Fix: Check for all of vizkit3d, vizkit3d_debug_drawings libraries

The debug drawings are marked optional, so we must check for all of them,
vizkit3d-qt5 and vizkit3d(qt4 version) can be absent depending on the
version of vizkit3d being compiled or settings in vizkit3d, independent
of the presence of Qt4 or Qt5.

Author: pierrewillenbrockdfki

CMakeLists.txt

@@ -8,9 +8,20 @@ project(ugv_nav4d
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+find_package(Rock)
+rock_init()
+rock_feature(NOCURDIR)
+
+pkg_check_modules(vizkit3d_debug_drawings-commands vizkit3d_debug_drawings-commands)
+
 if(ENABLE_DEBUG_DRAWINGS)
     message(STATUS "ENABLE_DEBUG_DRAWINGS is defined with value: ${ENABLE_DEBUG_DRAWINGS}")
-    add_definitions(-DENABLE_DEBUG_DRAWINGS)
+    if(vizkit3d_debug_drawings-commands_FOUND)
+        add_definitions(-DENABLE_DEBUG_DRAWINGS)
+        message(STATUS "Building with vizkit3d_debug_drawings support in library")
+    else()
+        message(STATUS "Cannot find vizkit3d_debug_drawings, ignoring ENABLE_DEBUG_DRAWINGS")
+    endif()
 else()
     message(STATUS "ENABLE_DEBUG_DRAWINGS is set to OFF. Skipped!")
 endif()
@@ -25,7 +36,4 @@ if(INSTALL_DEPS)
   set(ENV{CMAKE_PREFIX_PATH} ${CMAKE_INSTALL_PREFIX}/share/rock/cmake/)
 endif()
 
-find_package(Rock)
-rock_init()
-rock_feature(NOCURDIR)
 rock_standard_layout()

src/CMakeLists.txt

@@ -13,11 +13,8 @@ set(DEPS_PKGCONFIG_LIST
 	trajectory_follower
 )
 
-if (ENABLE_DEBUG_DRAWINGS)
+if(ENABLE_DEBUG_DRAWINGS AND vizkit3d_debug_drawings-commands_FOUND)
 	list(APPEND DEPS_PKGCONFIG_LIST vizkit3d_debug_drawings-commands)
-	# These are (only) required for building the GUIs:
-	list(APPEND DEPS_PKGCONFIG_QT4 vizkit3d_debug_drawings)
-	list(APPEND DEPS_PKGCONFIG_QT5 vizkit3d_debug_drawings-qt5)
 endif()
 
 rock_library(ugv_nav4d

src/gui/CMakeLists.txt

@@ -1,12 +1,28 @@
 rock_find_qt4(OPTIONAL)
 rock_find_qt5(OPTIONAL)
 
+pkg_check_modules(vizkit3d vizkit3d)
+pkg_check_modules(vizkit3d-qt5 vizkit3d-qt5)
+
+pkg_check_modules(vizkit3d_debug_drawings vizkit3d_debug_drawings)
+pkg_check_modules(vizkit3d_debug_drawings-qt5 vizkit3d_debug_drawings-qt5)
+
 find_package(PCL 1.7 REQUIRED COMPONENTS common io)
 IF("${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}" VERSION_LESS 1.14)
     SET(PCL_VERSION_SUFFIX "-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
 ENDIF()
 
-if(ROCK_QT_VERSION_4)
+if(ENABLE_DEBUG_DRAWINGS AND vizkit3d_debug_drawings-commands_FOUND)
+	# These are (only) required for building the GUIs:
+	if(vizkit3d_debug_drawings_FOUND)
+		list(APPEND DEPS_PKGCONFIG_QT4 vizkit3d_debug_drawings)
+	endif()
+	if(vizkit3d_debug_drawings-qt5_FOUND)
+		list(APPEND DEPS_PKGCONFIG_QT5 vizkit3d_debug_drawings-qt5)
+	endif()
+endif()
+
+if(ROCK_QT_VERSION_4 AND vizkit3d_FOUND)
     rock_library(ugv_nav4d_gui
         SOURCES
             PlannerGui.cpp
@@ -28,21 +44,28 @@ if(ROCK_QT_VERSION_4)
     )
 
     rock_executable(ugv_nav4d_bin
-       SOURCES
-            Main.cpp
-       DEPS ugv_nav4d ugv_nav4d_gui
+        SOURCES
+                Main.cpp
+        DEPS ugv_nav4d ugv_nav4d_gui
     )
 
     rock_executable(ugv_nav4d_replay
-       SOURCES
-            ReplayDump.cpp
-       DEPS ugv_nav4d ugv_nav4d_gui
-       DEPS_PKGCONFIG vizkit3d  maps-viz base-viz
-       sbpl_spline_primitives-viz base-types trajectory_follower-viz
+        SOURCES
+                ReplayDump.cpp
+        DEPS ugv_nav4d ugv_nav4d_gui
+        DEPS_PKGCONFIG vizkit3d  maps-viz base-viz
+        sbpl_spline_primitives-viz base-types trajectory_follower-viz
     )
-endif(ROCK_QT_VERSION_4)
+    if (ENABLE_DEBUG_DRAWINGS AND vizkit3d_debug_drawings-commands_FOUND AND vizkit3d_debug_drawings_FOUND)
+        message(STATUS "Gui using Qt4: enabled, with debug drawings")
+    else()
+        message(STATUS "Gui using Qt4: enabled, without debug drawings")
+    endif()
+else(ROCK_QT_VERSION_4 AND vizkit3d_FOUND)
+    message(STATUS "Gui using Qt4: disabled")
+endif(ROCK_QT_VERSION_4 AND vizkit3d_FOUND)
 
-if(ROCK_QT_VERSION_5)
+if(ROCK_QT_VERSION_5 AND vizkit3d-qt5_FOUND)
     rock_library(ugv_nav4d_gui-qt5
         SOURCES
             PlannerGui.cpp
@@ -76,4 +99,11 @@ if(ROCK_QT_VERSION_5)
         DEPS_PKGCONFIG vizkit3d-qt5  maps-viz-qt5 base-viz-qt5
         sbpl_spline_primitives-viz-qt5 base-types trajectory_follower-viz-qt5
     )
-endif(ROCK_QT_VERSION_5)
+    if (ENABLE_DEBUG_DRAWINGS AND vizkit3d_debug_drawings-commands_FOUND AND vizkit3d_debug_drawings-qt5_FOUND)
+        message(STATUS "Gui using Qt5: enabled, with debug drawings")
+    else()
+        message(STATUS "Gui using Qt5: enabled, without debug drawings")
+    endif()
+else()
+    message(STATUS "Gui using Qt5: disabled")
+endif(ROCK_QT_VERSION_5 AND vizkit3d-qt5_FOUND)