Merge pull request #2 from jorisv/topic/workspace

Enable jrl-cmakemodules workspace compatiblity

Author: lmontaut

CHANGELOG.md

@@ -23,6 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
 - Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
 - CMake: allow use of installed jrl-cmakemodules ([#564](https://github.com/humanoid-path-planner/hpp-fcl/pull/564))
+- CMake: Add compatibility with jrl-cmakemodules workspace ([#610](https://github.com/humanoid-path-planner/hpp-fcl/pull/610))
 
 ### Fixed
 

CMakeLists.txt

@@ -41,6 +41,10 @@ set(PROJECT_DESCRIPTION
   )
 SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 SET(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
+# To enable jrl-cmakemodules compatibility with workspace we must define the two
+# following lines
+set(PROJECT_AUTO_RUN_FINALIZE FALSE)
+set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
 
 SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
 SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
@@ -86,6 +90,7 @@ else()
 endif()
 
 include("${JRL_CMAKE_MODULES}/boost.cmake")
+include("${JRL_CMAKE_MODULES}/python.cmake")
 include("${JRL_CMAKE_MODULES}/hpp.cmake")
 include("${JRL_CMAKE_MODULES}/apple.cmake")
 include("${JRL_CMAKE_MODULES}/ide.cmake")
@@ -122,7 +127,9 @@ CMAKE_DEPENDENT_OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associat
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
 if(BUILD_PYTHON_INTERFACE)
-  FIND_PACKAGE(eigenpy 2.9.2 REQUIRED)
+  SET(PYTHON_COMPONENTS Interpreter Development NumPy)
+  FINDPYTHON(REQUIRED)
+  ADD_PROJECT_PRIVATE_DEPENDENCY(eigenpy 2.9.2 REQUIRED)
 endif()
 
 # Required dependencies
@@ -168,10 +175,10 @@ if(COAL_HAS_QHULL)
     message(STATUS "Qhullcpp not found: it will be build from sources, if Qhull_r is found")
     file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/third-parties)
     execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
-      ${CMAKE_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
-      ${CMAKE_CURRENT_BINARY_DIR}/third-parties/libqhullcpp
+      ${PROJECT_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
+      ${PROJECT_BINARY_DIR}/third-parties/libqhullcpp
       )
-    set(Qhullcpp_PREFIX ${CMAKE_BINARY_DIR}/third-parties)
+    set(Qhullcpp_PREFIX ${PROJECT_BINARY_DIR}/third-parties)
     find_path(Qhull_r_INCLUDE_DIR
       NAMES libqhull_r/libqhull_r.h
       PATHS ${Qhull_PREFIX}
@@ -480,3 +487,5 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
       COMPATIBILITY AnyNewerVersion)
   install(FILES hpp-fclConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake DESTINATION lib/cmake/hpp-fcl)
 endif()
+
+setup_project_finalize()

cmake

@@ -35,8 +35,8 @@
 include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 include(${JRL_CMAKE_MODULES}/stubs.cmake)
 
-ADD_CUSTOM_TARGET(python)
-SET_TARGET_PROPERTIES(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
+ADD_CUSTOM_TARGET(${PROJECT_NAME}_python)
+SET_TARGET_PROPERTIES(${PROJECT_NAME}_python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
 # Name of the Python library
 SET(PYTHON_LIB_NAME ${PROJECT_NAME}_pywrap)
@@ -94,8 +94,8 @@ ELSE()
 ENDIF()
 IF(ENABLE_DOXYGEN_AUTODOC)
   ADD_CUSTOM_TARGET(generate_doxygen_cpp_doc
-    COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/python/doxygen_xml_parser.py
-    ${CMAKE_BINARY_DIR}/doc/doxygen-xml/index.xml
+    COMMAND ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/doc/python/doxygen_xml_parser.py
+    ${PROJECT_BINARY_DIR}/doc/doxygen-xml/index.xml
     ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc > ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc.log
     BYPRODUCTS
     ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc/doxygen_xml_parser_for_cmake.hh
@@ -127,12 +127,12 @@ ENDIF(COAL_HAS_OCTOMAP)
 
 ADD_LIBRARY(${PYTHON_LIB_NAME} MODULE ${${PYTHON_LIB_NAME}_SOURCES} ${${PYTHON_LIB_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${PYTHON_LIB_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
-TARGET_INCLUDE_DIRECTORIES(${PYTHON_LIB_NAME} PRIVATE "${CMAKE_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}")
+TARGET_INCLUDE_DIRECTORIES(${PYTHON_LIB_NAME} PRIVATE "${PROJECT_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}")
 IF(WIN32)
   TARGET_LINK_LIBRARIES(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY})
 ENDIF(WIN32)
 
-ADD_DEPENDENCIES(python ${PYTHON_LIB_NAME})
+ADD_DEPENDENCIES(${PROJECT_NAME}_python ${PYTHON_LIB_NAME})
 ADD_HEADER_GROUP(${PYTHON_LIB_NAME}_HEADERS)
 ADD_SOURCE_GROUP(${PYTHON_LIB_NAME}_SOURCES)
 IF(ENABLE_DOXYGEN_AUTODOC)
@@ -149,9 +149,9 @@ SET_TARGET_PROPERTIES(${PYTHON_LIB_NAME} PROPERTIES
   PREFIX ""
   SUFFIX "${PYTHON_EXT_SUFFIX}"
   OUTPUT_NAME "${PYTHON_LIB_NAME}"
-  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/${PROJECT_NAME}"
+  LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/python/${PROJECT_NAME}"
   # On Windows, shared library are treat as binary
-  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/${PROJECT_NAME}"
+  RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/python/${PROJECT_NAME}"
   )
 
 IF(IS_ABSOLUTE ${PYTHON_SITELIB})

python/CMakeLists.txt

@@ -187,6 +187,12 @@ add_library(${LIBRARY_NAME}
   ${PROJECT_HEADERS_FULL_PATH}
   ${${LIBRARY_NAME}_SOURCES}
   )
+add_library(${LIBRARY_NAME}::${LIBRARY_NAME} ALIAS ${LIBRARY_NAME})
+
+if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
+  add_library(hpp-fcl ALIAS ${LIBRARY_NAME})
+  add_library(hpp-fcl::hpp-fcl ALIAS ${LIBRARY_NAME})
+endif()
 
 if(UNIX)
   get_relative_rpath(${CMAKE_INSTALL_LIBDIR} ${PROJECT_NAME}_INSTALL_RPATH)
@@ -256,6 +262,8 @@ MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME} SCOPE PUBLIC
 target_include_directories(${LIBRARY_NAME}
   PUBLIC
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+  $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   )
 
 IF(octomap_FOUND)

src/CMakeLists.txt

@@ -3,26 +3,28 @@ FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework filesystem)
 
 config_files(fcl_resources/config.h)
 
-macro(add_coal_test test_name source)
-  ADD_UNIT_TEST(${test_name} ${source})
-  target_link_libraries(${test_name}
+function(add_coal_test test_name source)
+  set(target_name ${PROJECT_NAME}-${test_name})
+  ADD_UNIT_TEST(${target_name} ${source})
+  target_link_libraries(${target_name}
     PUBLIC
     ${LIBRARY_NAME}
     Boost::filesystem
-    utility
+    ${utility_target}
     )
   IF(NOT WIN32)
-    target_compile_options(${test_name} PRIVATE "-Wno-c99-extensions")
-  ENDIF(NOT WIN32)
+    target_compile_options(${target_name} PRIVATE "-Wno-c99-extensions")
+  ENDIF()
   if(COAL_HAS_QHULL)
-    target_compile_options(${test_name} PRIVATE -DCOAL_HAS_QHULL)
+    target_compile_options(${target_name} PRIVATE -DCOAL_HAS_QHULL)
   endif()
-endmacro(add_coal_test)
+endfunction()
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-add_library(utility STATIC utility.cpp)
-target_link_libraries(utility PUBLIC ${PROJECT_NAME})
+set(utility_target ${PROJECT_NAME}-utility)
+add_library(${utility_target} STATIC utility.cpp)
+target_link_libraries(${utility_target} PUBLIC ${PROJECT_NAME})
 
 add_coal_test(math math.cpp)
 
@@ -38,7 +40,7 @@ add_coal_test(shape_inflation shape_inflation.cpp)
 #add_coal_test(shape_mesh_consistency shape_mesh_consistency.cpp)
 add_coal_test(gjk_asserts gjk_asserts.cpp)
 add_coal_test(frontlist frontlist.cpp)
-SET_TESTS_PROPERTIES(frontlist PROPERTIES TIMEOUT 7200)
+SET_TESTS_PROPERTIES(${PROJECT_NAME}-frontlist PROPERTIES TIMEOUT 7200)
 
 # add_coal_test(sphere_capsule sphere_capsule.cpp)
 add_coal_test(capsule_capsule capsule_capsule.cpp)
@@ -67,16 +69,17 @@ add_coal_test(serialization serialization.cpp)
 
 # Broadphase
 add_coal_test(broadphase broadphase.cpp)
-set_tests_properties(broadphase PROPERTIES WILL_FAIL TRUE)
+set_tests_properties(${PROJECT_NAME}-broadphase PROPERTIES WILL_FAIL TRUE)
 add_coal_test(broadphase_dynamic_AABB_tree broadphase_dynamic_AABB_tree.cpp)
 add_coal_test(broadphase_collision_1 broadphase_collision_1.cpp)
 add_coal_test(broadphase_collision_2 broadphase_collision_2.cpp)
 
 ## Benchmark
-add_executable(test-benchmark benchmark.cpp)
-target_link_libraries(test-benchmark
+set(test_benchmark_target ${PROJECT_NAME}-test-benchmark)
+add_executable(${test_benchmark_target} benchmark.cpp)
+target_link_libraries(${test_benchmark_target}
   PUBLIC
-  utility
+  ${utility_target}
   Boost::filesystem
   ${PROJECT_NAME}
   )

test/CMakeLists.txt

@@ -8,5 +8,5 @@ SET(${PROJECT_NAME}_PYTHON_TESTS
 
 ADD_DEPENDENCIES(build_tests ${PROJECT_NAME}_pywrap)
 FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
-  ADD_PYTHON_UNIT_TEST("py-${TEST}" "test/python_unit/${TEST}.py" "python")
-ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  ADD_PYTHON_UNIT_TEST("${PROJECT_NAME}-py-${TEST}" "test/python_unit/${TEST}.py" "python")
+ENDFOREACH()