so.1)
if (ATOMIC)
message(STATUS "Found libatomic: ${ATOMIC}")
endif()
endif()
GENERATE_RESOURCES(src/main/native/resources generated/main/cpp WPI wpi wpiutil_resources_src)
file(GLOB_RECURSE wpiutil_native_src src/main/native/cpp/*.cpp)
list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
file(GLOB_RECURSE wpiutil_windows_src src/main/native/windows/*.cpp)
file(GLOB uv_native_src src/main/native/libuv/src/*.cpp)
file(GLOB uv_windows_src src/main/native/libuv/src/win/*.cpp)
set(uv_unix_src
src/main/native/libuv/src/unix/async.cpp
src/main/native/libuv/src/unix/core.cpp
src/main/native/libuv/src/unix/dl.cpp
src/main/native/libuv/src/unix/fs.cpp
src/main/native/libuv/src/unix/getaddrinfo.cpp
src/main/native/libuv/src/unix/getnameinfo.cpp
src/main/native/libuv/src/unix/loop-watcher.cpp
src/main/native/libuv/src/unix/loop.cpp
src/main/native/libuv/src/unix/pipe.cpp
src/main/native/libuv/src/unix/poll.cpp
src/main/native/libuv/src/unix/process.cpp
src/main/native/libuv/src/unix/signal.cpp
src/main/native/libuv/src/unix/stream.cpp
src/main/native/libuv/src/unix/tcp.cpp
src/main/native/libuv/src/unix/thread.cpp
src/main/native/libuv/src/unix/tty.cpp
src/main/native/libuv/src/unix/udp.cpp
)
set(uv_darwin_src
src/main/native/libuv/src/unix/bsd-ifaddrs.cpp
src/main/native/libuv/src/unix/darwin.cpp
src/main/native/libuv/src/unix/darwin-proctitle.cpp
src/main/native/libuv/src/unix/fsevents.cpp
src/main/native/libuv/src/unix/kqueue.cpp
src/main/native/libuv/src/unix/proctitle.cpp
)
set(uv_linux_src
src/main/native/libuv/src/unix/linux-core.cpp
src/main/native/libuv/src/unix/linux-inotify.cpp
src/main/native/libuv/src/unix/linux-syscalls.cpp
src/main/native/libuv/src/unix/procfs-exepath.cpp
src/main/native/libuv/src/unix/proctitle.cpp
src/main/native/libuv/src/unix/sysinfo-loadavg.cpp
)
add_library(wpiutil ${wpiutil_native_src} ${wpiutil_resources_src})
set_target_properties(wpiutil PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET wpiutil PROPERTY FOLDER "libraries")
target_compile_features(wpiutil PUBLIC cxx_std_17)
if (MSVC)
target_compile_options(wpiutil PUBLIC /permissive- /Zc:throwingNew /MP /bigobj)
target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
endif()
wpilib_target_warnings(wpiutil)
target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS} ${ATOMIC})
if (NOT USE_VCPKG_LIBUV)
target_sources(wpiutil PRIVATE ${uv_native_src})
install(DIRECTORY src/main/native/libuv/include/ DESTINATION "${include_dest}/wpiutil")
target_include_directories(wpiutil PRIVATE
src/main/native/libuv/src)
target_include_directories(wpiutil PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/libuv/include>
$<INSTALL_INTERFACE:${include_dest}/wpiutil>)
if(NOT MSVC)
target_sources(wpiutil PRIVATE ${uv_unix_src})
if (APPLE)
target_sources(wpiutil PRIVATE ${uv_darwin_src})
else()
target_sources(wpiutil PRIVATE ${uv_linux_src})
endif()
target_compile_definitions(wpiutil PRIVATE -D_GNU_SOURCE)
else()
target_sources(wpiutil PRIVATE ${uv_windows_src})
if(BUILD_SHARED_LIBS)
target_compile_definitions(wpiutil PRIVATE -DBUILDING_UV_SHARED)
endif()
endif()
else()
find_package(unofficial-libuv CONFIG REQUIRED)
target_link_libraries(wpiutil unofficial::libuv::libuv)
endif()
if (MSVC)
target_sources(wpiutil PRIVATE ${wpiutil_windows_src})
else ()
target_sources(wpiutil PRIVATE ${wpiutil_unix_src})
endif()
target_include_directories(wpiutil PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/wpiutil>)
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)
install(TARGETS wpiutil RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
if (MSVC OR FLAT_INSTALL_WPILIB)
set (wpiutil_config_dir ${wpilib_dest})
else()
set (wpiutil_config_dir share/wpiutil)
endif()
configure_file(wpiutil-config.cmake.in ${CMAKE_BINARY_DIR}/wpiutil-config.cmake )
install(FILES ${CMAKE_BINARY_DIR}/wpiutil-config.cmake DESTINATION ${wpiutil_config_dir})
install(EXPORT wpiutil DESTINATION ${wpiutil_config_dir})
SUBDIR_LIST(wpiutil_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
foreach(example ${wpiutil_examples})
file(GLOB wpiutil_example_src examples/${example}/*.cpp)
if(wpiutil_example_src)
add_executable(wpiutil_${example} ${wpiutil_example_src})
wpilib_target_warnings(wpiutil_${example})
target_link_libraries(wpiutil_${example} wpiutil)
set_property(TARGET wpiutil_${example} PROPERTY FOLDER "examples")
endif()
endforeach()
if (UNIX AND NOT APPLE)
set (LIBUTIL -lutil)
else()
set (LIBUTIL)
endif()
file(GLOB netconsoleServer_src src/netconsoleServer/native/cpp/*.cpp)
add_executable(netconsoleServer ${netconsoleServer_src})
wpilib_target_warnings(netconsoleServer)
target_link_libraries(netconsoleServer wpiutil ${LIBUTIL})
file(GLOB netconsoleTee_src src/netconsoleTee/native/cpp/*.cpp)
add_executable(netconsoleTee ${netconsoleTee_src})
wpilib_target_warnings(netconsoleTee)
target_link_libraries(netconsoleTee wpiutil)
set_property(TARGET netconsoleServer PROPERTY FOLDER "examples")
set_property(TARGET netconsoleTee PROPERTY FOLDER "examples")
if (WITH_TESTS)
wpilib_add_test(wpiutil src/test/native/cpp)
target_include_directories(wpiutil_test PRIVATE src/test/native/include)
target_link_libraries(wpiutil_test wpiutil ${LIBUTIL} gmock_main)
endif()
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