Add C++ examples to main build

roboticslab-uc3m/questions-and-answers#92
roboticslab-uc3m · Feb 15, 2021 · 8dbd67f · 8dbd67f
1 parent 98f9e37
commit 8dbd67f
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Showing 23 changed files with 70 additions and 68 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -131,27 +131,11 @@ install:
 
 before_script:
   - mkdir -p "$TRAVIS_BUILD_DIR/build" && cd "$_"
-  - cmake .. -DCMAKE_INSTALL_PREFIX="$PWD/install" -DENABLE_coverage:BOOL=ON
+  - cmake .. -DCMAKE_INSTALL_PREFIX="$PWD/install" -DENABLE_coverage:BOOL=ON -DENABLE_examples:BOOL=ON
   - make install
 
   - export LD_LIBRARY_PATH=$PWD/install/lib:$LD_LIBRARY_PATH
   - export YARP_DATA_DIRS=$PWD/install/share/roboticslab-yarp-devices:$YARP_DATA_DIRS
-  - export CMAKE_PREFIX_PATH="$PWD/install/lib/cmake/ROBOTICSLAB_YARP_DEVICES:$CMAKE_PREFIX_PATH"
-
-  - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleJr3" && cd "$_"
-  - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleJr3" && make
-
-  - mkdir -p "$TRAVIS_BUILD_DIR/build/examplePositionDirect" && cd "$_"
-  - cmake "$TRAVIS_BUILD_DIR/examples/cpp/examplePositionDirect" && make
-
-  - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleRemoteControlboard" && cd "$_"
-  - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleRemoteControlboard" && make
-
-  - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleRemoteControlboardModule" && cd "$_"
-  - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleRemoteControlboardModule" && make
-
-  - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleRemoteJr3" && cd "$_"
-  - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleRemoteJr3" && make
 
 script:
   - cd "$TRAVIS_BUILD_DIR/build/tests" && ctest -V

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -86,6 +86,7 @@ add_subdirectory(programs)
 add_subdirectory(tests)
 add_subdirectory(share)
 add_subdirectory(doc)
+add_subdirectory(examples/cpp)
 
 # Store the package in the user registry.
 set(CMAKE_EXPORT_PACKAGE_REGISTRY ON)

diff --git a/examples/cpp/CMakeLists.txt b/examples/cpp/CMakeLists.txt
@@ -0,0 +1,9 @@
+option(ENABLE_examples "Enable/disable C++ examples" OFF)
+
+if(ENABLE_examples)
+    add_subdirectory(exampleJr3)
+    add_subdirectory(examplePositionDirect)
+    add_subdirectory(exampleRemoteControlboard)
+    add_subdirectory(exampleRemoteControlboardModule)
+    add_subdirectory(exampleRemoteJr3)
+endif()
diff --git a/examples/cpp/exampleJr3/CMakeLists.txt b/examples/cpp/exampleJr3/CMakeLists.txt
@@ -2,16 +2,13 @@ cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
 project(exampleJr3 LANGUAGES CXX)
 
-find_package(YARP 3.2 REQUIRED COMPONENTS os dev sig)
+if(NOT YARP_FOUND)
+    find_package(YARP 3.3 REQUIRED COMPONENTS os dev sig)
+endif()
 
 add_executable(exampleJr3 exampleJr3.cpp)
 
 target_link_libraries(exampleJr3 YARP::YARP_os
                                  YARP::YARP_init
                                  YARP::YARP_dev
                                  YARP::YARP_sig)
-
-include(GNUInstallDirs)
-
-install(TARGETS exampleJr3
-        DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/examples/cpp/examplePositionDirect/CMakeLists.txt b/examples/cpp/examplePositionDirect/CMakeLists.txt
@@ -2,8 +2,11 @@ cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
 project(examplePositionDirect LANGUAGES CXX)
 
+if(NOT YARP_FOUND)
+    find_package(YARP 3.3 REQUIRED COMPONENTS os dev)
+endif()
+
 find_package(COLOR_DEBUG REQUIRED)
-find_package(YARP 3.2 REQUIRED COMPONENTS os dev)
 
 add_executable(examplePositionDirect examplePositionDirect.cpp)
 

diff --git a/examples/cpp/exampleRemoteControlboard/CMakeLists.txt b/examples/cpp/exampleRemoteControlboard/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
 project(exampleRemoteControlboard LANGUAGES CXX)
 
-find_package(YARP 3.2 REQUIRED COMPONENTS os dev)
+if(NOT YARP_FOUND)
+    find_package(YARP 3.3 REQUIRED COMPONENTS os dev)
+endif()
 
 add_executable(exampleRemoteControlboard exampleRemoteControlboard.cpp)
 

diff --git a/examples/cpp/exampleRemoteControlboardModule/CMakeLists.txt b/examples/cpp/exampleRemoteControlboardModule/CMakeLists.txt
@@ -1,18 +1,15 @@
 cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
-project(exampleRemoteControlboard LANGUAGES CXX)
+project(exampleRemoteControlboardModule LANGUAGES CXX)
 
-find_package(YARP 3.2 REQUIRED COMPONENTS os dev)
+if(NOT YARP_FOUND)
+    find_package(YARP 3.3 REQUIRED COMPONENTS os dev)
+endif()
 
-add_executable(exampleRemoteControlboard main.cpp
-                                         ExampleRemoteControlboard.cpp
-                                         ExampleRemoteControlboard.hpp)
+add_executable(exampleRemoteControlboardModule main.cpp
+                                               ExampleRemoteControlboard.cpp
+                                               ExampleRemoteControlboard.hpp)
 
-target_link_libraries(exampleRemoteControlboard YARP::YARP_os
-                                                YARP::YARP_init
-                                                YARP::YARP_dev)
-
-include(GNUInstallDirs)
-
-install(TARGETS exampleRemoteControlboard
-        DESTINATION ${CMAKE_INSTALL_BINDIR})
+target_link_libraries(exampleRemoteControlboardModule YARP::YARP_os
+                                                      YARP::YARP_init
+                                                      YARP::YARP_dev)
diff --git a/examples/cpp/exampleRemoteJr3/CMakeLists.txt b/examples/cpp/exampleRemoteJr3/CMakeLists.txt
@@ -2,16 +2,13 @@ cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
 project(exampleRemoteJr3 LANGUAGES CXX)
 
-find_package(YARP 3.2 REQUIRED COMPONENTS os dev sig)
+if(NOT YARP_FOUND)
+    find_package(YARP 3.3 REQUIRED COMPONENTS os dev sig)
+endif()
 
 add_executable(exampleRemoteJr3 exampleRemoteJr3.cpp)
 
 target_link_libraries(exampleRemoteJr3 YARP::YARP_os
                                        YARP::YARP_init
                                        YARP::YARP_dev
                                        YARP::YARP_sig)
-
-include(GNUInstallDirs)
-
-install(TARGETS exampleRemoteJr3
-        DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/libraries/CanBusSharerLib/CMakeLists.txt b/libraries/CanBusSharerLib/CMakeLists.txt
@@ -27,6 +27,8 @@ if(ENABLE_CanBusSharerLib)
             RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
             PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
+    add_library(ROBOTICSLAB::CanBusSharerLib ALIAS CanBusSharerLib)
+
 else()
 
     set(ENABLE_CanBusSharerLib OFF CACHE BOOL "Enable/disable CanBusSharerLib library" FORCE)

diff --git a/libraries/CanOpenNodeLib/CMakeLists.txt b/libraries/CanOpenNodeLib/CMakeLists.txt
@@ -34,8 +34,8 @@ if(ENABLE_CanOpenNodeLib)
             "USE_NONSTD_OPTIONAL;optional_CONFIG_NO_EXCEPTIONS=1")
     endif()
 
-    target_link_libraries(CanOpenNodeLib PUBLIC CanBusSharerLib
-                                                StateObserverLib
+    target_link_libraries(CanOpenNodeLib PUBLIC ROBOTICSLAB::CanBusSharerLib
+                                                ROBOTICSLAB::StateObserverLib
                                          PRIVATE ROBOTICSLAB::ColorDebug)
 
     target_include_directories(CanOpenNodeLib PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
@@ -50,6 +50,8 @@ if(ENABLE_CanOpenNodeLib)
             RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
             PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
+    add_library(ROBOTICSLAB::CanOpenNodeLib ALIAS CanOpenNodeLib)
+
 else()
 
     set(ENABLE_CanOpenNodeLib OFF CACHE BOOL "Enable/disable CanOpenNodeLib library" FORCE)

diff --git a/libraries/DextraRawControlboardLib/CMakeLists.txt b/libraries/DextraRawControlboardLib/CMakeLists.txt
@@ -24,6 +24,8 @@ if(ENABLE_DextraRawControlboardLib)
             ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
             RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 
+    add_library(ROBOTICSLAB::DextraRawControlboardLib ALIAS DextraRawControlboardLib)
+
 else()
 
     set(ENABLE_DextraRawControlboardLib OFF CACHE BOOL "Enable/disable DextraRawControlboardLib library" FORCE)

diff --git a/libraries/StateObserverLib/CMakeLists.txt b/libraries/StateObserverLib/CMakeLists.txt
@@ -19,6 +19,8 @@ if(ENABLE_StateObserverLib)
             RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
             PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
+    add_library(ROBOTICSLAB::StateObserverLib ALIAS StateObserverLib)
+
 else()
 
     set(ENABLE_StateObserverLib OFF CACHE BOOL "Enable/disable StateObserverLib library" FORCE)

diff --git a/libraries/YarpDeviceMapperLib/CMakeLists.txt b/libraries/YarpDeviceMapperLib/CMakeLists.txt
@@ -21,6 +21,8 @@ if(ENABLE_YarpDeviceMapperLib)
             ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
             RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 
+    add_library(ROBOTICSLAB::YarpDeviceMapperLib ALIAS YarpDeviceMapperLib)
+
 else()
 
     set(ENABLE_YarpDeviceMapperLib OFF CACHE BOOL "Enable/disable YarpDeviceMapperLib library" FORCE)

diff --git a/libraries/YarpPlugins/CMakeLists.txt b/libraries/YarpPlugins/CMakeLists.txt
@@ -18,6 +18,8 @@ install(FILES IProximitySensors.h
 install(TARGETS YarpDevicesInterfaces
         EXPORT ROBOTICSLAB_YARP_DEVICES)
 
+add_library(ROBOTICSLAB::YarpDevicesInterfaces ALIAS YarpDevicesInterfaces)
+
 # YARP devices.
 add_subdirectory(AmorControlboard)
 add_subdirectory(AravisGigE)

diff --git a/libraries/YarpPlugins/CanBusControlboard/CMakeLists.txt b/libraries/YarpPlugins/CanBusControlboard/CMakeLists.txt
@@ -50,9 +50,9 @@ if(NOT SKIP_CanBusControlboard)
     target_link_libraries(CanBusControlboard YARP::YARP_os
                                              YARP::YARP_dev
                                              ROBOTICSLAB::ColorDebug
-                                             CanBusSharerLib
-                                             CanOpenNodeLib
-                                             YarpDeviceMapperLib)
+                                             ROBOTICSLAB::CanBusSharerLib
+                                             ROBOTICSLAB::CanOpenNodeLib
+                                             ROBOTICSLAB::YarpDeviceMapperLib)
 
     target_compile_features(CanBusControlboard PRIVATE cxx_std_14)
 

diff --git a/libraries/YarpPlugins/CuiAbsolute/CMakeLists.txt b/libraries/YarpPlugins/CuiAbsolute/CMakeLists.txt
@@ -24,8 +24,8 @@ if(NOT SKIP_CuiAbsolute)
     target_link_libraries(CuiAbsolute YARP::YARP_os
                                       YARP::YARP_dev
                                       ROBOTICSLAB::ColorDebug
-                                      CanBusSharerLib
-                                      StateObserverLib)
+                                      ROBOTICSLAB::CanBusSharerLib
+                                      ROBOTICSLAB::StateObserverLib)
 
     target_compile_features(CuiAbsolute PRIVATE cxx_std_11)
 

diff --git a/libraries/YarpPlugins/DextraCanControlboard/CMakeLists.txt b/libraries/YarpPlugins/DextraCanControlboard/CMakeLists.txt
@@ -20,11 +20,11 @@ if(NOT SKIP_DextraCanControlboard)
                                           ICanBusSharerImpl.cpp
                                           CanSynapse.cpp)
 
-    target_link_libraries(DextraCanControlboard DextraRawControlboardLib
+    target_link_libraries(DextraCanControlboard ROBOTICSLAB::DextraRawControlboardLib
                                                 YARP::YARP_os
                                                 YARP::YARP_dev
                                                 ROBOTICSLAB::ColorDebug
-                                                CanBusSharerLib)
+                                                ROBOTICSLAB::CanBusSharerLib)
 
     target_compile_features(DextraCanControlboard PRIVATE cxx_std_11)
 

diff --git a/libraries/YarpPlugins/DextraSerialControlboard/CMakeLists.txt b/libraries/YarpPlugins/DextraSerialControlboard/CMakeLists.txt
@@ -20,7 +20,7 @@ if(NOT SKIP_DextraSerialControlboard)
                                              DeviceDriverImpl.cpp
                                              SerialSynapse.cpp)
 
-    target_link_libraries(DextraSerialControlboard DextraRawControlboardLib
+    target_link_libraries(DextraSerialControlboard ROBOTICSLAB::DextraRawControlboardLib
                                                    YARP::YARP_os
                                                    YARP::YARP_dev
                                                    ROBOTICSLAB::ColorDebug)

diff --git a/libraries/YarpPlugins/FakeJoint/CMakeLists.txt b/libraries/YarpPlugins/FakeJoint/CMakeLists.txt
@@ -19,7 +19,7 @@ if(NOT SKIP_FakeJoint)
                               FakeJoint.cpp)
 
     target_link_libraries(FakeJoint YARP::YARP_dev
-                                    CanBusSharerLib)
+                                    ROBOTICSLAB::CanBusSharerLib)
 
     target_compile_features(FakeJoint PUBLIC cxx_std_11)
 

diff --git a/libraries/YarpPlugins/LacqueyFetch/CMakeLists.txt b/libraries/YarpPlugins/LacqueyFetch/CMakeLists.txt
@@ -24,7 +24,7 @@ if(NOT SKIP_LacqueyFetch)
     target_link_libraries(LacqueyFetch YARP::YARP_os
                                        YARP::YARP_dev
                                        ROBOTICSLAB::ColorDebug
-                                       CanBusSharerLib)
+                                       ROBOTICSLAB::CanBusSharerLib)
 
     target_compile_features(LacqueyFetch PUBLIC cxx_std_11)
 

diff --git a/libraries/YarpPlugins/ProximitySensorsClient/CMakeLists.txt b/libraries/YarpPlugins/ProximitySensorsClient/CMakeLists.txt
@@ -21,7 +21,7 @@ if(NOT SKIP_ProximitySensorsClient)
     target_link_libraries(ProximitySensorsClient YARP::YARP_os
                                                  YARP::YARP_dev
                                                  ROBOTICSLAB::ColorDebug
-                                                 YarpDevicesInterfaces)
+                                                 ROBOTICSLAB::YarpDevicesInterfaces)
 
     yarp_install(TARGETS ProximitySensorsClient
                  LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}

diff --git a/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt b/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt
@@ -40,9 +40,9 @@ if(NOT SKIP_TechnosoftIpos)
     target_link_libraries(TechnosoftIpos YARP::YARP_os
                                          YARP::YARP_dev
                                          ROBOTICSLAB::ColorDebug
-                                         CanBusSharerLib
-                                         StateObserverLib
-                                         CanOpenNodeLib)
+                                         ROBOTICSLAB::CanBusSharerLib
+                                         ROBOTICSLAB::StateObserverLib
+                                         ROBOTICSLAB::CanOpenNodeLib)
 
     target_compile_features(TechnosoftIpos PUBLIC cxx_std_14)
 

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -19,34 +19,34 @@ if(ENABLE_tests)
 
     # testCanBusSharerLib
 
-    if(TARGET CanBusSharerLib)
+    if(ENABLE_CanBusSharerLib)
         add_executable(testCanBusSharerLib testCanBusSharerLib.cpp)
-        target_link_libraries(testCanBusSharerLib CanBusSharerLib gtest_main)
+        target_link_libraries(testCanBusSharerLib ROBOTICSLAB::CanBusSharerLib gtest_main)
         gtest_discover_tests(testCanBusSharerLib)
     endif()
 
     # testStateObserverLib
 
-    if(TARGET StateObserverLib)
+    if(ENABLE_StateObserverLib)
         add_executable(testStateObserverLib testStateObserverLib.cpp)
-        target_link_libraries(testStateObserverLib StateObserverLib FutureObserverLib gtest_main)
+        target_link_libraries(testStateObserverLib ROBOTICSLAB::StateObserverLib FutureObserverLib gtest_main)
         gtest_discover_tests(testStateObserverLib)
     endif()
 
     # testCanOpenNodeLib
 
-    if(TARGET CanOpenNodeLib)
+    if(ENABLE_CanOpenNodeLib)
         add_executable(testCanOpenNodeLib testCanOpenNodeLib.cpp)
-        target_link_libraries(testCanOpenNodeLib CanOpenNodeLib FutureObserverLib gtest_main)
+        target_link_libraries(testCanOpenNodeLib ROBOTICSLAB::CanOpenNodeLib FutureObserverLib gtest_main)
         target_compile_features(testCanOpenNodeLib PUBLIC cxx_std_14)
         gtest_discover_tests(testCanOpenNodeLib)
     endif()
 
     # testYarpDeviceMapperLib
 
-    if(TARGET YarpDeviceMapperLib)
+    if(ENABLE_YarpDeviceMapperLib)
         add_executable(testYarpDeviceMapperLib testYarpDeviceMapperLib.cpp)
-        target_link_libraries(testYarpDeviceMapperLib YarpDeviceMapperLib YARP::YARP_dev gtest_main)
+        target_link_libraries(testYarpDeviceMapperLib ROBOTICSLAB::YarpDeviceMapperLib YARP::YARP_dev gtest_main)
         target_compile_features(testYarpDeviceMapperLib PUBLIC cxx_std_14)
         gtest_discover_tests(testYarpDeviceMapperLib)
     endif()