Add absl to CMake and Bazel builds. (#1301)
Alexander Belyaev
GitHub
parent
926b8540f6
commit
e3a7f39889
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@ -29,6 +29,7 @@ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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google_initialize_cartographer_project()
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google_enable_testing()
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find_package(Abseil REQUIRED)
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find_package(Boost REQUIRED COMPONENTS iostreams)
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find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
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find_package(Eigen3 REQUIRED)
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@ -225,7 +226,7 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread standalone_absl)
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if(${BUILD_GRPC})
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target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
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target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
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@ -233,7 +233,13 @@ def cartographer_repositories():
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"https://github.com/googlecartographer/async_grpc/archive/ed8e3b31bdd46a74f0c47b4c53a47e0c0f21141b.tar.gz",
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],
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)
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_maybe(native.http_archive,
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name = "com_google_absl",
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sha256 = "387cf016ab1ab8530d1cea8975276ce8d8bff355133776129bdc400d05519eb6",
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strip_prefix = "abseil-cpp-44aa275286baf97fc13529aca547a88b180beb08",
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urls = ["https://github.com/abseil/abseil-cpp/archive/44aa275286baf97fc13529aca547a88b180beb08.tar.gz"],
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)
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# TODO(rodrigoq): remove these binds once grpc#14140 has been merged, as well
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# as removing `use_external` in cartographer_grpc/BUILD.bazel.
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# https://github.com/grpc/grpc/pull/14140
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@ -100,6 +100,7 @@ cc_library(
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"@org_ceres_solver_ceres_solver//:ceres",
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"@org_lua_lua//:lua",
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"@org_tuxfamily_eigen//:eigen",
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"@com_google_absl//absl/strings",
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],
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)
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@ -0,0 +1,77 @@
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# Copyright 2018 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.2)
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if(NOT TARGET standalone_absl)
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include(${CMAKE_ROOT}/Modules/ExternalProject.cmake)
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set(ABSEIL_PROJECT_NAME abseil)
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set(ABSEIL_PROJECT_SRC_DIR
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${CMAKE_CURRENT_BINARY_DIR}/${ABSEIL_PROJECT_NAME}/src/${ABSEIL_PROJECT_NAME})
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set(ABSEIL_PROJECT_BUILD_DIR
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${CMAKE_CURRENT_BINARY_DIR}/${ABSEIL_PROJECT_NAME}/src/${ABSEIL_PROJECT_NAME}-build)
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set(ABSEIL_INCLUDE_DIRS ${ABSEIL_PROJECT_SRC_DIR})
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set(ABSEIL_LIBRARY_PATH
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/synchronization/libabsl_synchronization.a")
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set(ABSEIL_DEPENDENT_LIBRARIES
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/libabsl_algorithm.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/libabsl_base.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/libabsl_dynamic_annotations.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/libabsl_malloc_internal.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/libabsl_spinlock_wait.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/libabsl_throw_delegate.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/libabsl_container.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/libtest_instance_tracker_lib.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_debugging.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_examine_stack.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_failure_signal_handler.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_leak_check.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_stack_consumption.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_stacktrace.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/libabsl_symbolize.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/memory/libabsl_memory.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/meta/libabsl_meta.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/libabsl_int128.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/libabsl_numeric.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/libabsl_strings.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/time/libabsl_time.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_any.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_bad_any_cast.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_bad_optional_access.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_optional.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_span.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_variant.a"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/utility/libabsl_utility.a"
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)
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ExternalProject_Add(${ABSEIL_PROJECT_NAME}
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PREFIX ${ABSEIL_PROJECT_NAME}
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GIT_REPOSITORY https://github.com/abseil/abseil-cpp.git
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GIT_TAG 44aa275286baf97fc13529aca547a88b180beb08
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INSTALL_COMMAND ""
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CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"
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BUILD_BYPRODUCTS "${ABSEIL_LIBRARY_PATH};${ABSEIL_DEPENDENT_LIBRARIES}"
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)
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add_library(standalone_absl STATIC IMPORTED)
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set_target_properties(standalone_absl
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PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
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${ABSEIL_INCLUDE_DIRS}
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)
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set_target_properties(standalone_absl
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PROPERTIES IMPORTED_LOCATION
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${ABSEIL_LIBRARY_PATH}
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INTERFACE_LINK_LIBRARIES
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"${ABSEIL_DEPENDENT_LIBRARIES}"
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)
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add_dependencies(standalone_absl ${ABSEIL_PROJECT_NAME})
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endif()
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