CMakeLists.txt

#
# Authors: Nicolas Docquier, Nicolas Van der Noot, Timothee Habra
# September 2015
#
# CMake for a simple pour C robotran project 
#

# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                       PROJECT MAIN CONFIGURATIONS
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

# CMake minimum version
cmake_minimum_required(VERSION 2.8.7)

# project name
project (projectRobotran)

# project configuration
set( CMAKE_C_FLAGS_RELEASE   "-O3" )
set( CMAKE_CXX_FLAGS_RELEASE "-O3" )

# Variable for storing the path to Robotran common files (should be adapted depending on the location of those source)
set(TRIAL_PATHS_MBSYSC
	${PROJECT_SOURCE_DIR}/../mbsysCopy
)
find_path(ROBOTRAN_SOURCE_DIR mbs_common ${TRIAL_PATHS_MBSYSC} DOC "Path to the Robotran-MBsysC common files")

# message to display the project name
message(STATUS "Processing ${PROJECT_NAME}")
message("MBsysC path: ${ROBOTRAN_SOURCE_DIR}")

# for Unix: display all the warnings, except the ones related to /* -- */, to unused variables and to unknown warnings
if (UNIX)
	set( CMAKE_C_FLAGS "-g -Wall -Wno-unused-but-set-variable -Wno-unused-variable -Wno-comment -Wno-unknown-warning-option" )
endif ( )


# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                         Windows libraries
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

if (WIN32)

	# avoid warnings
	if(COMMAND cmake_policy)
		cmake_policy(SET CMP0054 NEW)
	endif()

	# Visual studio version
	if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
		if (${CMAKE_CXX_COMPILER_VERSION} VERSION_LESS 18.0)
			message("Visual Studio version set to VS2012 (${CMAKE_CXX_COMPILER_VERSION})")
			set(MSVC_VERSION lib-vc2012)
		elseif (${CMAKE_CXX_COMPILER_VERSION} VERSION_LESS 19.0)
			message("Visual Studio version set to VS2013 (${CMAKE_CXX_COMPILER_VERSION})")
			set(MSVC_VERSION lib-vc2013)
		else ( )
			message("Visual Studio version set to VS2015 (${CMAKE_CXX_COMPILER_VERSION})")
			set(MSVC_VERSION lib-vc2015)
		endif ( )
	else ( )
		message(FATAL_ERROR "CMake error: only Visual Studio projects can currently be used on Windows !")
	endif ( )

	## --- WIN32 or WIN64 DETECTION --- ##
	if( CMAKE_SIZEOF_VOID_P EQUAL 8 )   # 64bit Windows
		SET(WIN_LIB_DIRECTORY win64_include_lib)
	else( )  # 32bit Windows
		SET(WIN_LIB_DIRECTORY win32_include_lib)
	endif( )

	## ---- WINDOWS DLL FILES ---- ##

	# copy all the dll (except 'jvm.dll') used for Windows
	# these dll files are copied in the Executable directory (Debug or Release)
	file(COPY ${ROBOTRAN_SOURCE_DIR}/${WIN_LIB_DIRECTORY}/dll/ DESTINATION ${CMAKE_BINARY_DIR}/Debug)
	file(COPY ${ROBOTRAN_SOURCE_DIR}/${WIN_LIB_DIRECTORY}/dll/ DESTINATION ${CMAKE_BINARY_DIR}/Release)

	# GLFW
	file(COPY ${ROBOTRAN_SOURCE_DIR}/${WIN_LIB_DIRECTORY}/dll/GLFW/${MSVC_VERSION}/ DESTINATION ${CMAKE_BINARY_DIR}/Debug)
	file(COPY ${ROBOTRAN_SOURCE_DIR}/${WIN_LIB_DIRECTORY}/dll/GLFW/${MSVC_VERSION}/ DESTINATION ${CMAKE_BINARY_DIR}/Release)
endif ( )

# install prefix
set(CMAKE_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/Debug)

# find libraries paths
set(CMAKE_MODULE_PATH ${ROBOTRAN_SOURCE_DIR}/conf)

# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                         Additional CMakelists.txt
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

# additional CMake functions
set(CMAKE_AUX ${ROBOTRAN_SOURCE_DIR}/cmake_aux)
set(CMAKE_AUX_BIN ${PROJECT_BINARY_DIR}/cmake_aux)

add_subdirectory ( ${CMAKE_AUX}/flags/     ${CMAKE_AUX_BIN}/flags/     )
add_subdirectory ( ${CMAKE_AUX}/listing/   ${CMAKE_AUX_BIN}/listing/   )
add_subdirectory ( ${CMAKE_AUX}/libraries/ ${CMAKE_AUX_BIN}/libraries/ )
add_subdirectory ( ${CMAKE_AUX}/make_opt/  ${CMAKE_AUX_BIN}/make_opt/  )


set (FLAG_SEPARATE_BUILD OFF)
set (FLAG_SEPARATE_SYMBOLIC OFF)
set (FLAG_SEPARATE_USER_FCT OFF)


option (FLAG_REAL_TIME "Real time" ON)
option (FLAG_PLOT "Plot and interact" ON)
option (FLAG_VISU "Visualization" ON)

# Java vs OpenGL
option (FLAG_JAVA "Visualization" OFF)
option (FLAG_OPEN_GL "Visualization" ON)

# CMake functions
release_debug()
make_options()

# MBsysC files to compile
if (NOT FLAG_SEPARATE_BUILD)
	add_subdirectory( ${ROBOTRAN_SOURCE_DIR}/mbs_common ${CMAKE_CURRENT_BINARY_DIR}/mbs_common )
	flags_check()
	definitions()
endif ( )

# debug or release
if( CMAKE_BUILD_TYPE MATCHES "Debug" )
	add_definitions( -DDEBUG_VERSION )
	message(STATUS "Debug version !")
endif( )

# Windows M_PI definitions
if (WIN32)
	add_definitions(-D _USE_MATH_DEFINES)
endif (WIN32)

# simulatin definition
add_definitions( -D SIMU_PROJECT )


# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                           USER ABSOLUTE PATHS
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

# name of the build folder (relative to main CMakelists.txt)
set(BUILD_PATH ${PROJECT_BINARY_DIR})
file(RELATIVE_PATH BUILD_PATH_REL ${PROJECT_SOURCE_DIR} ${PROJECT_BINARY_DIR})

# configure a header file to pass some of the CMake settings to the source code
configure_file (
	"${ROBOTRAN_SOURCE_DIR}/conf/cmake_config.h.in"
	"${PROJECT_BINARY_DIR}/conf/cmake_config.h"
)
# 'cmake_config.h.in' is in the 'conf' folder
include_directories (${PROJECT_BINARY_DIR}/conf)


# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                           LIST FILES
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 
# list source files to compile
init_src()

increment_src( ${PROJECT_SOURCE_DIR}/src )
#increment_src( ${PROJECT_SOURCE_DIR}/../userfctR )
#increment_src( ${PROJECT_SOURCE_DIR}/../userFiles )
#
#if (NOT FLAG_SEPARATE_SYMBOLIC)
#	increment_src( ${PROJECT_SOURCE_DIR}/../symbolicR )
#endif ( )

#increment_void_symbolic( symbolicR )


# list include directories (to find headers)
init_include()

increment_include( ${PROJECT_SOURCE_DIR}/src )
increment_include( ${PROJECT_SOURCE_DIR}/../userfctR )
increment_include( ${PROJECT_SOURCE_DIR}/../userFiles )
increment_include( ${PROJECT_SOURCE_DIR}/../symbolicR )
increment_include( ${ROBOTRAN_SOURCE_DIR}/mbs_common )

# SDL.h header
if (FLAG_PLOT)
	sdl_header_lib(project)
endif ( )


# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                         EXECUTABLE COMPILATION
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

# include these directories
include_directories (${INCLUDE_DIR})

# name of the executable
set ( Executable exe_${PROJECT_NAME} )

# generate the executable
add_executable ( ${Executable} ${SOURCE_FILES} )


# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
#                         EXECUTABLE LINKING
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

flags_clean()

if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries

	find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
	find_package( LibRobotranC REQUIRED )
	target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
	add_definitions(${LIB_MBSYSC_DEFINITIONS})

	# user function and symbolic libraries
	target_link_libraries ( ${Executable} Project_userfct )

	if ( FLAG_SEPARATE_SYMBOLIC )
		target_link_libraries ( ${Executable} ${LIB_SYMBOLIC} )
	endif ( )

	if (WIN32)

		## ---- WINDOWS DLL FILES ---- ##

		# copy all the dll used for Windows
		# these dll files are copied in the Executable directory (Debug)
		file(COPY ${ROBOTRAN_SOURCE_DIR}\\build\\mbs_module\\Debug\\MBsysC_module.dll DESTINATION ${CMAKE_BINARY_DIR}\\Debug)
		file(COPY ${ROBOTRAN_SOURCE_DIR}\\build\\mbs_load_xml\\Debug\\MBsysC_loadXML.dll DESTINATION ${CMAKE_BINARY_DIR}\\Debug)
		file(COPY ${ROBOTRAN_SOURCE_DIR}\\build\\mbs_utilities\\Debug\\MBsysC_utilities.dll DESTINATION ${CMAKE_BINARY_DIR}\\Debug)
		file(COPY ${ROBOTRAN_SOURCE_DIR}\\build\\mbs_realtime\\Debug\\MBsysC_realtime.dll DESTINATION ${CMAKE_BINARY_DIR}\\Debug)
	endif ( )

else ( ) 

	target_link_libraries( ${Executable} MBsysC_loadXML MBsysC_module )

	if (NOT FLAG_SHARED_LIB)  

		# find MBSysC static libraries
		target_link_libraries( ${Executable} MBsysC_struct MBsysC_numerics MBsysC_realtime MBsysC_utilities )

		# user function and symbolic libraries
		target_link_libraries ( ${Executable} Project_userfct )
		target_link_libraries ( ${Executable} Project_symbolic )

		#Libxml2 and GSL external libraries
		target_link_libraries ( ${Executable} ${LIBXML2_LIBRARIES} ${GSL_LIBRARIES} )
		
		# SDL external library
		if (FLAG_PLOT)
			target_link_libraries ( ${Executable} ${SDL2_LIBRARIES} ${SDL2TTF_LIBRARIES} )
		endif ( )
		
		# Java external library
		if (FLAG_VISU)
			target_link_libraries ( ${Executable} ${JNI_LIBRARIES} )
		endif ( )

		add_definitions( -D MBSYSC_MODULE_STATIC_DEFINE )
		
	endif ( )

endif ( )

# include MBsysC directories
include_directories(${LIB_MBSYSC_INCLUDE_DIRS})

# symbolic files
if ( FLAG_SEPARATE_SYMBOLIC )
	file(COPY ${PROJECT_SOURCE_DIR}/../symbolicR/build/libProject_symbolic.so DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/symbolicR)
else ( )
	add_subdirectory( ${PROJECT_SOURCE_DIR}/../symbolicR ${CMAKE_CURRENT_BINARY_DIR}/symbolicR)
endif ( )

# user fonction files
if ( FLAG_SEPARATE_USER_FCT )
	file(COPY ${PROJECT_SOURCE_DIR}/../userfctR/build/libProject_userfct.so DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/userfctR)
else ( )
	add_subdirectory( ${PROJECT_SOURCE_DIR}/../userfctR ${CMAKE_CURRENT_BINARY_DIR}/userfctR)
endif ( )

# dynamic linking library
if (UNIX)
	target_link_libraries ( ${Executable} dl )
endif ( )

# math external library (for Unix)
if (UNIX)
	target_link_libraries ( ${Executable} m )
endif ( )