Update RICB and leverage components

swri-robotics · Sep 2, 2023 · a6b4c01 · a6b4c01
1 parent 26175ed
commit a6b4c01
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Showing 8 changed files with 158 additions and 47 deletions.
diff --git a/.cmake-format b/.cmake-format
@@ -50,8 +50,22 @@ with section("parse"):
     'configure_package': {
       'pargs': {'nargs': 0},
       'kwargs': {
+        'COMPONENT': '?',
         'NAMESPACE': '?',
         'TARGETS': '*',
+        'SUPPORTED_COMPONENTS': '*',
+        'DEPENDENCIES': '*',
+        'CFG_EXTRAS': '*',
+      }
+    },
+    'configure_component': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'COMPONENT': '?',
+        'NAMESPACE': '?',
+        'TARGETS': '*',
+        'DEPENDENCIES': '*',
+        'CFG_EXTRAS': '*',
       }
     },
     'add_gtest_discover_tests': {
@@ -104,18 +118,57 @@ with section("parse"):
         'EXCLUDE': '*',
       }
     },
-    'tesseract_cpack': {
+    'cpack': {
       'pargs': {'nargs': 0},
       'kwargs': {
-        'VERSION': 1,
-        'MAINTAINER': 1,
-        'DESCRIPTION': 1,
-        'LICENSE_FILE': 1,
-        'README_FILE': 1,
+        'VERSION': '?',
+        'MAINTAINER_NAME': '?',
+        'MAINTAINER_EMAIL': '?',
+        'VENDOR': '?',
+        'DESCRIPTION': '?',
+        'LICENSE_FILE': '?',
+        'README_FILE': '?',
+        'PACKAGE_PREFIX': '?',
         'LINUX_DEPENDS': '*',
         'WINDOWS_DEPENDS': '*',
       }
     },
+    'cpack_component_package': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'VERSION': '?',
+        'MAINTAINER_NAME': '?',
+        'MAINTAINER_EMAIL': '?',
+        'VENDOR': '?',
+        'DESCRIPTION': '?',
+        'LICENSE_FILE': '?',
+        'README_FILE': '?',
+        'PACKAGE_PREFIX': '?',
+        'COMPONENT_DEPENDS': '*',
+      }
+    },
+    'cpack_component': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'COMPONENT': '?',
+        'VERSION': '?',
+        'DESCRIPTION': '?',
+        'PACKAGE_PREFIX': '?',
+        'LINUX_DEPENDS': '*',
+        'WINDOWS_DEPENDS': '*',
+        'COMPONENT_DEPENDS': '*',
+      }
+    },
+    'cpack_debian_source_package': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'CHANGLELOG': '?',
+        'UPLOAD': '?',
+        'DPUT_HOST': '?',
+        'DEBIAN_INCREMENT': '?',
+        'DISTRIBUTIONS': '*',
+      }
+    },
   }
 
   # Override configurations per-command where available

diff --git a/.github/workflows/windows_2019.yml b/.github/workflows/windows_2019.yml
@@ -21,7 +21,7 @@ jobs:
     - name: vcpkg build
       uses: johnwason/vcpkg-action@v4
       with:
-        pkgs: boost-graph eigen3 console-bridge
+        pkgs: boost-graph eigen3 console-bridge gtest
         triplet: x64-windows-release
         token: ${{ github.token }}
 

diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -1,4 +1,4 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.2.16
+    version: 0.5.0
diff --git a/descartes_light/CMakeLists.txt b/descartes_light/CMakeLists.txt
@@ -5,17 +5,19 @@ find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
 project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 
-include(cmake/descartes_light_macros.cmake)
+include(core/cmake/core-macros.cmake)
 
 descartes_variables()
 initialize_code_coverage(ENABLE ${DESCARTES_ENABLE_CODE_COVERAGE})
 add_code_coverage_all_targets(ENABLE ${DESCARTES_ENABLE_CODE_COVERAGE})
 
+set(SUPPORTED_COMPONENTS core)
 add_subdirectory(core)
 
 option(DESCARTES_BUILD_BGL "Build Boost graph library based components" ON)
 if(DESCARTES_BUILD_BGL)
   message("Building Boost graph library implementations")
+  list(APPEND SUPPORTED_COMPONENTS bgl)
   add_subdirectory(bgl)
 endif()
 
@@ -26,38 +28,24 @@ if(DESCARTES_ENABLE_TESTING)
 endif()
 
 # Package configuration
-install(FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/descartes_light_macros.cmake" DESTINATION lib/cmake/${PROJECT_NAME})
-configure_package(NAMESPACE descartes)
+configure_package(COMPONENT core SUPPORTED_COMPONENTS ${SUPPORTED_COMPONENTS})
 
 if(DESCARTES_PACKAGE)
-  set(LINUX_DEPENDS "libconsole-bridge-dev" "libeigen3-dev" "libomp-dev")
-  set(WINDOWS_DEPENDS
-      "console_bridge"
-      "Eigen3"
-      "boost"
-      "omp")
-  if(DESCARTES_BUILD_BGL)
-    list(APPEND LINUX_DEPENDS "libboost-graph-dev")
-    list(APPEND WINDOW_DEPENDS "boost_graph")
+  cpack_component_package(
+    VERSION ${pkg_extracted_version}
+    MAINTAINER_NAME ${pkg_extracted_maintainer_name}
+    MAINTAINER_EMAIL ${pkg_extracted_maintainer_email}
+    DESCRIPTION ${pkg_extracted_description}
+    LICENSE_FILE ${CMAKE_CURRENT_LIST_DIR}/../LICENSE.Apache-2.0
+    README_FILE ${CMAKE_CURRENT_LIST_DIR}/../README.md
+    COMPONENT_DEPENDS ${SUPPORTED_COMPONENTS})
+
+  if(UNIX AND DESCARTES_PACKAGE_SOURCE)
+    cpack_debian_source_package(
+      CHANGLELOG ${CMAKE_CURRENT_LIST_DIR}/CHANGELOG.rst
+      UPLOAD ${DESCARTES_PACKAGE_SOURCE_UPLOAD}
+      DPUT_HOST ${DESCARTES_PACKAGE_SOURCE_DPUT_HOST}
+      DEBIAN_INCREMENT ${DESCARTES_PACKAGE_SOURCE_DEBIAN_INCREMENT}
+      DISTRIBUTIONS ${DESCARTES_PACKAGE_SOURCE_DISTRIBUTIONS})
   endif()
-
-  cpack(
-    VERSION
-    ${pkg_extracted_version}
-    MAINTAINER
-    <https://github.com/ros-industrial-consortium/tesseract>
-    VENDOR
-    "Southwest Research Institute"
-    DESCRIPTION
-    ${pkg_extracted_description}
-    LICENSE_FILE
-    ${CMAKE_CURRENT_LIST_DIR}/../LICENSE.Apache-2.0
-    README_FILE
-    ${CMAKE_CURRENT_LIST_DIR}/../README.md
-    PACKAGE_PREFIX
-    ${DESCARTES_PACKAGE_PREFIX}
-    LINUX_DEPENDS
-    ${LINUX_DEPENDS}
-    WINDOWS_DEPENDS
-    ${WINDOWS_DEPENDS})
 endif()
diff --git a/descartes_light/bgl/CMakeLists.txt b/descartes_light/bgl/CMakeLists.txt
@@ -23,3 +23,19 @@ install(
 
 # Install headers
 install(DIRECTORY include/ DESTINATION include/)
+
+configure_component(
+  COMPONENT bgl
+  NAMESPACE descartes
+  TARGETS ${PROJECT_NAME}_bgl
+  DEPENDENCIES "descartes_light COMPONENTS core" "Boost COMPONENTS graph")
+
+if(DESCARTES_PACKAGE)
+  cpack_component(
+    COMPONENT kdl
+    VERSION ${pkg_extracted_version}
+    DESCRIPTION "Descrates Light boost graph implementation"
+    COMPONENT_DEPENDS core
+    LINUX_DEPENDS "libboost-graph-dev"
+    WINDOWS_DEPENDS "boost_graph")
+endif()
diff --git a/descartes_light/core/CMakeLists.txt b/descartes_light/core/CMakeLists.txt
@@ -66,12 +66,22 @@ target_code_coverage(
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
 
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}-targets
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
-
 # Install headers
 install(DIRECTORY include/ DESTINATION include/)
+
+# Package component configuration
+configure_component(
+  COMPONENT core
+  NAMESPACE descartes
+  TARGETS ${PROJECT_NAME}
+  DEPENDENCIES Eigen3 console_bridge OpenMP
+  CFG_EXTRAS cmake/core-macros.cmake cmake/core-extras.cmake)
+
+if(DESCARTES_PACKAGE)
+  cpack_component(
+    COMPONENT core
+    VERSION ${pkg_extracted_version}
+    DESCRIPTION "Descartes Light core component"
+    LINUX_DEPENDS "libconsole-bridge-dev" "libeigen3-dev" "libomp-dev"
+    WINDOWS_DEPENDS "console_bridge" "Eigen3" "omp")
+endif()
diff --git a/descartes_light/core/cmake/core-extras.cmake b/descartes_light/core/cmake/core-extras.cmake
@@ -0,0 +1,28 @@
+# Create targets if necessary
+if(NOT TARGET OpenMP::OpenMP_CXX)
+  find_package(Threads REQUIRED)
+  add_library(OpenMP::OpenMP_CXX IMPORTED INTERFACE)
+  set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_COMPILE_OPTIONS ${OpenMP_CXX_FLAGS})
+  # Only works if the same flag is passed to the linker; use CMake 3.9+ otherwise (Intel, AppleClang)
+  set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_LINK_LIBRARIES ${OpenMP_CXX_FLAGS} Threads::Threads)
+endif()
+
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
+                                                                  ${console_bridge_INCLUDE_DIRS})
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES ${console_bridge_LIBRARIES})
+else()
+  get_target_property(CHECK_INCLUDE_DIRECTORIES console_bridge::console_bridge INTERFACE_INCLUDE_DIRECTORIES)
+  if(NOT ${CHECK_INCLUDE_DIRECTORIES})
+    set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
+                                                                    ${console_bridge_INCLUDE_DIRS})
+  endif()
+endif()
+
+if(NOT TARGET Eigen3::Eigen)
+  find_package(Threads REQUIRED)
+  add_library(Eigen3::Eigen IMPORTED INTERFACE)
+  set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_COMPILE_DEFINITIONS ${EIGEN3_DEFINITIONS})
+  set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIRS})
+endif()
diff --git a/..._light/cmake/descartes_light_macros.cmake → descartes_light/core/cmake/core-macros.cmake b/..._light/cmake/descartes_light_macros.cmake → descartes_light/core/cmake/core-macros.cmake
@@ -16,6 +16,22 @@ macro(descartes_variables)
     set(BUILD_SHARED_LIBS ON)
   endif()
 
+  if(NOT DEFINED DESCARTES_PACKAGE_SOURCE_UPLOAD)
+    set(DESCARTES_PACKAGE_SOURCE_UPLOAD OFF)
+  endif()
+
+  if(NOT DEFINED DESCARTES_PACKAGE_SOURCE_DISTRIBUTIONS)
+    set(DESCARTES_PACKAGE_SOURCE_DISTRIBUTIONS focal jammy)
+  endif()
+
+  if(NOT DEFINED DESCARTES_PACKAGE_SOURCE_DPUT_HOST)
+    set(DESCARTES_PACKAGE_SOURCE_DPUT_HOST ppa:levi-armstrong/tesseract-robotics)
+  endif()
+
+  if(NOT DEFINED DESCARTES_PACKAGE_SOURCE_DEBIAN_INCREMENT)
+    set(DESCARTES_PACKAGE_SOURCE_DEBIAN_INCREMENT 0)
+  endif()
+
   if(NOT DEFINED DESCARTES_ENABLE_CLANG_TIDY)
     set(DESCARTES_ENABLE_CLANG_TIDY OFF)
   endif()