cmake cleanup

* use target_include_directories instead of include_directories
* use target_compile_definition for ENABLE_PYTHON_BINDINGS

CMakeLists.txt

@@ -106,16 +106,13 @@ GenerateSetEnv(
 set(MSGS_INCLUDE_DIR ${PROJECT_BINARY_DIR}/msgs)
 set(PROTO_INCLUDE_DIR ${PROJECT_BINARY_DIR}/src/proto)
 
-include_directories(${SCRIMMAGE_INC_DIR})
-include_directories(${MSGS_INCLUDE_DIR})
 include_directories(${PROTO_INCLUDE_DIR})
 
 option(EXTERNAL "EXTERNAL" 0)
 
 option(ENABLE_PYTHON_BINDINGS "ENABLE_PYTHON_BINDINGS" ON)
 set(PYTHON_MIN_VERSION "2.7" CACHE STRING "Minimum Python version for building")
 if (ENABLE_PYTHON_BINDINGS)
-  add_definitions(-DENABLE_PYTHON_BINDINGS=1)
 
   # Find Python
   #The order of the followin find_package calls is important!
@@ -127,22 +124,26 @@ if (ENABLE_PYTHON_BINDINGS)
   message(STATUS "PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
 
   set(PYTHON_FOUND TRUE)
-  include_directories("${PYTHON_INCLUDE_DIRS}")
 
   # We have already found the python libs and modules, so tell pybind11 to not
   # search for the python interpreter and libraries again.
   set(PYTHONLIBS_FOUND TRUE)
   set(PYTHON_MODULE_EXTENSION TRUE)
   find_package(pybind11 REQUIRED)
-  include_directories(${pybind11_INCLUDE_DIRS})
   set(PYBIND11_INCLUDE_DIRS ${pybind11_INCLUDE_DIRS})
 
   add_library(scrimmage-python INTERFACE)
-  target_include_directories(scrimmage-python INTERFACE ${PYTHON_INCLUDE_DIRS} ${pybind11_INCLUDE_DIRS})
+  target_include_directories(scrimmage-python
+      SYSTEM INTERFACE ${PYTHON_INCLUDE_DIRS})
+  target_include_directories(scrimmage-python
+      INTERFACE ${pybind11_INCLUDE_DIRS})
+  target_compile_definitions(scrimmage-python 
+      INTERFACE -DENABLE_PYTHON_BINDINGS=1)
   target_link_libraries(scrimmage-python INTERFACE ${PYTHON_LIBRARIES})
   install(TARGETS scrimmage-python EXPORT ${PROJECT_NAME}-targets)
 else()
-  add_definitions(-DENABLE_PYTHON_BINDINGS=0)
+  target_compile_definitions(scrimmage-python 
+      INTERFACE -DENABLE_PYTHON_BINDINGS=0)
 endif()
 
 ########################################################
@@ -168,7 +169,6 @@ else()
   set(PROTOBUF_LIBRARIES "${PROTOBUF_LIBS}")
   set(PROTOBUF_INCLUDE_DIRS "${PROTOBUF_INCLUDE}")
 endif()
-include_directories(${PROTOBUF_INCLUDE_DIRS})
 set(PROTOBUF_INCLUDE ${PROTOBUF_INCLUDE_DIRS})
 
 ########################################################
@@ -187,7 +187,6 @@ endif()
 ########################################################
 find_package (GeographicLib REQUIRED)
 add_definitions (${GeographicLib_DEFINITIONS})
-include_directories (${GeographicLib_INCLUDE_DIRS})
 
 ########################################################
 # Find JSBSim
@@ -196,7 +195,6 @@ if (NOT APPLE)
   find_package(JSBSIM REQUIRED)
   string(FIND "${JSBSIM_INCLUDE_DIRS}" "NOTFOUND" POS)
   if (JSBSIM_FOUND AND (POS EQUAL -1))
-    include_directories(SYSTEM ${JSBSIM_INCLUDE_DIR})
     add_definitions(-DENABLE_JSBSIM=1)
   else()
     add_definitions(-DENABLE_JSBSIM=0)
@@ -256,7 +254,6 @@ if (NOT Eigen3_FOUND)
   set(EIGEN3_INCLUDE_DIR ${EIGEN_PKGCONFIG_INCLUDE_DIRS})
   message("Found Eigen with pkg-config, EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR}")
 endif()
-include_directories(${EIGEN3_INCLUDE_DIR})
 
 ########################################################
 # Find Boost
@@ -360,13 +357,6 @@ if (NOT DEFINED CMAKE_TOOLCHAIN_FILE AND BUILD_TESTS)
       # the gtest and gtest_main targets.
       add_subdirectory(${PROJECT_BINARY_DIR}/googletest-src
                        ${PROJECT_BINARY_DIR}/googletest-build)
-
-      # The gtest/gtest_main targets carry header search path
-      # dependencies automatically when using CMake 2.8.11 or
-      # later. Otherwise we have to add them here ourselves.
-      if (CMAKE_VERSION VERSION_LESS 2.8.11)
-        include_directories("${gtest_SOURCE_DIR}/include")
-      endif()
   endif()
 
   add_subdirectory(test)

cmake/Modules/project-config.cmake.in

@@ -24,7 +24,6 @@ endif()
 set(SCRIMMAGE_LIBRARIES "@PROJECT_LIBS@")
 set(SCRIMMAGE_VIEWER_LIB "scrimmage-viewer")
 set(SCRIMMAGE_PLUGINS "@PROJECT_PLUGINS@")
-set(SCRIMMAGE_ENABLE_PYTHON_BINDINGS "@ENABLE_PYTHON_BINDINGS@")
 
 ###############################################################################
 # Include references to the important 3rd-party libraries and utilities that

src/CMakeLists.txt

@@ -57,6 +57,11 @@ target_link_libraries(${LIBRARY_NAME}
     Boost::thread
 )
 
+if (ENABLE_PYTHON_BINDINGS)
+    target_link_libraries(
+        ${LIBRARY_NAME} PRIVATE scrimmage-python)
+endif()
+
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})
 
 set_target_properties(
@@ -68,8 +73,10 @@ set_target_properties(
 
 target_include_directories(${LIBRARY_NAME}
   PUBLIC
-    "$<INSTALL_INTERFACE:include;${EIGEN3_INCLUDE_DIR};${GeographicLib_INCLUDE_DIRS}>"
-    "$<BUILD_INTERFACE:${SCRIMMAGE_INC_DIR};${EIGEN3_INCLUDE_DIR};${GeographicLib_INCLUDE_DIRS}>"
+    ${EIGEN3_INCLUDE_DIR}
+    ${GeographicLib_INCLUDE_DIRS}
+    "$<INSTALL_INTERFACE:include>"
+    "$<BUILD_INTERFACE:${SCRIMMAGE_INC_DIR}>"
 )
 
 install(TARGETS ${LIBRARY_NAME}

src/plugins/autonomy/ArduPilot/CMakeLists.txt

@@ -19,6 +19,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+  scrimmage-core
   Multirotor_plugin
   )
 

src/plugins/autonomy/AuctionAssign/CMakeLists.txt

@@ -15,7 +15,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
   scrimmage-msgs
-  ${SCRIMMAGE_LIBS}
+  scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/AutonomyExecutor/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/AvoidEntityMS/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+  scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/Boids/CMakeLists.txt

@@ -14,7 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  ${SCRIMMAGE_LIBS}
+  scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/Control3D/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+  scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/FlightGearMultiplayer/CMakeLists.txt

@@ -1,6 +1,6 @@
 # TODO Find fgms code. include_directories() to point at the ./fgms/src
 # directory. Also, get the libraries that are built by fgms and allow them to
-# be used in the target_link_libraries below:
+# be used in the target_link_libraries below:  scrimmage-core  scrimmage-core
 find_package(FGMS QUIET)
 if(NOT FGMS_FOUND)
   return()
@@ -28,6 +28,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+  scrimmage-core
   ${FGMS_LIBRARIES}
   )
 

src/plugins/autonomy/GraphvizFSM/CMakeLists.txt

@@ -13,7 +13,8 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  ${Boost_LIBRARIES}
+  scrimmage-core
+  scrimmage-boost
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/JoystickAutonomy/CMakeLists.txt

@@ -14,6 +14,7 @@ if (NOT APPLE)
     )
 
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
     JoystickController_plugin
     )
 

src/plugins/autonomy/MOOSAutonomy/CMakeLists.txt

@@ -92,11 +92,11 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 # This is necessary when doing parallel builds (e.g. make -j8)
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+  scrimmage-core
   ${MOOS_LIBRARIES}
   contacts
   mbutil
   geometry
-
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/MotorSchemas/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/Predator/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/PyAutonomy/CMakeLists.txt

@@ -15,9 +15,8 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 # This is necessary when doing parallel builds (e.g. make -j8)
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}  
-  ${SCRIMMAGE_LIBS}
-  ${Boost_LIBRARIES}
-  ${PYTHON_LIBRARIES}
+  scrimmage-core
+  scrimmage-python
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/RLConsensus/CMakeLists.txt

@@ -1,8 +1,3 @@
-if(NOT GRPC_FOUND)
-    message("GRPC not found. Not building RLSimple.")
-    return()
-endif()
-
 #--------------------------------------------------------
 # Library Creation
 #--------------------------------------------------------

src/plugins/autonomy/ROSAutonomy/CMakeLists.txt

@@ -18,6 +18,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   ${catkin_LIBRARIES}
   )
 

src/plugins/autonomy/ROSControl/CMakeLists.txt

@@ -18,6 +18,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   ${catkin_LIBRARIES}
   )
 

src/plugins/autonomy/Straight/CMakeLists.txt

@@ -14,7 +14,6 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  ${SCRIMMAGE_LIBS}
   ${OpenCV_LIBRARIES}
   Boundary_plugin
   scrimmage-core

src/plugins/autonomy/TrailMS/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/TrajectoryRecordPlayback/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 

src/plugins/autonomy/WaypointGenerator/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/autonomy/follow/CMakeLists.txt

@@ -14,7 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  ${SCRIMMAGE_LIBS}	
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/controller/AircraftToSingleIntegratorController/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/controller/DirectController/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/controller/DoubleIntegratorControllerVelYaw/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/controller/DoubleIntegratorControllerWaypoint/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/controller/FixedWing6DOFControllerROS/CMakeLists.txt

@@ -18,6 +18,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED ${SRCS})
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   ${catkin_LIBRARIES}
   )
 

src/plugins/controller/MultirotorControllerOmega/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   Multirotor_plugin
   )
 

src/plugins/controller/MultirotorControllerPID/CMakeLists.txt

@@ -13,6 +13,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   Multirotor_plugin
   )
 

src/plugins/controller/RigidBody6DOFControllerPID/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})

src/plugins/controller/RigidBody6DOFControllerROS/CMakeLists.txt

@@ -19,6 +19,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   ${catkin_LIBRARIES}
   )
 

src/plugins/controller/SimpleCarControllerHeading/CMakeLists.txt

@@ -14,6 +14,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+    scrimmage-core
   )
 
 SET (_soversion ${LIB_MAJOR}.${LIB_MINOR}.${LIB_RELEASE})