Merge remote-tracking branch 'autobuild/master' into next

rock-core · Sep 10, 2013 · df5c8b1 · df5c8b1
2 parents 8c4077c + 4359266
commit df5c8b1
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Showing 67 changed files with 933 additions and 671 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -22,8 +22,6 @@ LIST( GET RTT_VERSIONS 0 RTT_VERSION_MAJOR)
 LIST( GET RTT_VERSIONS 1 RTT_VERSION_MINOR)
 LIST( GET RTT_VERSIONS 2 RTT_VERSION_PATCH)
 
-SET(ROS_ROOT $ENV{ROS_ROOT})
-
 MESSAGE( "Orocos RTT version ${VERSION} (${RTT_VERSION_MAJOR}.${RTT_VERSION_MINOR}.${RTT_VERSION_PATCH})" )
 
 SET( PROJ_SOURCE_DIR ${orocos-rtt_SOURCE_DIR} )
@@ -52,41 +50,9 @@ IF(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
   ENDIF(MSVC)
 ENDIF(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
 
-# We force it in case of ROS builds because the UseOrocos.cmake scripts will always look
-# in this path, also during an autoproj/bootstrap build.
-IF(ROS_ROOT)
-  SET(CMAKE_INSTALL_PREFIX
-    ${PROJECT_SOURCE_DIR}/../install CACHE PATH "Orocos install prefix for ROS builds" FORCE
-    )
-  # Necessary when building Debian packages:
-  set(ROS_STACK_DIR_FINAL $ENV{ROS_STACK_DIR_FINAL})
-  if (ROS_STACK_DIR_FINAL)
-    set(DEFAULT_PLUGIN_PATH "${ROS_STACK_DIR_FINAL}/orocos_toolchain/install/lib/orocos")
-  endif(ROS_STACK_DIR_FINAL)
-  # Necessary for backwards compatibility such that packages find RTT's cmake macros:
-  if (NOT IS_SYMLINK ${CMAKE_CURRENT_SOURCE_DIR}/install )
-    # Note: we use WORKING_DIRECTORY
-    execute_process ( 
-      COMMAND ${CMAKE_COMMAND} -E remove_directory install
-      COMMAND ${CMAKE_COMMAND} -E create_symlink ../install install
-      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-      OUTPUT_QUIET ERROR_QUIET
-      )
-  endif()
-  # We had to split the if statement above in two parts because cmake 2.8.0 would choke on a single-liner:
-  if ( NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/install )
-    # Note: we use WORKING_DIRECTORY
-    execute_process ( 
-      COMMAND ${CMAKE_COMMAND} -E create_symlink ../install install
-      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-      OUTPUT_QUIET ERROR_QUIET
-      )
-  endif()
-
-  # Tell deployer to use ROSlib support.
-  set(ROSLIB_SUPPORT TRUE)
-  include(config/FindRoslib.cmake)
-ENDIF(ROS_ROOT)
+# Tell deployer to use ROSlib support.
+set(ROSLIB_SUPPORT TRUE)
+include(config/FindRoslib.cmake)
 
 #Use these variables to store build-local flags.
 #They are used when the targets are configured.

diff --git a/Makefile b/Makefile
@@ -1,5 +1,5 @@
 ifdef ROS_ROOT
-EXTRA_CMAKE_FLAGS=-DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB
+EXTRA_CMAKE_FLAGS=-DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB -DCMAKE_INSTALL_PREFIX=$(shell rospack find rtt)/../install
 default: install_rtt
 include $(shell rospack find mk)/cmake.mk
 install_rtt: all

diff --git a/UseOROCOS-RTT-helpers.cmake b/UseOROCOS-RTT-helpers.cmake
@@ -1,3 +1,55 @@
+
+#
+# Parses arguments or options
+#
+# From: http://www.cmake.org/Wiki/CMakeMacroParseArguments
+#
+# For each item in options, PARSE_ARGUMENTS will create a variable
+# with that name, prefixed with prefix_. So, for example, if prefix is
+# MY_MACRO and options is OPTION1;OPTION2, then PARSE_ARGUMENTS will
+# create the variables MY_MACRO_OPTION1 and MY_MACRO_OPTION2. These
+# variables will be set to true if the option exists in the command
+# line or false otherwise.
+#
+# For each item in arg_names, PARSE_ARGUMENTS will create a variable
+# with that name, prefixed with prefix_. Each variable will be filled
+# with the arguments that occur after the given arg_name is encountered
+# up to the next arg_name or the end of the arguments. All options are
+# removed from these lists. PARSE_ARGUMENTS also creates a
+# prefix_DEFAULT_ARGS variable containing the list of all arguments up
+# to the first arg_name encountered.
+#
+MACRO(ORO_PARSE_ARGUMENTS prefix arg_names option_names)
+  SET(DEFAULT_ARGS)
+  FOREACH(arg_name ${arg_names})  
+    SET(${prefix}_${arg_name})
+  ENDFOREACH(arg_name)
+  FOREACH(option ${option_names})
+    SET(${prefix}_${option} FALSE)
+  ENDFOREACH(option)
+
+  SET(current_arg_name DEFAULT_ARGS)
+  SET(current_arg_list)
+  FOREACH(arg ${ARGN})
+    SET(larg_names ${arg_names})
+    LIST(FIND larg_names "${arg}" is_arg_name)     
+    IF (is_arg_name GREATER -1)
+      SET(${prefix}_${current_arg_name} ${current_arg_list})
+      SET(current_arg_name ${arg})
+      SET(current_arg_list)
+    ELSE (is_arg_name GREATER -1)
+      SET(loption_names ${option_names})
+      LIST(FIND loption_names "${arg}" is_option)            
+      IF (is_option GREATER -1)
+         SET(${prefix}_${arg} TRUE)
+      ELSE (is_option GREATER -1)
+         SET(current_arg_list ${current_arg_list} ${arg})
+      ENDIF (is_option GREATER -1)
+    ENDIF (is_arg_name GREATER -1)
+  ENDFOREACH(arg)
+  SET(${prefix}_${current_arg_name} ${current_arg_list})
+ENDMACRO(ORO_PARSE_ARGUMENTS)
+
 #
 # Parses the manifest.xml file and stores the dependencies in RESULT.
 # Relies on xpath. If no manifest is found, returns an empty RESULT.
@@ -28,16 +80,16 @@ function( orocos_get_manifest_deps RESULT)
     string(REGEX REPLACE "${REGEX_STR}" "\\1;" RR_RESULT ${DEPS})
 
     #message("Deps are: '${DEPS}'")
-    #message("Dependencies are: '${RR_RESULT}'")
-    set(${RESULT} ${RR_RESULT})
+    set(${RESULT} ${RR_RESULT} PARENT_SCOPE)
+    #message("Dependencies are: '${${RESULT}}'")
   endif (NOT XPATH_EXE)
 
 endfunction( orocos_get_manifest_deps RESULT)
 
 #
 # Find a package, pick up its include dirs and link with its libraries.
 # It does this by locating and reading the .pc file generated by that package.
-# In case no such .pc file exists (or is not found), tt is assumed that no
+# In case no such .pc file exists (or is not found), it is assumed that no
 # flags are necessary.
 #
 # This macro is called for you by UseOrocos-RTT.cmake
@@ -58,9 +110,8 @@ endfunction( orocos_get_manifest_deps RESULT)
 # Usage: orocos_use_package( myrobot )
 #
 macro( orocos_use_package PACKAGE )
-  if (PACKAGE STREQUAL "rtt")
-    return()
-  endif (PACKAGE STREQUAL "rtt")
+  if ( "${PACKAGE}" STREQUAL "rtt")
+  else()
   if (IS_ROS_PACKAGE)
     if (NOT USE_FOUND_${PACKAGE}_PACKAGE_PATH)
       # use rospack to find package directories of *all* dependencies.
@@ -101,24 +152,39 @@ macro( orocos_use_package PACKAGE )
     # Use find_libraries to find each library:
     unset(${PACKAGE}_LIBRARIES CACHE)
     foreach(COMP_LIB ${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARIES})
-        find_library(${PACKAGE}_${COMP_LIB}_LIBRARY NAMES ${COMP_LIB} HINTS ${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARY_DIRS})
+        # Two options: COMP_LIB is an absolute path-to-lib (must start with ':') or just a libname:
+        if ( ${COMP_LIB} MATCHES "^:(.+)" OR EXISTS ${COMP_LIB})
+	  if (EXISTS "${CMAKE_MATCH_1}" )
+            # absolute path (shared lib):
+            set( ${PACKAGE}_${COMP_LIB}_LIBRARY "${CMAKE_MATCH_1}" )
+	  endif()
+	  if (EXISTS "${COMP_LIB}" )
+            # absolute path (static lib):
+            set( ${PACKAGE}_${COMP_LIB}_LIBRARY "${COMP_LIB}" )
+	  endif()
+        else()
+           # libname:
+          find_library(${PACKAGE}_${COMP_LIB}_LIBRARY NAMES ${COMP_LIB} HINTS ${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARY_DIRS})
+        endif()
         if(${PACKAGE}_${COMP_LIB}_LIBRARY)
         else(${PACKAGE}_${COMP_LIB}_LIBRARY)
             message(SEND_ERROR "In package >>>${PACKAGE}<<< : could not find library ${COMP_LIB} in directory ${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARY_DIRS}, although its .pc file says it should be there.\n\n Try to do 'make clean; rm -rf lib' and then 'make' in the package >>>${PACKAGE}<<<.\n\n")
         endif(${PACKAGE}_${COMP_LIB}_LIBRARY)
-        list(APPEND ${PACKAGE}_LIBRARIES ${${PACKAGE}_${COMP_LIB}_LIBRARY})
+        list(APPEND ${PACKAGE}_LIBRARIES "${${PACKAGE}_${COMP_LIB}_LIBRARY}")
     endforeach(COMP_LIB ${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARIES})
 
     # Add some output variables to the cache to make them accessible from outside this scope
-    set(${PACKAGE}_INCLUDE_DIRS ${${PACKAGE}_COMP_${OROCOS_TARGET}_INCLUDE_DIRS} CACHE INTERNAL "")
-    set(${PACKAGE}_LIBRARY_DIRS ${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARY_DIRS} CACHE INTERNAL "")
-    set(${PACKAGE}_LIBRARIES ${${PACKAGE}_LIBRARIES} CACHE INTERNAL "")
+    set(${PACKAGE}_INCLUDE_DIRS "${${PACKAGE}_COMP_${OROCOS_TARGET}_INCLUDE_DIRS}" CACHE INTERNAL "")
+    set(${PACKAGE}_LIBRARY_DIRS "${${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARY_DIRS}" CACHE INTERNAL "")
+    set(${PACKAGE}_LIBRARIES "${${PACKAGE}_LIBRARIES}" CACHE INTERNAL "")
+    # The flags are space separated, so no need to quote here:
     set(${PACKAGE}_CFLAGS_OTHER ${${PACKAGE}_COMP_${OROCOS_TARGET}_CFLAGS_OTHER} CACHE INTERNAL "")
     set(${PACKAGE}_LDFLAGS_OTHER ${${PACKAGE}_COMP_${OROCOS_TARGET}_LDFLAGS_OTHER} CACHE INTERNAL "")
 
     # Add compiler and linker flags to the USE_OROCOS_XXX_FLAGS variables used in the orocos_add_x macros
     set(USE_OROCOS_COMPILE_FLAGS ${USE_OROCOS_COMPILE_FLAGS} ${${PACKAGE}_COMP_${OROCOS_TARGET}_CFLAGS_OTHER})
     set(USE_OROCOS_LINK_FLAGS ${USE_OROCOS_LINK_FLAGS} ${${PACKAGE}_COMP_${OROCOS_TARGET}_LDFLAGS_OTHER})
+    # This probably does not work since lists are ';' separated and not ' ' separated:
     list(REMOVE_DUPLICATES USE_OROCOS_COMPILE_FLAGS)
     list(REMOVE_DUPLICATES USE_OROCOS_LINK_FLAGS)
 
@@ -130,11 +196,9 @@ macro( orocos_use_package PACKAGE )
     endif (NOT OROCOS_NO_AUTO_LINKING AND ${PACKAGE}_COMP_${OROCOS_TARGET}_LIBRARIES)
 
   else (${PACKAGE}_COMP_${OROCOS_TARGET}_FOUND)
-    if (VERBOSE)
       message("[UseOrocos] ${PACKAGE} does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).")
-    endif (VERBOSE)
   endif (${PACKAGE}_COMP_${OROCOS_TARGET}_FOUND)
-
+  endif()  
 endmacro( orocos_use_package PACKAGE )
 
 macro(_orocos_list_to_string _string _list)