CMakeLists.txt

# Author: Gabriele Nava, Diego Ferigo
# CopyPolicy: Released under the terms of the GNU GPL v2.0.

cmake_minimum_required(VERSION 3.5)
project(whole-body-controllers)

option(WBC_EXPORT_AUTOGENERATED "Enable the target to export code generated with Simulink Coder" OFF)
option(WBC_INSTALL_ALL_HOME_POS "Installation of all available home positions" ON)

# ======================================
# Install home positions and WBC library
# ======================================

find_package(YARP REQUIRED)
yarp_configure_external_installation(wbc)

add_subdirectory(utilities)
add_subdirectory(library)
add_subdirectory(config)

# Install the example controller model (YOGA+matlab-simulator)
set(FLOATING_BASE_BALANCING_TORQCTRL_INSTALL_MATLAB_FILESDIR ${CMAKE_INSTALL_PREFIX}/mex/+wbc/examples CACHE
    STRING "Location (relative to the install prefix) in which the Matlab .m files and simulink .mdl models are installed.")
set(M_FILES_DIR ${whole-body-controllers_SOURCE_DIR}/controllers/+floatingBaseBalancingTorqueControlWithSimulator)

install(
  DIRECTORY ${M_FILES_DIR}
  DESTINATION ${FLOATING_BASE_BALANCING_TORQCTRL_INSTALL_MATLAB_FILESDIR}
  USE_SOURCE_PERMISSIONS
  FILES_MATCHING
  PATTERN "*.m"
  PATTERN "*.jpeg"
  PATTERN "*.mdl")

# ======================
# Autogeneration routine
# ======================

if(NOT WBC_EXPORT_AUTOGENERATED)
    # Fake installation.
    install(CODE "MESSAGE(\"Disabled exporting of autogenerated c++ code from Simulink.\")")
    return()
endif()

# Load custom macro and functions
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

include(RegisterMdl)
initialize_mdl_set(NAME WHOLE_BODY_CONTROLLERS)

add_subdirectory(controllers)

# ============================
# EXPORT AUTOGENERATED SOURCES
# ============================

# Custom target for exporting the autogenerated sources
add_custom_target(copy-autogenerated-models)
set(AUTOGENERATED_WBC_SOURCE_DIR "" CACHE STRING
    "Location of the autogenerated-whole-body-controllers repository source code")

# Prepare the autogenerated folder
get_property(AUTOGENERATED_FOLDERS GLOBAL PROPERTY WHOLE_BODY_CONTROLLERS)
file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/autogenerated")
file(WRITE "${CMAKE_BINARY_DIR}/autogenerated/CMakeLists.txt" "# Exported controllers\n\n")

# Find clang-format
find_program(ClangFormat_EXECUTABLE
    DOC "Path to the clang-format executable."
    NAMES clang-format clang-format-9 clang-format-8 clang-format-7 clang-format-6.0 clang-format-5.0 clang-format-4.0)
configure_file(${CMAKE_SOURCE_DIR}/.clang-format ${CMAKE_BINARY_DIR}/.clang-format COPYONLY)

# Copy only h and cpp files
foreach(SOURCEDIR ${AUTOGENERATED_FOLDERS})
    get_filename_component(MDLDIRNAME ${SOURCEDIR} NAME)
    set(MDLDESTDIR "${CMAKE_BINARY_DIR}/autogenerated/${MDLDIRNAME}")
    file(APPEND "${CMAKE_BINARY_DIR}/autogenerated/CMakeLists.txt" "add_subdirectory(${MDLDIRNAME})\n")
    file(MAKE_DIRECTORY "${MDLDESTDIR}")
    string(REGEX MATCH "[^_]*" MDL_NAME ${MDLDIRNAME}) # Remove _gtw_rtw
    # Create the CMakeLists.txt of the model
    configure_file(
        "${CMAKE_SOURCE_DIR}/cmake/CreateAutogeneratedCodeTargets.cmake.in"
        "${MDLDESTDIR}/CMakeLists.txt"
        @ONLY)
    # Copy the main file
    configure_file(
        "${PROJECT_SOURCE_DIR}/src/driver.cpp.in"
        "${MDLDESTDIR}/driver.cpp"
        @ONLY)
    # Copy sources to the build directory
    add_custom_command(TARGET copy-autogenerated-models
        PRE_BUILD
        COMMAND ${CMAKE_COMMAND} -E copy "${SOURCEDIR}/*.h" "${SOURCEDIR}/*.cpp" "${SOURCEDIR}/defines.txt" "${MDLDESTDIR}"
        COMMENT "Copying ${MDLDIRNAME} to the build folder.")
    # Apply clang-format style
    if(NOT ${ClangFormat_EXECUTABLE} STREQUAL "ClangFormat_EXECUTABLE-NOTFOUND")
        add_custom_command(TARGET copy-autogenerated-models
            PRE_BUILD
            WORKING_DIRECTORY "${MDLDESTDIR}"
            COMMAND ${ClangFormat_EXECUTABLE} -i -style=file *.cpp *.h)
    endif()
endforeach()

# Move the directory to the autogenerated-whole-body-controllers repository
add_custom_command(TARGET copy-autogenerated-models
    POST_BUILD
    COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_BINARY_DIR}/autogenerated" "${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated"
    COMMENT "Copying generated files to ${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated")