Enable adding as a CMake subproject (#203)
This is done by replacing CMAKE_*_DIR variables with PROJECT_*_ variables so that CMake uses correct paths when libcartographer is a subproject Move AllFiles.cmake into the project binary dir instead of the root CMake binary dir, use a project-dependent detect_changes target name This makes overriding it from an upper level CMakeLists.txt possible, which is required when doing a super-build which doesn't require installing libcartographer.master
Juraj Oršulić
Holger Rapp
parent
b2175f0d93
commit
370e1e52df
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@ -22,7 +22,7 @@ set(CARTOGRAPHER_PATCH_VERSION 0)
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set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
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set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
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include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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google_initialize_cartographer_project()
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google_enable_testing()
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@ -44,7 +44,9 @@ endif()
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY ${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY ${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files
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CACHE PATH ".lua configuration files directory")
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install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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install(DIRECTORY cmake DESTINATION share/cartographer/)
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@ -59,19 +61,19 @@ file(GLOB_RECURSE ALL_PROTOS "*.proto")
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set(ALL_PROTO_SRCS)
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set(ALL_PROTO_HDRS)
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foreach(ABS_FIL ${ALL_PROTOS})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${ABS_FIL})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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list(APPEND ALL_PROTO_SRCS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_PROTO_HDRS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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add_custom_command(
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OUTPUT "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${CMAKE_BINARY_DIR} -I
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${CMAKE_SOURCE_DIR} ${ABS_FIL}
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ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
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${PROJECT_SOURCE_DIR} ${ABS_FIL}
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DEPENDS ${ABS_FIL}
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COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
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VERBATIM
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@ -119,8 +121,8 @@ target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
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$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
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$<INSTALL_INTERFACE:include>
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)
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@ -144,7 +146,7 @@ install(
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# Install source headers.
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file(GLOB_RECURSE hdrs "*.h")
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foreach(HDR ${hdrs})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
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get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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@ -157,12 +159,12 @@ endforeach()
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# Install generated headers.
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file(GLOB_RECURSE hdrs "*.h.in")
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foreach(HDR ${hdrs})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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install(
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FILES
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${CMAKE_BINARY_DIR}/${DIR}/${FILE_WE}
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${PROJECT_BINARY_DIR}/${DIR}/${FILE_WE}
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DESTINATION
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include/${DIR}
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)
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@ -170,7 +172,7 @@ endforeach()
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# Install proto headers.
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foreach(HDR ${ALL_PROTO_HDRS})
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file(RELATIVE_PATH REL_FIL ${CMAKE_BINARY_DIR} ${HDR})
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file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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@ -184,7 +186,7 @@ set(CARTOGRAPHER_CMAKE_DIR share/cartographer/cmake)
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include(CMakePackageConfigHelpers)
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configure_package_config_file(
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cartographer-config.cmake.in
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${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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PATH_VARS CARTOGRAPHER_CMAKE_DIR
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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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@ -196,6 +198,6 @@ install(
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)
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install(
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FILES ${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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FILES ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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DESTINATION share/cartographer/
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)
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@ -22,7 +22,7 @@ namespace common {
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constexpr char kConfigurationFilesDirectory[] =
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"@CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY@";
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constexpr char kSourceDirectory[] = "@CMAKE_SOURCE_DIR@";
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constexpr char kSourceDirectory[] = "@PROJECT_SOURCE_DIR@";
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} // namespace common
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} // namespace cartographer
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@ -107,10 +107,10 @@ macro(google_initialize_cartographer_project)
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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# Add a hook that reruns CMake when source files are added or removed.
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set(LIST_FILES_CMD "find ${CMAKE_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
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set(FILES_LIST_PATH "${CMAKE_BINARY_DIR}/AllFiles.cmake")
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set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
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set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
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set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
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add_custom_target(cartographer_detect_changes ALL
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add_custom_target(${PROJECT_NAME}_detect_changes ALL
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COMMAND ${DETECT_CHANGES_CMD}
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VERBATIM
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)
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