CMakeLists.txt

# Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia (IIT)
# All Rights Reserved.
# Authors: Giulio Romualdi <giulio.romualdi@iit.it>

cmake_minimum_required(VERSION 3.5)

## MAIN project
project(WalkingControllers
  VERSION 0.8.0)

# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
include(GNUInstallDirs)

# Control where libraries and executables are placed during the build.
# With the following settings executables are placed in <the top level of the
# build tree>/bin and libraries/archives in <top level of the build tree>/lib.
# This is particularly useful to run ctests on libraries built on Windows
# machines: tests, which are executables, are placed in the same folders of
# dlls, which are treated as executables as well, so that they can properly
# find the libraries to run. This is a because of missing RPATH on Windows.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")

# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
# See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
# See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

# Under MSVC, we set CMAKE_DEBUG_POSTFIX to "d" to add a trailing "d" to library
# built in debug mode. In this Windows user can compile, build and install the
# library in both Release and Debug configuration avoiding naming clashes in the
# installation directories.
if(MSVC)
  set(CMAKE_DEBUG_POSTFIX "d")
  #_USE_MATH_DEFINES is to have constants like M_PI defined also on Windows
  add_definitions(-D_USE_MATH_DEFINES)
  #NOMINMAX is to avoid windows.h defining its own versions of min and max
  add_definitions(-DNOMINMAX)
endif()

list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)

# Check WalkingControllers dependencies, find necessary libraries.
include(WalkingControllersDependencies)

#set default build type to "Release" in single-config generators
if(NOT CMAKE_CONFIGURATION_TYPES)
    if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Release" CACHE STRING
        "Choose the type of build, recommanded options are: Debug or Release" FORCE)
    endif()
    set(ROBOTOLOGY_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${ROBOTOLOGY_BUILD_TYPES})
endif()

option(ENABLE_RPATH "Enable RPATH for this library" ON)
mark_as_advanced(ENABLE_RPATH)
include(AddInstallRPATHSupport)
add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
  LIB_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
  INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}"
  DEPENDS ENABLE_RPATH
  USE_LINK_PATH)


include(AddWalkingControllersLibrary)
include(AddWalkingControllersYARPThrift)
include(AddWalkingControllersApplication)
add_subdirectory(src)

include(InstallBasicPackageFiles)
install_basic_package_files(${PROJECT_NAME}
                            NAMESPACE WalkingControllers::
                            VERSION ${WalkingControllers_VERSION}
                            COMPATIBILITY AnyNewerVersion
                            TARGETS_PROPERTY WalkingControllers_TARGETS
                            VARS_PREFIX ${PROJECT_NAME}
                            NO_CHECK_REQUIRED_COMPONENTS_MACRO)

option(BUILD_TESTING "Create tests using CMake" OFF)
include(CTest)
if(BUILD_TESTING)
  include(FetchCatch2)
  add_subdirectory(tests)
endif()

include(AddUninstallTarget)