Merge pull request #1968 from qnx-ports/develop

QNX Compatibility

cmake/GtsamBuildTypes.cmake

@@ -207,7 +207,8 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
   endif()
 endif()
 
-if (NOT MSVC)
+if ((NOT MSVC) AND (NOT QNX))
+  option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
   if(GTSAM_BUILD_WITH_MARCH_NATIVE)
     # Check if Apple OS and compiler is [Apple]Clang
     if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$"))

cmake/GtsamTesting.cmake

@@ -199,7 +199,9 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 				set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
 
 				# Exclude from 'make all' and 'make install'
-				set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				if(NOT QNX)
+					set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				endif()
 
 				# Configure target folder (for MSVC and Xcode)
 				set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests/${groupName}")
@@ -240,7 +242,12 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 			set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
 
 			# Exclude from 'make all' and 'make install'
-			set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+			# QNX is cross-compiled for, and does not support make, cmake, or ctest natively.
+			# Therefore, running tests must be done by manually copying test executables and required data files over.
+			# for more info, check PR#1968 https://github.com/borglab/gtsam/pull/1968
+			if(NOT QNX)
+				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+			endif()
 		
 			# Configure target folder (for MSVC and Xcode)
 			set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests")

cmake/HandlePrintConfiguration.cmake

@@ -22,7 +22,7 @@ if(GTSAM_UNSTABLE_AVAILABLE)
     print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
 endif()
 
-if(NOT MSVC AND NOT XCODE_VERSION)
+if(NOT MSVC AND NOT XCODE_VERSION AND NOT QNX)
     print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE}     "Build for native architecture  ")
     print_config("Build type" "${CMAKE_BUILD_TYPE}")
     print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")

gtsam/3rdparty/GeographicLib/include/GeographicLib/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install the header files including the generated Config.h (which is in
 # the build tree).
 file (GLOB HEADERS [A-Za-z]*.hpp)
-install (FILES ${HEADERS} DESTINATION include/GeographicLib)
+install (FILES ${HEADERS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/GeographicLib)
 install (FILES ${CMAKE_CURRENT_BINARY_DIR}/Config.h
   DESTINATION include/GeographicLib)

gtsam/3rdparty/cephes/CMakeLists.txt

@@ -20,7 +20,7 @@ set(CEPHES_HEADER_FILES
     dllexport.h)
 
 # Add header files
-install(FILES ${CEPHES_HEADER_FILES} DESTINATION include/gtsam/3rdparty/cephes)
+install(FILES ${CEPHES_HEADER_FILES} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/cephes)
 
 set(CEPHES_SOURCES
     cephes/airy.c

gtsam/3rdparty/ceres/CMakeLists.txt

@@ -1,2 +1,2 @@
 file(GLOB ceres_headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
-install(FILES ${ceres_headers} DESTINATION include/gtsam/3rdparty/ceres)
+install(FILES ${ceres_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/ceres)

gtsam/3rdparty/metis/include/CMakeLists.txt

@@ -1 +1 @@
-install(FILES metis.h DESTINATION include/gtsam/3rdparty/metis)
+install(FILES metis.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/metis)

gtsam/CMakeLists.txt

@@ -100,6 +100,15 @@ IF(MSVC)
 ENDIF(MSVC)
 
 # Generate and install config and dllexport files
+#For config.in searches
+if(QNX)
+# QNX is cross-compiled for, and does not support make, cmake, or ctest natively. Additionally, space is limited in our embedded usecase.
+# Therefore, running tests must be done by manually copying test executables and required data files over, preferably avoiding
+# copying the whole source tree. Thus, we set the default file lookup to the recommended test folder, with the option
+# to manually change it.
+# for more info, check PR#1968 https://github.com/borglab/gtsam/pull/1968
+set(QNX_TARGET_DATASET_DIR "/data/home/root/qnxuser/test" CACHE STRING "Path to your on-target testing folder.")
+endif()
 configure_file(config.h.in config.h)
 set(library_name GTSAM) # For substitution in dllexport.h.in
 configure_file("${GTSAM_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")

gtsam/base/CMakeLists.txt

@@ -1,9 +1,9 @@
 # Install headers
 file(GLOB base_headers "*.h")
-install(FILES ${base_headers} DESTINATION include/gtsam/base)
+install(FILES ${base_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base)
 
 file(GLOB base_headers_tree "treeTraversal/*.h")
-install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal)
+install(FILES ${base_headers_tree} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/treeTraversal)
 
 # Build tests
 add_subdirectory(tests)

gtsam/base/std_optional_serialization.h

@@ -53,6 +53,10 @@ namespace boost { namespace serialization { struct U{}; } }
 namespace std { template<> struct is_trivially_default_constructible<boost::serialization::U> : std::false_type {}; }
 namespace std { template<> struct is_trivially_copy_constructible<boost::serialization::U> : std::false_type {}; }
 namespace std { template<> struct is_trivially_move_constructible<boost::serialization::U> : std::false_type {}; }
+// QCC (The QNX GCC-based Compiler) also has this issue, but it also extends to trivial destructor.
+#if defined(__QNX__)
+namespace std { template<> struct is_trivially_destructible<boost::serialization::U> : std::false_type {}; }
+#endif
 #endif
 #endif
 

gtsam/basis/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB basis_headers "*.h")
-install(FILES ${basis_headers} DESTINATION include/gtsam/basis)
+install(FILES ${basis_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/basis)
 
 # Build tests
 add_subdirectory(tests)

gtsam/config.h.in

@@ -26,7 +26,12 @@
 
 // Paths to example datasets distributed with GTSAM
 #define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
+#if !defined(__QNX__) 
 #define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"
+#else
+//Set toolbox path to the path on the target.
+#define GTSAM_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data"
+#endif
 
 // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
 #cmakedefine GTSAM_USE_QUATERNIONS

gtsam/discrete/CMakeLists.txt

@@ -1,7 +1,8 @@
 # Install headers
 set(subdir discrete)
 file(GLOB discrete_headers "*.h")
-install(FILES ${discrete_headers} DESTINATION include/gtsam/discrete)
+# FIXME: exclude headers
+install(FILES ${discrete_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/discrete)
 
 # Add all tests
 add_subdirectory(tests)

gtsam/geometry/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB geometry_headers "*.h")
-install(FILES ${geometry_headers} DESTINATION include/gtsam/geometry)
+install(FILES ${geometry_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/geometry)
 
 # Build tests
 add_subdirectory(tests)

gtsam/hybrid/CMakeLists.txt

@@ -1,7 +1,7 @@
 # Install headers
 set(subdir hybrid)
 file(GLOB hybrid_headers "*.h")
-install(FILES ${hybrid_headers} DESTINATION include/gtsam/hybrid)
+install(FILES ${hybrid_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/hybrid)
 
 # Add all tests
 add_subdirectory(tests)

gtsam/inference/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB inference_headers "*.h")
-install(FILES ${inference_headers} DESTINATION include/gtsam/inference)
+install(FILES ${inference_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/inference)
 
 # Build tests
 add_subdirectory(tests)

gtsam/inference/tests/testOrdering.cpp

@@ -303,7 +303,7 @@ TEST(Ordering, MetisLoop) {
   symbolicGraph.push_factor(0, 5);
 
   // METIS
-#if defined(__APPLE__)
+#if defined(__APPLE__) || defined(__QNX__)
   {
     Ordering actual = Ordering::Create(Ordering::METIS, symbolicGraph);
     //  - P( 1 0 3)

gtsam/linear/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB linear_headers "*.h")
-install(FILES ${linear_headers} DESTINATION include/gtsam/linear)
+install(FILES ${linear_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/linear)
 
 # Build tests
 add_subdirectory(tests)

gtsam/navigation/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB navigation_headers "*.h")
-install(FILES ${navigation_headers} DESTINATION include/gtsam/navigation)
+install(FILES ${navigation_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/navigation)
 
 # Add all tests
 add_subdirectory(tests)

gtsam/nonlinear/CMakeLists.txt

@@ -1,9 +1,9 @@
 # Install headers
 file(GLOB nonlinear_headers "*.h")
-install(FILES ${nonlinear_headers} DESTINATION "include/gtsam/nonlinear")
+install(FILES ${nonlinear_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/nonlinear)
 
 file(GLOB nonlinear_headers_internal "internal/*.h")
-install(FILES ${nonlinear_headers_internal} DESTINATION "include/gtsam/nonlinear/internal")
+install(FILES ${nonlinear_headers_internal} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/nonlinear/internal)
 
 # Build tests
 add_subdirectory(tests)

gtsam/nonlinear/tests/testSerializationNonlinear.cpp

@@ -32,7 +32,6 @@ using namespace std;
 using namespace gtsam;
 using namespace gtsam::serializationTestHelpers;
 
-
 /* ************************************************************************* */
 // Create GUIDs for Noisemodels
 BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
@@ -153,9 +152,20 @@ TEST(Serialization, NoiseModelFactor1_backwards_compatibility) {
 
   // Deserialize XML
   PriorFactor<Pose3> factor_deserialized_xml = PriorFactor<Pose3>();
+  #if !defined(__QNX__)
   deserializeFromXMLFile(GTSAM_SOURCE_TREE_DATASET_DIR
                          "/../../gtsam/nonlinear/tests/priorFactor.xml",
                          factor_deserialized_xml);
+  #else
+  /*QNX is cross-compiled for, and does not support make, cmake, or ctest natively. Additionally, space is a large constraint on embedded systems.
+   * Therefore, running tests must be done by manually copying test executables and required data files over, preferably avoiding
+   * copying the whole source tree. Thus, we set the default file lookup to the same folder. Please copy data files to the same folder as this test.
+   * for more info, check PR#1968 https://github.com/borglab/gtsam/pull/1968
+   */
+  bool c = deserializeFromXMLFile(
+                        "priorFactor.xml",
+                        factor_deserialized_xml);
+  #endif
   EXPECT(assert_equal(factor, factor_deserialized_xml));
 #endif
 }

gtsam/sam/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB sam_headers "*.h")
-install(FILES ${sam_headers} DESTINATION include/gtsam/sam)
+install(FILES ${sam_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/sam)
 
 # Build tests
 add_subdirectory(tests)

gtsam/sfm/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB sfm_headers "*.h")
-install(FILES ${sfm_headers} DESTINATION include/gtsam/sfm)
+install(FILES ${sfm_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/sfm)
 
 # Build tests
 add_subdirectory(tests)

gtsam/slam/CMakeLists.txt

@@ -4,7 +4,7 @@ set (slam_excluded_headers #"")
 )
 
 file(GLOB slam_headers "*.h")
-install(FILES ${slam_headers} DESTINATION include/gtsam/slam)
+install(FILES ${slam_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/slam)
 
 # Build tests
 add_subdirectory(tests)

gtsam/symbolic/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB symbolic_headers "*.h")
-install(FILES ${symbolic_headers} DESTINATION include/gtsam/symbolic)
+install(FILES ${symbolic_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/symbolic)
 
 # Build tests
 add_subdirectory(tests)

gtsam/symbolic/tests/testSymbolicBayesTree.cpp

@@ -687,7 +687,7 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) {
   {
     Ordering ordering = Ordering::Create(Ordering::METIS, sfg);
 // Linux and Mac split differently when using Metis
-#if defined(__APPLE__)
+#if defined(__APPLE__) || defined(__QNX__)
     EXPECT(assert_equal(Ordering{5, 4, 2, 1, 0, 3}, ordering));
 #elif defined(_WIN32)
     EXPECT(assert_equal(Ordering{4, 3, 1, 0, 5, 2}, ordering));
@@ -700,7 +700,7 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) {
     //  | | - P( 5 | 0 4)
     //  | - P( 2 | 1 3)
     SymbolicBayesTree expected;
-#if defined(__APPLE__)
+#if defined(__APPLE__) || defined(__QNX__)
     expected.insertRoot(
         NodeClique(Keys(1)(0)(3), 3,
                    Children(                         //

gtsam_unstable/base/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB base_headers "*.h")
-install(FILES ${base_headers} DESTINATION include/gtsam_unstable/base)
+install(FILES ${base_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/base)
 
 # Add all tests
 add_subdirectory(tests)

gtsam_unstable/discrete/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB discrete_headers "*.h")
-install(FILES ${discrete_headers} DESTINATION include/gtsam_unstable/discrete)
+install(FILES ${discrete_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/discrete)
 
 # Add all tests
 add_subdirectory(tests)

gtsam_unstable/discrete/tests/testScheduler.cpp

@@ -140,7 +140,11 @@ TEST(schedulingExample, test) {
 
 /* ************************************************************************* */
 TEST(schedulingExample, smallFromFile) {
+  #if !defined(__QNX__)
   string path(TOPSRCDIR "/gtsam_unstable/discrete/examples/");
+  #else
+  string path(""); //Same Directory
+  #endif
   Scheduler s(2, path + "small.csv");
 
   // add areas

gtsam_unstable/dynamics/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB dynamics_headers "*.h")
-install(FILES ${dynamics_headers} DESTINATION include/gtsam_unstable/dynamics)
+install(FILES ${dynamics_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/dynamics)
 
 # Add all tests
 add_subdirectory(tests)

gtsam_unstable/geometry/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB geometry_headers "*.h")
-install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry)
+install(FILES ${geometry_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/geometry)
 
 # Add all tests
 add_subdirectory(tests)

gtsam_unstable/linear/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB linear_headers "*.h")
-install(FILES ${linear_headers} DESTINATION include/gtsam_unstable/linear)
+install(FILES ${linear_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/linear)
 
 # Add all tests
 add_subdirectory(tests)

gtsam_unstable/nonlinear/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Install headers
 file(GLOB nonlinear_headers "*.h")
-install(FILES ${nonlinear_headers} DESTINATION include/gtsam_unstable/nonlinear)
+install(FILES ${nonlinear_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/nonlinear)
 
 # Add all tests
 add_subdirectory(tests)

gtsam_unstable/partition/CMakeLists.txt

@@ -1,5 +1,5 @@
 # Install headers
 file(GLOB partition_headers "*.h")
-install(FILES ${partition_headers} DESTINATION include/gtsam_unstable/partition)
+install(FILES ${partition_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/partition)
 
 add_subdirectory(tests)

gtsam_unstable/partition/tests/testFindSeparator.cpp

@@ -104,7 +104,13 @@ TEST ( Partition, edgePartitionByMetis2 )
   graph.push_back(std::make_shared<GenericFactor3D>(1, 2, 1, NODE_POSE_3D, NODE_POSE_3D, 1));
   graph.push_back(std::make_shared<GenericFactor3D>(2, 3, 2, NODE_POSE_3D, NODE_POSE_3D, 20));
   graph.push_back(std::make_shared<GenericFactor3D>(3, 4, 3, NODE_POSE_3D, NODE_POSE_3D, 1));
+  //QNX Testing: fix tiebreaker to match 
+  #if !defined(__QNX__)
   std::vector<size_t> keys{0, 1, 2, 3, 4};
+  #else
+  //Anything where 2 is before 0 will work.
+  std::vector<size_t> keys{2, 0, 3, 1, 4};
+  #endif
 
   WorkSpace workspace(6);
   std::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,

gtsam_unstable/slam/CMakeLists.txt

@@ -5,7 +5,7 @@ set (slam_excluded_headers #"")
 
 file(GLOB slam_headers "*.h")
 list(REMOVE_ITEM slam_headers ${slam_excluded_headers})
-install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam)
+install(FILES ${slam_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable/slam)
 
 # Add all tests
 add_subdirectory(tests)