Merge pull request #351 from fawkesrobotics/common/cmake

switch to cmake as buildsys

.buildkite/build

@@ -28,4 +28,14 @@ source $SCRIPT_PATH/environment.sh
 set -euo pipefail
 
 # Build software
-$MAKE -j$NPROC all gui BUILDSTATS=1
+mkdir build; cd build
+cmake ..
+echo "-> Running 'make doxygen' to check for warnings"
+$MAKE -j$NPROC doxygen
+if [ -s doxywarnings.txt ]; then
+  cat doxywarnings.txt
+  exit 1
+else
+  echo "No warnings, good job!"
+fi
+$MAKE -j$NPROC BUILDSTATS=1

.buildkite/lint

@@ -312,5 +312,5 @@ check_gitlint
 echo "-> Running yamllint on configuration files"
 check_yamllint
 
-echo "-> Running 'make check'"
-gmake check YAMLLINT=0 HIDE_FORMAT_PROGRESS=1
+echo "-> Running licensecheck"
+./etc/licscripts/check_license.bash

.buildkite/pipeline.yml

@@ -6,7 +6,7 @@ merged-pr-plugin: &merged-pr-plugin
     mode: checkout
 
 podman-plugin-base: &podman-plugin-base
-  image: quay.io/fawkesrobotics/fawkes-builder:f36
+  image: quay.io/fawkesrobotics/fawkes-builder:f37
   always-pull: true
   debug: true
   privileged: true

.buildkite/test

@@ -27,6 +27,7 @@ source $SCRIPT_PATH/environment.sh
 # Error out on any error in the script, pipes etc.
 set -euo pipefail
 
+cd build
 # Run tests
 $MAKE -j$NPROC test
 $MAKE integration-test

CMakeLists.txt

@@ -0,0 +1,52 @@
+# *****************************************************************************
+# CMake Build System for Fawkes
+# -------------------
+# Copyright (C) 2023 by Tarik Viehmann and Daniel Swoboda
+#
+# *****************************************************************************
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# *****************************************************************************
+
+if(NOT FAWKES_DIR)
+  cmake_minimum_required(VERSION 3.5)
+  project(fawkes)
+  set(_FAWKES_DEPENDENCIES_CHECKED
+      ""
+      CACHE INTERNAL "")
+  # make local cmake modules available
+  set(FAWKES_CORE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${FAWKES_CORE_DIR}/cmake")
+  include(base)
+endif()
+
+add_subdirectory(src)
+if(NOT FAWKES_DIR)
+  set_common_properties_of_targets(all_targets)
+endif()
+# add_subdirectory(src/libs) add_subdirectory(src/plugins)
+# add_subdirectory(src/mainapp) add_subdirectory(src/tools)
+# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+# add_compile_options(-Wall -Wextra -Wpedantic) endif()
+#
+# collect the files for subdir1 include(src/libs//CMakeLists.txt) foreach(FILE
+# ${FILES}) set(subdir1Files ${subdir1Files} subdir1/${FILE}) endforeach()
+#
+# collect the files for subdir2 include(subdir2/CMakeLists.txt) foreach(FILE
+# ${FILES}) set(subdir2Files ${subdir2Files} subdir2/${FILE}) endforeach()
+#
+# add the source files to the executable add_executable(fawkes)
+#
+# ${subdir1Files} ${subdir2Files

cfg/conf.d/meta_plugins.yaml

@@ -22,7 +22,7 @@ fawkes/meta_plugins:
     - mongodb
     - clips
     - robot-memory
-    - clips_robot_memory
+    - clips-robot-memory
     - pddl-robot-memory
     - pddl-planner
     - clips-pddl-parser

cmake/base.cmake

@@ -0,0 +1,89 @@
+# *****************************************************************************
+# CMake Build System for Fawkes
+# -------------------
+# Copyright (C) 2023 by Tarik Viehmann and Daniel Swoboda
+#
+# *****************************************************************************
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# *****************************************************************************
+
+include(GNUInstallDirs)
+find_package(PkgConfig REQUIRED)
+
+# make local cmake modules available
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${FAWKES_CORE_DIR}/cmake")
+set(CMAKE_BUILD_TYPE "Debug")
+
+# TODO: .ts generation of rest-api plugins (see old Makefiles in rest-api dirs)
+# This is not urgent, as the generated stuff is already in git this was handled
+# through rest-api.mk add_custom_target(restapi-generate echo
+# "generate-restapi") set(WEBVIEW_FRONTEND_SRCDIR
+# ${PROJECT_SOURCE_DIR}/src/plugins/webview/frontend/src)
+
+set(FAWKES_PLUGIN_DIR ${PROJECT_SOURCE_DIR}/plugins/)
+set(FAWKES_LIB_DIR ${PROJECT_SOURCE_DIR}/lib)
+set(FAWKES_RES_DIR ${FAWKES_CORE_DIR}/res)
+set(FAWKES_LUA_LIB_DIR ${FAWKES_LIB_DIR}/lua)
+set(FAWKES_INTERFACE_DIR ${FAWKES_LIB_DIR}/interfaces/)
+set(FAWKES_LUA_INTERFACE_DIR ${FAWKES_LUA_LIB_DIR}/interfaces/)
+set(FAWKES_EXECUTABLE_DIR ${PROJECT_SOURCE_DIR}/bin)
+file(MAKE_DIRECTORY ${FAWKES_PLUGIN_DIR})
+file(MAKE_DIRECTORY ${FAWKES_RES_DIR})
+file(MAKE_DIRECTORY ${FAWKES_LIB_DIR})
+
+file(MAKE_DIRECTORY ${FAWKES_LUA_LIB_DIR})
+file(MAKE_DIRECTORY ${FAWKES_LUA_INTERFACE_DIR})
+file(MAKE_DIRECTORY ${FAWKES_EXECUTABLE_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${FAWKES_EXECUTABLE_DIR})
+include_directories(${FAWKES_LIB_DIR})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${FAWKES_LIB_DIR})
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(
+    STATUS
+      "Setting build type to '${default_build_type}' as none was specified.")
+  set(CMAKE_BUILD_TYPE
+      "${default_build_type}"
+      CACHE STRING "Choose the type of build." FORCE)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
+                                               "MinSizeRel" "RelWithDebInfo")
+
+endif()
+
+set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
+include(utils)
+include(dependencies)
+include(libcrypto)
+include(libxmlpp)
+include(laser)
+include(ros)
+include(lua)
+include(yamlcpp)
+include(eigen3)
+include(pcl)
+include(tf)
+include(gui)
+include(navgraph)
+include(cgal_libs)
+include(webview)
+include(fvconf)
+include(kdl_parser)
+include(clipsmm)
+include(protobuf)
+include(robot_memory)
+include(doxygen)
+include(tests)
+include(integration_test)

cmake/cgal_libs.cmake

@@ -0,0 +1,44 @@
+# *****************************************************************************
+# CMake Build System for Fawkes
+# -------------------
+# Copyright (C) 2023 by Tarik Viehmann and Daniel Swoboda
+#
+# *****************************************************************************
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# *****************************************************************************
+
+function(depend_on_cgal_libs target)
+  if(NOT CGAL IN_LIST _FAWKES_DEPENDENCIES_CHECKED)
+    find_package(CGAL)
+    remember_dependency(CGAL)
+  endif()
+
+  depend_on_pkgconfig_libs(${target} "gmp;mpfr")
+  depend_on_boost_libs(${target} "system;thread")
+  target_include_directories(${target} PUBLIC ${Boost_INCLUDE_DIR})
+  target_link_libraries(${target} ${CGAL_LDLAGS} ${GMP_LDFLAGS} ${MPFR_LDFLAGS}
+                        -lm)
+  target_compile_options(
+    ${target}
+    PUBLIC ${CGAL_LDLAGS}
+           ${GMP_LDFLAGS}
+           ${MPFR_LDFLAGS}
+           -DHAVE_CGAL
+           -Wno-depcrecated-register
+           -DCGAL_DISABLE_ROUNDING_MATH_CHECK
+           -frounding-math)
+  # TODO: clang flags: -Wno-unused-local-typedef
+endfunction()

cmake/clipsmm.cmake

@@ -0,0 +1,28 @@
+# *****************************************************************************
+# CMake Build System for Fawkes
+# -------------------
+# Copyright (C) 2023 by Tarik Viehmann and Daniel Swoboda
+#
+# *****************************************************************************
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# *****************************************************************************
+
+function(depend_on_clipsmm target)
+  depend_on_pkgconfig_libs(${target} clipsmm-1.0)
+  target_compile_options(${target} PUBLIC -DHAVE_CLIPS ${CLIPSMM_CFLAGS})
+  target_link_libraries(${target} ${CLIPSMM_LDFLAGS})
+  target_compile_features(${target} PUBLIC cxx_std_14)
+endfunction()

cmake/dependencies.cmake

@@ -0,0 +1,66 @@
+# *****************************************************************************
+# CMake Build System for Fawkes
+# -------------------
+# Copyright (C) 2023 by Tarik Viehmann and Daniel Swoboda
+#
+# *****************************************************************************
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# *****************************************************************************
+
+pkg_check_modules(yaml-cpp REQUIRED yaml-cpp>=0.5.3)
+remember_dependency(yaml-cpp)
+
+pkg_check_modules(libelf REQUIRED libelf)
+remember_dependency(libelf)
+
+find_package(Boost COMPONENTS system thread filesystem)
+if(Boost_SYSTEM_FOUND AND Boost_THREAD_FOUND)
+  set(SICK_TIM55X_BOOST_DEPS_FOUND
+      1
+      CACHE BOOL "SICK_TIM55x boost dependencies")
+  add_library(sick_tim55x INTERFACE IMPORTED)
+  target_include_directories(sick_tim55x INTERFACE ${Boost_INCLUDE_DIRS})
+  target_link_libraries(sick_tim55x INTERFACE -lpthread ${Boost_LIBRARIES})
+  target_compile_definitions(sick_tim55x INTERFACE HAVE_SICK55X_BOOST)
+  # target_compile_definitions do not work with imported targets
+endif()
+
+find_path(URG_ROOT urg/UrgCtrl.h PATH_SUFFIXES include)
+if(URG_ROOT)
+  add_library(liburg INTERFACE IMPORTED)
+  target_include_directories(liburg INTERFACE ${URG_ROOT})
+  target_link_directories(liburg INTERFACE ${URG_ROOT}/lib)
+  target_link_libraries(
+    liburg
+    INTERFACE urg
+              urg_connection
+              urg_monitor
+              urg_coordinate
+              urg_geometry
+              urg_system
+              urg_common
+              urg_connection_sdl)
+  set(URG_C_DEFINITION HAVE_URG)
+endif()
+
+find_path(FLITE_ROOT flite/flite.h PATH_SUFFIXES include)
+if(FLITE_ROOT)
+  add_library(FLite INTERFACE IMPORTED)
+  target_include_directories(FLite INTERFACE ${FLITE_ROOT})
+  target_link_directories(FLite INTERFACE ${FLITE_ROOT}/lib)
+  target_link_libraries(FLite INTERFACE -lflite_cmu_us_kal -lflite_usenglish
+                                        -lflite_cmulex -lflite -lm)
+endif()

cmake/doxygen.cmake

@@ -0,0 +1,8 @@
+find_package(Doxygen)
+set(DOXYGEN_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/doc/api/)
+set(DOXYGEN_WARN_LOGFILE doxywarnings.txt)
+set(DOXYGEN_HAVE_DOT NO)
+set(DOXYGEN_EXCLUDE_PATTERNS
+    "${FAWKES_CORE_DIR}/src/plugins/webview/frontend;**/*.pb.*;\
+    **/*Interface.*;**/*.py;**/attic/*;")
+doxygen_add_docs(doxygen ${PROJECT_SOURCE_DIR} COMMENT "Generate man pages")

cmake/eigen3.cmake

@@ -0,0 +1,37 @@
+# *****************************************************************************
+# CMake Build System for Fawkes
+# -------------------
+# Copyright (C) 2023 by Tarik Viehmann and Daniel Swoboda
+#
+# *****************************************************************************
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# *****************************************************************************
+
+set(EIGEN3_DEPS "eigen3")
+
+function(depend_on_eigen3 target)
+  depend_on_pkgconfig_libs(${target} eigen3)
+  target_compile_options(
+    ${target} PUBLIC -DHAVE_EIGEN3 -DEIGEN_USE_NEW_STDVECTOR
+                     -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+  target_link_libraries(${target} tolua++)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    target_compile_options(${target} PRIVATE -Wno-deprecated-register)
+  endif()
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    target_compile_options(${target} PRIVATE -Wno-deprecated-declarations)
+  endif()
+endfunction()