CMakeLists.txt

# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
# This software may be modified and distributed under the terms of the
# GNU Lesser General Public License v2.1 or any later version.

cmake_minimum_required(VERSION 3.16)
project(scenario VERSION 1.3.1)

# Add custom functions / macros
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

# C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Include useful features
include(GNUInstallDirs)

# Build type
if(NOT CMAKE_CONFIGURATION_TYPES)
    if(NOT CMAKE_BUILD_TYPE)
        set(CMAKE_BUILD_TYPE "Release" CACHE STRING
            "Choose the type of build, recommended options are: Debug or Release" FORCE)
    endif()
    set(SCENARIO_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${SCENARIO_BUILD_TYPES})
endif()

# Expose shared or static compilation
set(SCENARIO_BUILD_SHARED_LIBRARY TRUE
    CACHE BOOL "Compile libraries as shared libraries")
set(BUILD_SHARED_LIBS ${SCENARIO_BUILD_SHARED_LIBRARY})

# Use -fPIC even if statically compiled
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

# Tweak linker flags in Linux
if(UNIX AND NOT APPLE)
    if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
        get_filename_component(LINKER_BIN ${CMAKE_LINKER} NAME)
            if("${LINKER_BIN}" STREQUAL "ld")
                set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--unresolved-symbols=report-all")
            endif()
    endif()
endif()

# Control where binaries and libraries are placed in the build folder.
# This simplifies tests running in Windows.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")

# Get include-what-you-use information when compiling
option(SCENARIO_USE_IWYU "Get the output of include-what-you-use" OFF)
mark_as_advanced(SCENARIO_USE_IWYU)
if(SCENARIO_USE_IWYU)
    find_program(IWYU_PATH NAMES include-what-you-use iwyu)
    if(IWYU_PATH)
        set(CMAKE_CXX_INCLUDE_WHAT_YOU_USE ${IWYU_PATH})
    endif()
endif()

# Settings for RPATH
if(NOT MSVC)
    option(ENABLE_RPATH "Enable RPATH installation" TRUE)
    mark_as_advanced(ENABLE_RPATH)
endif()

# Dependencies
add_subdirectory(deps)

if(${CMAKE_VERSION} VERSION_GREATER 3.15)
    cmake_policy(SET CMP0094 NEW)
endif()

# Enable custom options required to package the CMake project from
# either setup.py or tools like pypa/pip or pypa/build.
set(SCENARIO_CALL_FROM_SETUP_PY FALSE
    CACHE BOOL "Configure the project to be compiled from setuptools")

find_package(SWIG 4.0 QUIET)
option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})

# Find Python only if requested or if SWIG was automatically found
if(SCENARIO_ENABLE_BINDINGS OR SCENARIO_CALL_FROM_SETUP_PY)
    # Find virtualenv's before system's interpreters
    set(Python3_FIND_VIRTUALENV "FIRST" CACHE STRING
        "Configure the detection of virtual environments")
    set(Python3_FIND_VIRTUALENV_TYPES "FIRST" "ONLY" "STANDARD")
    mark_as_advanced(Python3_FIND_VIRTUALENV)
    set_property(CACHE Python3_FIND_VIRTUALENV PROPERTY STRINGS ${Python3_FIND_VIRTUALENV_TYPES})

    # Find Python3
    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
    message(STATUS "Using Python: ${Python3_EXECUTABLE}")
endif()

# Select the appropriate install prefix used throughout the project
set(SCENARIO_INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
set(SCENARIO_INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR})
set(SCENARIO_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR})

# Adjust RPATH dependending on the installation type
if(SCENARIO_ENABLE_BINDINGS AND NOT SCENARIO_CALL_FROM_SETUP_PY)
    # Convert folder separators to CMake style (could be necessary in Windows)
    file(TO_CMAKE_PATH "${Python3_SITELIB}" python3_sitelib_cleaned)

    # Add the libraries installed in the Python site-package folder
    set(EXTRA_RPATH_DIRS
        "${python3_sitelib_cleaned}"
        "${python3_sitelib_cleaned}/scenario/bindings")

    unset(python3_sitelib_cleaned)
else()
    # Add the libraries installed in the Python site-package folder
    # (that in this case is CMAKE_INSTALL_PREFIX)
    set(EXTRA_RPATH_DIRS
        "${CMAKE_INSTALL_PREFIX}"
        "${CMAKE_INSTALL_PREFIX}/scenario/bindings")
endif()

# Configure RPATH
include(AddInstallRPATHSupport)
add_install_rpath_support(
    BIN_DIRS
    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_BINDIR}"
    LIB_DIRS
    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}/scenario/plugins"
    "${EXTRA_RPATH_DIRS}"
    INSTALL_NAME_DIR
    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
    DEPENDS ENABLE_RPATH
    USE_LINK_PATH)

# Find a supported Gazebo distribution
if(NOT GAZEBO_DISTRIBUTION)

    include(FindGazeboDistribution)
    set(SUPPORTED_GAZEBO_DISTRIBUTIONS
        "Garden")

    foreach(distribution IN LISTS SUPPORTED_GAZEBO_DISTRIBUTIONS)

        find_gazebo_distribution(
            CODENAME ${distribution}
            PACKAGES
            gz-sim
            REQUIRED FALSE)

        if(${${distribution}_FOUND})
            message(STATUS "Found Gazebo ${distribution}")

            # Select Gazebo distribution
            set(GAZEBO_DISTRIBUTION "${distribution}" CACHE
                STRING "The Gazebo distribution found in the system")
            set_property(CACHE GAZEBO_DISTRIBUTION PROPERTY
                STRINGS ${SUPPORTED_GAZEBO_DISTRIBUTIONS})

            break()
        endif()

    endforeach()

endif()

if(NOT GAZEBO_DISTRIBUTION OR "${GAZEBO_DISTRIBUTION}" STREQUAL "")
    set(USE_GAZEBO FALSE)
else()
    set(USE_GAZEBO TRUE)
endif()

option(SCENARIO_USE_GAZEBO
       "Build C++ code depending on Gazebo"
       ${USE_GAZEBO})

# Fail if Gazebo is enabled but no compatible distribution was found
if(SCENARIO_USE_GAZEBO AND "${GAZEBO_DISTRIBUTION}" STREQUAL "")
    message(FATAL_ERROR "Failed to find a compatible Gazebo distribution")
endif()

# Alias the Gazebo targets so that we can link against different distributions
if(SCENARIO_USE_GAZEBO)
    include(ImportTargets${GAZEBO_DISTRIBUTION})
endif()

# Helper for exporting targets
include(InstallBasicPackageFiles)

# =========
# SCENARI/O
# =========

add_subdirectory(src)

# ========
# BINDINGS
# ========

# Require to find Gazebo libraries when packaging for PyPI
if(SCENARIO_CALL_FROM_SETUP_PY AND NOT USE_GAZEBO)
    message(FATAL_ERROR "Found no Gazebo distribution for PyPI package")
endif()

if(SCENARIO_ENABLE_BINDINGS)
    add_subdirectory(bindings)
endif()

# Add unistall target
include(AddUninstallTarget)