[cmake/compile_robot_model.cmake] fix dependency add_custom_depend ne…

…ed to DEPEND to other target
start-jsk · Apr 25, 2015 · 4b0f136 · 4b0f136
1 parent 2a5c0e5
commit 4b0f136
Showing 1 changed file with 25 additions and 22 deletions.
diff --git a/hrpsys_ros_bridge/cmake/compile_robot_model.cmake b/hrpsys_ros_bridge/cmake/compile_robot_model.cmake
@@ -105,24 +105,34 @@ macro(compile_openhrp_model wrlfile)
   #message(STATUS "Found ${_collada_to_urdf_exe}")
   #message(STATUS "Found ${_controller_config_converter}")
 
+  # output collada (wrl -> collada )
+  if(EXISTS ${_wrlfile})
+    add_custom_command(OUTPUT ${_daefile}
+      COMMAND ${_export_collada_exe} -i ${_wrlfile} -o ${_daefile} ${_export_collada_option}
+      DEPENDS ${_wrlfile} ${_export_collada_exe})
+  endif()
+  add_custom_target(${_sname}_${PROJECT_NAME}_compile_dae DEPENDS ${_daefile})
+  list(APPEND ${_sname}_${PROJECT_NAME}_compile_all_target ${_sname}_${PROJECT_NAME}_compile_dae)
+
+  # output urdf files (collada -> urdf)
+  set(_mesh_dir "${_workdir}/${_name}_meshes")
+  set(_mesh_prefix "package://${PROJECT_NAME}/models/${_name}_meshes")
+  add_custom_command(OUTPUT ${_urdffile} ${_mesh_dir}
+    COMMAND ${_collada_to_urdf_exe} ${_daefile} --output_file ${_urdffile} -G -A --mesh_output_dir ${_mesh_dir} --mesh_prefix ${_mesh_prefix}
+    DEPENDS ${_sname}_${PROJECT_NAME}_compile_dae)
+  add_custom_target(${_sname}_${PROJECT_NAME}_compile_urdf DEPENDS ${_urdffile} ${_mesh_dir})
+  list(APPEND ${_sname}_${PROJECT_NAME}_compile_all_target ${_sname}_${PROJECT_NAME}_compile_urdf)
+
   # output euslisp files (dae, yaml -> euslisp)
   set(${_sname}_${PROJECT_NAME}_compile_all_target)
   if(EXISTS ${_collada2eus_exe})
     add_custom_command(OUTPUT ${_lispfile}
       COMMAND ${_collada2eus_option} ${_collada2eus_exe} ${_daefile} ${_yamlfile} ${_lispfile}
-      DEPENDS ${_daefile} ${_yamlfile} ${_euscollada_dep_files})
+      DEPENDS ${_sname}_${PROJECT_NAME}_compile_dae ${_yamlfile})
     add_custom_target(${_sname}_${PROJECT_NAME}_compile_lisp DEPENDS ${_lispfile})
     list(APPEND ${_sname}_${PROJECT_NAME}_compile_all_target ${_sname}_${PROJECT_NAME}_compile_lisp)
   endif()
 
-  # output urdf files (collada -> urdf)
-  set(_mesh_dir "${_workdir}/${_name}_meshes")
-  set(_mesh_prefix "package://${PROJECT_NAME}/models/${_name}_meshes")
-  add_custom_command(OUTPUT ${_urdffile} ${_mesh_dir}
-    COMMAND ${_collada_to_urdf_exe} ${_daefile} --output_file ${_urdffile} -G -A --mesh_output_dir ${_mesh_dir} --mesh_prefix ${_mesh_prefix}
-    DEPENDS ${_daefile} ${_lisp_deps_for_urdf})
-  add_custom_target(${_sname}_${PROJECT_NAME}_compile_urdf DEPENDS ${_urdffile} ${_mesh_dir})
-    list(APPEND ${_sname}_${PROJECT_NAME}_compile_all_target ${_sname}_${PROJECT_NAME}_compile_urdf)
 
   if(_controller_config)
     # output controller config (yaml -> config) if yaml is not found write dummy files
@@ -136,25 +146,18 @@ macro(compile_openhrp_model wrlfile)
   # project generator (collada -> xml)
   add_custom_command(OUTPUT ${_xmlfile}
     COMMAND ${_project_generator_exe} ${_wrlfile} ${openhrp3_PREFIX}/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output ${_xmlfile} ${_conf_file_option} ${_robothardware_conf_file_option} ${_conf_dt_option} ${_simulation_timestep_option} ${_simulation_joint_properties_option}
-    DEPENDS ${daefile} ${_gen_project_dep_files})
+    DEPENDS ${_sname}_${PROJECT_NAME}_compile_dae ${_gen_project_dep_files})
   add_custom_command(OUTPUT ${_xmlfile_nosim}
     COMMAND ${_project_generator_exe} ${_wrlfile} ${openhrp3_PREFIX}/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output ${_xmlfile_nosim} ${_conf_file_option} ${_robothardware_conf_file_option} ${_conf_dt_option} ${_simulation_timestep_option} ${_simulation_joint_properties_option}
-    DEPENDS ${daefile} ${_gen_project_dep_files})
+    DEPENDS ${_sname}_${PROJECT_NAME}_compile_dae ${_gen_project_dep_files})
   add_custom_target(${_sname}_${PROJECT_NAME}_compile_xml DEPENDS ${_xmlfile} ${_xmlfile_nosim})
   list(APPEND ${_sname}_${PROJECT_NAME}_compile_all_target ${_sname}_${PROJECT_NAME}_compile_xml)
 
-  # output collada (wrl -> collada )
-  if(EXISTS ${_wrlfile})
-    add_custom_command(OUTPUT ${_daefile}
-      COMMAND ${_export_collada_exe} -i ${_wrlfile} -o ${_daefile} ${_export_collada_option}
-      DEPENDS ${_wrlfile} ${_export_collada_exe} ${_latest_robot})
-    add_custom_target(${_sname}_${PROJECT_NAME}_compile_dae DEPENDS ${_daefile})
-    list(APPEND ${_sname}_${PROJECT_NAME}_compile_all_target ${_sname}_${PROJECT_NAME}_compile_dae)
-  endif()
-
   # run all target
-  add_custom_target(${_sname}_${PROJECT_NAME}_compile DEPENDS ${${_sname}_${PROJECT_NAME}_compile_all_target})
-  add_custom_target(${_sname}_${PROJECT_NAME}_compile_all ALL DEPENDS ${_sname}_${PROJECT_NAME}_compile)
+  add_custom_target(${_sname}_${PROJECT_NAME}_compile)
+  add_custom_target(${_sname}_${PROJECT_NAME}_compile_all ALL)
+  add_dependencies(${_sname}_${PROJECT_NAME}_compile_all ${_sname}_${PROJECT_NAME}_compile)
+  add_dependencies(${_sname}_${PROJECT_NAME}_compile ${${_sname}_${PROJECT_NAME}_compile_all_target})
 
   ### JUST FOR BACKWORD COMPATIBILITY https://github.com/start-jsk/rtmros_tutorials/blob/a84d63f599acc442a8dd2ad679b04bb6dc4e70c7/hrpsys_ros_bridge_tutorials/CMakeLists.txt#L102
   set(compile_robots ${${_sname}_${PROJECT_NAME}_compile_all_target})