Preparing changes to use automatic CMakeFiles also in the ROS projects. (#48)

cmake/functions.cmake

@@ -16,22 +16,23 @@ include(CMakeParseArguments)
 
 macro(_parse_arguments ARGS)
   set(OPTIONS
+    USES_BOOST
     USES_CERES
     USES_EIGEN
+    USES_GFLAGS
+    USES_GLOG
     USES_GLOG
     USES_LUA
-    USES_BOOST
     USES_WEBP
-    USES_GLOG
-    USES_GFLAGS
   )
 
   # Options only used by projects using Cartographers cmake files.
   list(APPEND OPTIONS
     USES_CARTOGRAPHER
-    USES_ROS
-    USES_ZLIB
     USES_PCL
+    USES_ROS
+    USES_YAMLCPP
+    USES_ZLIB
   )
   set(ONE_VALUE_ARG )
   set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
@@ -108,6 +109,10 @@ macro(_common_compile_stuff VISIBILITY)
     endforeach()
   endif()
 
+  if(ARG_USES_YAMLCPP)
+    target_link_libraries("${NAME}" yaml-cpp)
+  endif()
+
   set_target_properties(${NAME} PROPERTIES
     COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
 
@@ -165,17 +170,6 @@ function(google_combined_library NAME)
     DEPENDS ${ARG_SRCS}
   )
 
-  add_custom_command(
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.cc"
-           "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.h"
-    COMMAND  ${PROTOBUF_PROTOC_EXECUTABLE}
-    ARGS --cpp_out  ${CMAKE_BINARY_DIR} -I
-      ${CMAKE_BINARY_DIR} ${REWRITTEN_PROTO}
-    DEPENDS ${REWRITTEN_PROTO}
-    COMMENT "Running C++ protocol buffer compiler on ${FIL}"
-    VERBATIM
-  )
-
   # Just a dummy library, we will overwrite its output directly after again
   # with its POST_BUILD step.
   google_library(${NAME}
@@ -273,6 +267,7 @@ function(google_library NAME)
     STATIC
     ${ARG_SRCS} ${ARG_HDRS}
   )
+  set_property(TARGET "${NAME}" PROPERTY POSITION_INDEPENDENT_CODE ON)
 
   # Update the global variable that contains all static libraries.
   SET(ALL_LIBRARIES "${ALL_LIBRARIES};${NAME}" CACHE INTERNAL "ALL_LIBRARIES")

scripts/update_cmakelists.py

@@ -19,6 +19,7 @@
 import os
 from os import path
 import re
+import argparse
 
 
 def MakeRelative(filename, directory):
@@ -72,20 +73,20 @@ class Target(object):
     return "\n".join(lines)
 
 
-def ExtractCartographerIncludes(source):
+def ExtractProjectIncludes(project_name, source):
   """Returns all locally included files."""
   includes = set()
   for line in open(MaybeUseCmakeFile(source)):
     if source.endswith(".proto"):
-      match = re.match(r'^import "(cartographer/[^"]+)', line)
+      match = re.match(r'^import "(' + project_name + r'/[^"]+)', line)
     else:
-      match = re.match(r'^#include "(cartographer/[^"]+)"', line)
+      match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
     if match:
       includes.add(match.group(1))
   return includes
 
 
-def ExtractUses(source):
+def ExtractUses(project_name, source):
   """Finds the options for the third_party libraries used."""
   uses = set()
   for line in open(MaybeUseCmakeFile(source)):
@@ -99,10 +100,21 @@ def ExtractUses(source):
       uses.add("USES_GLOG")
     if re.match(r'^#include "gflags/', line):
       uses.add("USES_GFLAGS")
-    if re.match(r"^#include <boost/", line):
+    if re.match(r'^#include ["<]boost/', line):
       uses.add("USES_BOOST")
-    if re.match(r'^#include "webp/', line):
+    if re.match(r'^#include ["<]webp/', line):
       uses.add("USES_WEBP")
+    if re.match(r'^#include ["<]pcl/', line):
+      uses.add("USES_PCL")
+    if re.match(r'^#include ["<]ros/', line):
+      uses.add("USES_ROS")
+    if re.match(r'^#include "[a-zA-Z]*_msgs/', line):
+      uses.add("USES_ROS")
+    if re.match(r'^#include ["<]yaml-cpp/', line):
+      uses.add("USES_YAMLCPP")
+    if project_name != "cartographer":
+      if re.match(r'^#include ["<]cartographer/', line):
+        uses.add("USES_CARTOGRAPHER")
   return uses
 
 
@@ -130,13 +142,20 @@ def ReadFileWithoutGoogleTargets(filename):
         yield line.rstrip()
 
 
+def ParseArgs():
+  p = argparse.ArgumentParser(
+      description="Automatically update cMakeFiles using build conventions.")
+  p.add_argument("root", type=str, help="Source directory.")
+  return p.parse_args()
+
+
 def main():
-  root_directory = os.path.realpath(
+  args = ParseArgs()
-      os.path.join(os.path.dirname(__file__), os.path.pardir, "cartographer"))
   targets_by_src = {}
   targets = []
 
-  base_directory = path.realpath(path.join(root_directory, path.pardir))
+  project_name = os.path.basename(args.root)
+  base_directory = path.realpath(path.join(args.root, path.pardir))
   directories = set()
 
   def AddTarget(target_type, name, directory, srcs, hdrs):
@@ -152,14 +171,16 @@ def main():
         targets_by_src[proto_stem + ".pb.cc"] = target
     directories.add(directory)
 
-  for (directory, sources) in FindSourceFiles(root_directory):
+  for (directory, sources) in FindSourceFiles(args.root):
     module_name = path.relpath(directory,
-                               path.realpath(root_directory)).replace("/", "_")
+                               path.realpath(args.root)).replace("/", "_")
+
+    prepend_module_name = lambda s: (module_name + "_" + s) if module_name != "." else s
     headers = set(fn for fn in sources if fn.endswith(".h"))
     sources -= headers
     for h in sorted(headers):
       srcs = []
-      name = module_name + "_" + path.basename(path.splitext(h)[0])
+      name = prepend_module_name(path.basename(path.splitext(h)[0]))
       cc_file = path.splitext(h)[0] + ".cc"
       if cc_file in sources:
         sources.remove(cc_file)
@@ -169,13 +190,13 @@ def main():
     tests = set(fn for fn in sources if fn.endswith("_test.cc"))
     sources -= tests
     for c in sorted(tests):
-      name = module_name + "_" + path.basename(path.splitext(c)[0])
+      name = prepend_module_name(path.basename(path.splitext(c)[0]))
       AddTarget("google_test", name, directory, [c], [])
 
     protos = set(fn for fn in sources if fn.endswith(".proto"))
     sources -= protos
     for c in sorted(protos):
-      name = module_name + "_" + path.basename(path.splitext(c)[0])
+      name = prepend_module_name(path.basename(path.splitext(c)[0]))
       AddTarget("google_proto_library", name, directory, [c], [])
 
     mains = set(fn for fn in sources if fn.endswith("_main.cc"))
@@ -185,7 +206,7 @@ def main():
       # 'cartographer' to distinguish them after installation. So,
       # 'io/asset_writer_main.cc' will generate a binary called
       # 'cartographer_asset_writer'.
-      name = 'cartographer_' + path.basename(path.splitext(c)[0][:-5])
+      name = "cartographer_" + path.basename(path.splitext(c)[0][:-5])
       AddTarget("google_binary", name, directory, [c], [])
 
     assert (not sources), "Remaining sources without target: %s" % sources
@@ -195,12 +216,14 @@ def main():
     targets_in_directory = [t for t in targets if t.directory == directory]
     for target in targets_in_directory:
       for src in target.srcs + target.hdrs:
-        for header in ExtractCartographerIncludes(src):
+        for header in ExtractProjectIncludes(project_name, src):
           dependant = targets_by_src[header]
           if dependant.name == target.name:
             continue
           target.depends.add(dependant.name)
-        target.uses.update(ExtractUses(src))
+        target.uses.update(ExtractUses(project_name, src))
+      if target.type is "google_test" and "USES_ROS" in target.uses:
+        target.type = "google_catkin_test"
 
     cmake_file = path.join(directory, "CMakeLists.txt")
     lines = list(ReadFileWithoutGoogleTargets(cmake_file))