Enable use of tomlplusplus in bipedal-locomotion-framework if ROBOTOL…

…OGY_ENABLE_DYNAMICS_FULL_DEPS is enabled (#1365)
robotology · Mar 16, 2023 · 3d587be · 3d587be
1 parent 075c873
commit 3d587be
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Showing 6 changed files with 34 additions and 2 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -75,7 +75,7 @@ jobs:
       shell: bash -l {0}
       run: |
         # Dependencies
-        mamba install ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht jpeg libmatio libode libxml2 nlohmann_json pcl vtk "opencv==4.6" portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr "cmake==3.25" compilers make ninja pkg-config
+        mamba install ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht jpeg libmatio libode libxml2 nlohmann_json pcl vtk "opencv==4.6" portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr "cmake==3.25" compilers make ninja pkg-config tomlplusplus
         # Python 
         mamba install python numpy swig pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython
 

diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -37,6 +37,11 @@ if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
     find_or_build_package(qhull QUIET)
     list(APPEND bipedal-locomotion-framework_DEPENDS qhull)
   endif()
+
+  if (ROBOTOLOGY_BUILD_tomlplusplus)
+    find_or_build_package(tomlplusplus QUIET)
+    list(APPEND bipedal-locomotion-framework_DEPENDS tomlplusplus)
+  endif()
 endif()
 
 # For what regards Python installation, the options changes depending
@@ -73,6 +78,7 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
                          -DFRAMEWORK_USE_cppad:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_LieGroupControllers:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
+                         -DFRAMEWORK_USE_tomlplusplus:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}
                          ${bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS}
               DEPENDS ${bipedal-locomotion-framework_DEPENDS})

diff --git a/cmake/Buildtomlplusplus.cmake b/cmake/Buildtomlplusplus.cmake
@@ -0,0 +1,15 @@
+# Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+
+ycm_ep_helper(tomlplusplus
+              TYPE GIT
+              STYLE GITHUB
+              REPOSITORY marzer/tomlplusplus.git
+              TAG master
+              COMPONENT core
+              FOLDER src)
+
+set(tomlplusplus_CONDA_PKG_NAME tomlplusplus)
+set(tomlplusplu_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
@@ -29,6 +29,13 @@ else()
   endif()
 endif()
 
+# On conda-forge we get tomlplusplus from conda-forge, otherwise we build it
+if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
+  set(ROBOTOLOGY_BUILD_tomlplusplus OFF)
+else()
+  set(ROBOTOLOGY_BUILD_tomlplusplus ON)
+endif()
+
 # Core
 if(ROBOTOLOGY_ENABLE_CORE)
   find_or_build_package(YARP)

diff --git a/doc/conda-forge.md b/doc/conda-forge.md
@@ -111,7 +111,7 @@ of the robotology-superbuild.**
 
 Once you activated it, you can install packages in it. In particular the dependencies for the robotology-superbuild can be installed as:
 ~~~
-mamba install -c conda-forge ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht jpeg libmatio libode libxml2 nlohmann_json pcl "opencv<=4.6" portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr qhull "cmake<=3.25" compilers make ninja pkg-config
+mamba install -c conda-forge ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht jpeg libmatio libode libxml2 nlohmann_json pcl "opencv<=4.6" portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr qhull "cmake<=3.25" compilers make ninja pkg-config tomlplusplus
 ~~~
 
 If you are on **Linux**, you also need to install also the following packages:

diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
@@ -243,3 +243,7 @@ repositories:
     type: git
     url: https://github.com/robotology/find-superquadric.git
     version: v1.1.0
+  tomlplusplus:
+    type: git
+    url: https://github.com/marzer/tomlplusplus.git
+    version: v3.3.0