Place YARP-related lines in root CMakeLists.txt

roboticslab-uc3m/questions-and-answers#54
roboticslab-uc3m · Mar 23, 2018 · 5aaa3e9 · 5aaa3e9
1 parent 9bc689c
commit 5aaa3e9
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Showing 8 changed files with 17 additions and 23 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -82,14 +82,27 @@ set_property(GLOBAL PROPERTY ROBOTICSLAB_KINEMATICS_DYNAMICS_TARGETS)
 # Create targets if specific requirements are satisfied.
 include(CMakeDependentOption)
 
+# Find YARP (main dependency).
+find_package(YARP REQUIRED)
+
+# Load YARP modules.
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
+    include(YarpPlugin)
+    include(YarpInstallationHelpers)
+endif()
+
+# Configure installation paths for YARP resources.
+yarp_configure_external_installation(roboticslab-kinematics-dynamics)
+
 # Dependency-related tweaks.
 set(_target_kdl_version 1.4)
 
 # Add main contents.
-add_subdirectory(share)
 add_subdirectory(libraries)
 add_subdirectory(programs)
 add_subdirectory(tests)
+add_subdirectory(share)
 
 # Store the package in the user registry.
 export(PACKAGE ROBOTICSLAB_KINEMATICS_DYNAMICS)

diff --git a/libraries/YarpPlugins/CMakeLists.txt b/libraries/YarpPlugins/CMakeLists.txt
@@ -1,12 +1,7 @@
 # Copyright: (C) 2013 Universidad Carlos III de Madrid
 # Authors: Juan G. Victores
 
-# Find YARP (common dependency for all devices).
-find_package(YARP REQUIRED)
-
 if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
-    list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
-    include(YarpPlugin)
     include_directories(${YARP_INCLUDE_DIRS})
 endif()
 

diff --git a/libraries/YarpTinyMathLib/CMakeLists.txt b/libraries/YarpTinyMathLib/CMakeLists.txt
@@ -1,5 +1,3 @@
-find_package(YARP QUIET) # populate YARP_HAS_MATH_LIB variable
-
 if(NOT YARP_HAS_MATH_LIB AND (NOT DEFINED ENABLE_YarpTinyMathLib OR ENABLE_YarpTinyMathLib))
     message(WARNING "YARP math lib not found, disabling YarpTinyMathLib")
 endif()

diff --git a/programs/keyboardController/CMakeLists.txt b/programs/keyboardController/CMakeLists.txt
@@ -3,11 +3,10 @@ cmake_dependent_option(ENABLE_keyboardController "Enable/disable keyboardControl
 
 if(ENABLE_keyboardController)
 
-# Find YARP.
-find_package(YARP REQUIRED)
-
 # Include any directories needed for this target.
-include_directories(${YARP_INCLUDE_DIRS})
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    include_directories(${YARP_INCLUDE_DIRS})
+endif()
 
 # Set up our main executable.
 add_executable(keyboardController main.cpp

diff --git a/programs/streamingDeviceController/CMakeLists.txt b/programs/streamingDeviceController/CMakeLists.txt
@@ -9,8 +9,6 @@ cmake_dependent_option(ENABLE_streamingDeviceController "Enable/disable streamin
 
 if(ENABLE_streamingDeviceController)
 
-    find_package(YARP REQUIRED)
-
     find_package(ROBOTICSLAB_YARP_DEVICES QUIET)
 
     # Include any directories needed for this target.

diff --git a/programs/transCoords/CMakeLists.txt b/programs/transCoords/CMakeLists.txt
@@ -9,8 +9,6 @@ cmake_dependent_option(ENABLE_transCoords "Enable/disable transCoords program" O
 
 if(ENABLE_transCoords)
 
-    find_package(YARP REQUIRED)
-
     # Include any directories needed for this target.
     include_directories(${YARP_INCLUDE_DIRS}
                         ${orocos_kdl_INCLUDE_DIRS})

diff --git a/share/CMakeLists.txt b/share/CMakeLists.txt
@@ -2,11 +2,6 @@
 # Author: Juan G Victores
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
-find_package(YARP REQUIRED)
-list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
-include(YarpInstallationHelpers)
-yarp_configure_external_installation(roboticslab-kinematics-dynamics)
-
 yarp_install(FILES ymanager.ini
              DESTINATION ${ROBOTICSLAB-KINEMATICS-DYNAMICS_DATA_INSTALL_DIR})
 

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -9,8 +9,6 @@ cmake_dependent_option(ENABLE_tests "Enable/disable unit tests" ON
 
 if(ENABLE_tests)
 
-    find_package(YARP REQUIRED)
-
     add_subdirectory(${GTestSources_SOURCE_DIR} ${CMAKE_BINARY_DIR}/gtest)
 
     include_directories(${GTestSources_INCLUDE_DIR}