Catkin build

CMakeLists.txt

@@ -1,40 +1,58 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(Miro)
 
-if (${CATKIN_TOPLEVEL})
+###################################
+## catkin                        ##
+###################################
+if (CATKIN_DEVEL_PREFIX)
   find_package(catkin  REQUIRED COMPONENTS
     irg_cmake
+    qt_gui_cpp
 )
-endif(${CATKIN_TOPLEVEL})
-
-if (catkin_FOUND)
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  INCLUDE_DIRS src
-  LIBRARIES miroCore miroBase miroParams miroXml
-  )
-else (catkin_FOUND)
-## set up some defaults
-set( CMAKE_MODULE_PATH  ${PROJECT_SOURCE_DIR}/cmake/Modules ${CMAKE_MODULE_PATH})
-
-include( SetArchitecture )
-include( SetupBuildSwitch )
-include( SetupConfigureFile )
-include( SetupInstall )
-include( SetupRPATH )
-include( SetupUtilities )
-include( UserOptions )
-include( SetupWarnLevel )
-endif(catkin_FOUND)
+endif(CATKIN_DEVEL_PREFIX)
+
+if(NOT catkin_FOUND)
+  ## set up some defaults
+  set( CMAKE_MODULE_PATH  ${PROJECT_SOURCE_DIR}/cmake/Modules ${CMAKE_MODULE_PATH})
+
+  include( SetArchitecture )
+  include( SetupBuildSwitch )
+  include( SetupConfigureFile )
+  include( SetupInstall )
+  include( SetupRPATH )
+  include( SetupUtilities )
+  include( UserOptions )
+  include( SetupWarnLevel )
+endif(NOT catkin_FOUND)
 
 add_build_var( WITH_TAO          BUILD_DEFAULT_TRUE )
 add_build_var( WITH_JSON         BUILD_DEFAULT_TRUE )
 
-find_package( ACE )
-find_package( Qt4 )
+if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
+  message(STATUS "FOUND QT 5")
+  find_package(Qt5Widgets REQUIRED)
+  find_package(Qt5Xml REQUIRED)
+  if (Qt5_POSITION_INDEPENDENT_CODE)
+    SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
+  endif()
+  include_directories(SYSTEM "${Qt5Widgets_INCLUDE_DIRS}")
+  include_directories(SYSTEM "${Qt5Xml_INCLUDE_DIRS}")
+  set(QT_QTXML_LIBRARY Qt5::Xml)
+  set(QT_QTCORE_LIBRARY Qt5::Widgets)
+  add_build_var( WITH_QT4         BUILD_DEFAULT_FALSE )
+  add_build_var( WITH_QT5         BUILD_DEFAULT_TRUE )
+else()
+  message(STATUS "FOUND QT 4")
+  find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
+  include(${QT_USE_FILE})
+  include_directories(SYSTEM "${QT_INCLUDE_DIR}")
+  include_directories(SYSTEM "${QT_QTXML_INCLUDE_DIR}")
+  include_directories(SYSTEM "${QT_QTCORE_INCLUDE_DIR}")
+  add_build_var( WITH_QT4    BUILD_DEFAULT_TRUE )
+  add_build_var( WITH_QT5    BUILD_DEFAULT_FALSE )
+endif()
 
+find_package( ACE )
 find_package_if( TAO     MIRO_BUILD_WITH_TAO  )
 find_package_if( JsonCpp MIRO_BUILD_WITH_JSON )
 
@@ -44,7 +62,33 @@ build_with_var( WITH_JSON         JSONCPP_FOUND )
 ## if we don't have the following components, 
 ## we cannot continue
 ##-----------------------------------------------
-minimum_requirements( ACE_FOUND QT4_FOUND QT_QT3SUPPORT_FOUND )
+minimum_requirements( ACE_FOUND )
+
+if (catkin_FOUND)
+###################################
+## catkin specific configuration ##
+###################################
+  set(MIRO_CATKIN_DEPENDS ACE )
+  if(MIRO_BUILD_WITH_TAO)
+    set(MIRO_CATKIN_DEPENDS ${MIRO_CATKIN_DEPENDS} TAO)
+  endif(MIRO_BUILD_WITH_TAO)
+  if(MIRO_BUILD_WITH_JSON)
+    set(MIRO_CATKIN_DEPENDS ${MIRO_CATKIN_DEPENDS} JSONCPP)
+  endif(MIRO_BUILD_WITH_JSON)
+
+  catkin_package(
+    INCLUDE_DIRS src
+    LIBRARIES miroCore miroBase miroParams miroXml
+    CFG_EXTRAS Miro-extras.cmake
+    DEPENDS ${MIRO_CATKIN_DEPENDS}
+  )
+  ## set variable with full path of extras file so we can append library info
+  set_cfg_extras_file()
+
+  # add devel/include - this should add to persistent catkin metadata
+  list(APPEND ${PROJECT_NAME}_INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include)
+
+endif(catkin_FOUND)
 
 set( MIRO_SOVERSION_MAJOR    3 ) # epoch
 set( MIRO_SOVERSION_MINOR    2 ) # revision
@@ -57,20 +101,19 @@ set( MIRO_SOVERSION         "${MIRO_SOVERSION_MAJOR}.${MIRO_SOVERSION_MINOR}.${M
 include( GenerateMiroMakeParams )
 # we need to tell the macro where to find the executable
 # because it isn't "installed" yet...
-if (${CATKIN_TOPLEVEL})
+if (CATKIN_DEVEL_PREFIX)
   set( MIRO_MAKEPARAMS_EXECUTABLE ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/MakeParams )
-else (${CATKIN_TOPLEVEL})
+else (CATKIN_DEVEL_PREFIX)
 set( MIRO_MAKEPARAMS_EXECUTABLE ${PROJECT_BINARY_DIR}/src/makeParams/${CMAKE_CFG_INTDIR}/MakeParams )
-endif (${CATKIN_TOPLEVEL})
+endif (CATKIN_DEVEL_PREFIX)
 
 
 ## add in and out of source dirs to include path
 ##-----------------------------------------------
 include_directories(
-    ${PROJECT_SOURCE_DIR}
     ${PROJECT_SOURCE_DIR}/src
-    ${PROJECT_BINARY_DIR}
     ${PROJECT_BINARY_DIR}/src
+    ${CATKIN_DEVEL_PREFIX}/include
 )
 
 ## Set up RPATH and *Config.h
@@ -88,20 +131,10 @@ include_directories(
   ${TAO_INCLUDE_DIRS}
 )
 
-# everything needs to link to Qt, so set it
-# up at the top level for convinience
-##-----------------------------------------------
-include_directories(
-  ${QT_INCLUDE_DIR}
-  ${QT_QT_INCLUDE_DIR}
-  ${QT_QTXML_INCLUDE_DIR}
-  ${QT_QTCORE_INCLUDE_DIR}
-)
-
 # always build these
 #----------------------
 add_subdirectory( src )
-add_build_switch( utils    BUILD_DEFAULT_TRUE )
+add_subdirectory( utils )
 add_build_switch( examples BUILD_DEFAULT_TRUE )
 add_build_switch( tests    BUILD_DEFAULT_TRUE )
 
@@ -111,11 +144,38 @@ install_export()
 
 # package script
 #------------------------------------
-if (NOT ${CATKIN_TOPLEVEL})
+if (NOT CATKIN_DEVEL_PREFIX)
 include( CMakePack.txt )
-endif (NOT ${CATKIN_TOPLEVEL})
+endif (NOT CATKIN_DEVEL_PREFIX)
 
 #------------------------------------
 print_build_switches()
 
 message(STATUS "Miro version is ${MIRO_SOVERSION}")
+
+###############################################
+## We deviate from the standard usage of catkin's CFG_EXTRAS because 
+## that must run before targets are added, but we want this to run 
+## after targets are added (so we have a list of exported libraries 
+## that is consistent with the build switches). 
+## I"M PRETTY SURE THIS WILL BREAK WHEN BUILDING INSTALLSPACE
+## installation will be tricky. For now, we just acknowledge its
+## probably broken and carry on...
+if( Miro_CFG_EXTRAS_FILE )
+  # copy the develspace extras to the one that will go into installspace
+  execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${Miro_CFG_EXTRAS_FILE} ${Miro_CFG_EXTRAS_FILE}-install)
+
+  file( APPEND ${Miro_CFG_EXTRAS_FILE} "\n#-- Executables -----\n" )
+  file( APPEND ${Miro_CFG_EXTRAS_FILE} "set( MIRO_MAKEPARAMS_EXECUTABLE ${MIRO_MAKEPARAMS_EXECUTABLE} )\n" )
+
+  # install file
+  ## there is not a consistent ordering of installation if install is called
+  ## at this level. Therefore, we create a cmake/postinstall subdirectory and make the 
+  ## call there. The last subdirectory added will have its install commands exectued last. 
+  file( APPEND ${Miro_CFG_EXTRAS_FILE}-install "\n#-- Executables -----\n" )
+  file( APPEND ${Miro_CFG_EXTRAS_FILE}-install "set( MIRO_MAKEPARAMS_EXECUTABLE ${CMAKE_INSTALL_PREFIX}/bin/MakeParams )\n" )
+  add_subdirectory( cmake/postinstall )
+
+endif( Miro_CFG_EXTRAS_FILE )
+###############################################
+

cmake/Miro-extras.cmake.develspace.in

@@ -0,0 +1,12 @@
+# source: Miro-extras.cmake.develspace.in
+
+include( GenerateMiroMakeParams )
+
+## we have to add devel/include to catkin_INCLUDE_DIRS
+## so generated MakeParams include files can be seen
+set( MIRO_INCLUDE_DIR @CATKIN_DEVEL_PREFIX@/include )
+
+set( catkin_INCLUDE_DIRS ${catkin_INCLUDE_DIRS} ${MIRO_INCLUDE_DIR} )
+
+set( MIRO_BUILD_WITH_QT4 @MIRO_BUILD_WITH_QT4@ )
+set( MIRO_BUILD_WITH_QT5 @MIRO_BUILD_WITH_QT5@ )

cmake/Miro-extras.cmake.installspace.in

@@ -0,0 +1,11 @@
+##
+## Miro-extras.cmake.installspace.in
+##
+## NOTE: This file is not used - it is here to trick catkin into thinking it
+## should install a Miro-extras.cmake file. What we actually install is 
+## a modified Miro-extras.cmake.develspace.in which has the install 
+## destination for MIRO_MAKEPARAMS_EXECUTABLE.
+## Prior to installing, the file is stored in develspace as
+## devel/share/Miro/cmake/Miro-extras.cmake-install
+##
+

cmake/Modules/FindACE.cmake

@@ -50,9 +50,9 @@ if( ACE_ROOT_DIR )
   # FIXME - do a proper header search
   if( EXISTS ${ACE_ROOT_DIR}/ace/ACE.h )
     set( ACE_INCLUDE_DIR  ${ACE_ROOT_DIR}  CACHE PATH "ACE include path" )
-  else( EXISTS ${ACE_ROOT_DIR}/ace/ACE.h )
+  elseif( EXISTS ${ACE_ROOT_DIR}/ace/ACE.h )
     set( ACE_INCLUDE_DIR  ${ACE_ROOT_DIR}/include  CACHE PATH "ACE include path" )
-  else( EXISTS ${ACE_ROOT_DIR}/include/ace/ACE.h )
+  elseif( EXISTS ${ACE_ROOT_DIR}/include/ace/ACE.h )
     set( ACE_INCLUDE_DIR  ${ACE_ROOT_DIR}/include  CACHE PATH "ACE include path" )
   endif( EXISTS ${ACE_ROOT_DIR}/ace/ACE.h )
 

cmake/postinstall/CMakeLists.txt

@@ -0,0 +1,2 @@
+install( CODE "message( STATUS \"#### Do the install of Miro_CFG_EXTRAS_FILE in postinstall to make sure it's the last thing executed\") ####" )
+install( FILES ${Miro_CFG_EXTRAS_FILE}-install DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake RENAME ${PROJECT_NAME}-extras.cmake )

examples/params/convertParams.cpp

@@ -55,7 +55,7 @@ SimpleSurveyParameters readJson(const string& jsonName)
   Json::Reader reader;
   bool success = reader.parse(jsonStream, root);
   if (!success) {
-    cerr << reader.getFormatedErrorMessages() << endl;
+    cerr << reader.getFormattedErrorMessages() << endl;
     exit(1);
   }
   jsonStream.close();
@@ -88,7 +88,7 @@ SimpleSurveyParameters readXml(const string& xmlName)
   QFile xmlFile(xmlName.c_str());
   if (!xmlFile.open(QIODevice::ReadOnly)) {
     cerr << "couldn't open " << xmlName << " for reading: "
-         << ((const char*) xmlFile.errorString().toAscii()) << endl;
+         << ((const char*) xmlFile.errorString().toLatin1()) << endl;
     exit(1);
   }
 
@@ -116,7 +116,7 @@ void writeXml(const string& xmlName, const SimpleSurveyParameters& params)
   QFile xmlFile(xmlName.c_str());
   if (!xmlFile.open(QIODevice::WriteOnly)) {
     cerr << "couldn't open " << xmlName << " for writing: "
-         << ((const char*) xmlFile.errorString().toAscii()) << endl;
+         << ((const char*) xmlFile.errorString().toLatin1()) << endl;
     exit(1);
   }
   QTextStream ts(&xmlFile);

src/makeParams/MakeParams.cpp

@@ -28,7 +28,9 @@
 #include "params/Generator.h"
 #include "params/TextErrorHandler.h"
 
-#include <qstring.h>
+#include <QApplication>
+
+#include <QString>
 #include <qfile.h>
 #include <qxml.h>
 
@@ -152,7 +154,7 @@ main(int argc, char * argv[])
         QString headerFilename(baseName + "." + headerExtension);
         ofstream headerFile(qPrintable(headerFilename));
 
-        generator.generateSource(sourceFile);
+        generator.generateSource(sourceFile, exportDirective);
         generator.generateHeader(headerFile, exportDirective);
       }
       else {

src/miro/ConfigDocument.cpp

@@ -57,15 +57,15 @@ namespace Miro
     delete document_;
   }
 
-  void ConfigDocument::init(QDomDocument * _document) throw(Exception)
+  void ConfigDocument::init(QDomDocument * _document) //throw(Exception)
   {
     delete document_;
     document_ = _document;
   }
 
   void ConfigDocument::init(std::string const& _fileName,
                             SearchPaths const& _paths)
-  throw(Exception)
+  //throw(Exception)
   {
     delete document_;
     document_ = NULL;

src/miro/ConfigDocument.h

@@ -49,9 +49,9 @@ namespace Miro
     ~ConfigDocument();
 
     void init(std::string const& _defaultName = std::string(""),
-              SearchPaths const& _paths = SearchPaths())
-    throw(Exception);
-    void init(QDomDocument * _document) throw(Exception);
+              SearchPaths const& _paths = SearchPaths());
+    //throw(Exception);
+    void init(QDomDocument * _document);// throw(Exception);
 
     void fini();
 

src/miro/Configuration.cpp

@@ -48,7 +48,7 @@ namespace Miro
 {
   Singleton<ConfigDocument> Configuration::document;
 
-  void Configuration::init(int& argc, char * argv[], const std::string& etcPath) throw(Exception)
+  void Configuration::init(int& argc, char * argv[], const std::string& etcPath) //throw(Exception)
   {
     if (initialized)
       return;
@@ -99,3 +99,5 @@ namespace Miro
     initialized = true;
   }
 }
+
+MIRO_SINGLETON_TEMPLATE_INSTANTIATE(ACE_Singleton, Miro::ConfigDocument, ACE_SYNCH_RECURSIVE_MUTEX);

src/miro/Configuration.h

@@ -38,7 +38,7 @@ namespace Miro
      * Loading the document from default location if not overridden
      * by command line parameter -MiroConfigFile (-MCF).
      */
-    static void init(int& argc, char * argv[], const std::string& etcPath = "") throw(Exception);
+    static void init(int& argc, char * argv[], const std::string& etcPath = "");// throw(Exception);
     //! Singleton accesor for the robots configuation document.
     static Singleton<ConfigDocument> document;
   };

src/miro/Enumeration.cpp

@@ -27,7 +27,7 @@ namespace Miro
 {
   using namespace std;
 
-  Enumeration::Enumeration(string const& _enum, string const& _values) throw(EInvalid, EDuplicates)
+  Enumeration::Enumeration(string const& _enum, string const& _values) //throw(EInvalid, EDuplicates)
   {
     // tokenize input values
     int pos = 0;
@@ -46,15 +46,15 @@ namespace Miro
   }
 
 
-  Enumeration::Enumeration(string const& _enum, vector<string> const& _values) throw(EInvalid, EDuplicates) :
-      values_(_values)
+  Enumeration::Enumeration(string const& _enum, vector<string> const& _values) //throw(EInvalid, EDuplicates) 
+  : values_(_values)
   {
     makeSet();
     value(_enum);
   }
 
   void
-  Enumeration::value(string const& _value) throw(EInvalid, EDuplicates)
+  Enumeration::value(string const& _value) //throw(EInvalid, EDuplicates)
   {
     StringVector::const_iterator i;
 
@@ -66,7 +66,7 @@ namespace Miro
   }
 
   void
-  Enumeration::makeSet() throw(EDuplicates)
+  Enumeration::makeSet() //throw(EDuplicates)
   {
     sort(values_.begin(), values_.end());
     StringVector::iterator i = unique(values_.begin(), values_.end());