[cmake] Export project for downstream use

CMakeLists.txt

@@ -7,11 +7,12 @@ endif()
 
 project(mc_panda_lirmm LANGUAGES CXX VERSION 1.0)
 enable_testing()
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(mc_panda REQUIRED)
 
 add_subdirectory(modules)
+add_subdirectory(cmake)
 
 if(BUILD_TESTING)
   add_subdirectory(tests)

cmake/CMakeLists.txt

@@ -0,0 +1,11 @@
+include(CMakePackageConfigHelpers)
+set(VERSION_CONFIG "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
+set(PROJECT_CONFIG "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
+set(CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}")
+write_basic_package_version_file(
+  ${VERSION_CONFIG}
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+configure_package_config_file("${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in" "${PROJECT_CONFIG}" INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}")
+install(FILES "${PROJECT_CONFIG}" "${VERSION_CONFIG}" DESTINATION "${CONFIG_INSTALL_DIR}")

cmake/Config.cmake.in

@@ -0,0 +1,8 @@
+@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+find_package(mc_panda REQUIRED)
+
+include("${CMAKE_CURRENT_LIST_DIR}/mc_panda_lirmmTargets.cmake")
+
+check_required_components(mc_panda_lirmm)

modules/CMakeLists.txt

@@ -1,7 +1,38 @@
-configure_file(config.h.in "${CMAKE_CURRENT_BINARY_DIR}/include/config.h")
-add_robot(PandaLIRMM module.cpp module.h)
-target_link_libraries(PandaLIRMM PUBLIC mc_panda::panda)
-target_include_directories(PandaLIRMM PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>)
+# Panda robot module library
+set(panda_lirmm_HDR
+  include/mc_panda_lirmm/panda_lirmm.h
+  "${CMAKE_CURRENT_SOURCE_DIR}/include/mc_panda_lirmm/panda_lirmm.h"
+)
+
+set(panda_lirmm_SRC
+  src/panda_lirmm.cpp
+)
+configure_file(include/mc_panda_lirmm/config.h.in "${CMAKE_CURRENT_BINARY_DIR}/include/mc_panda_lirmm/config.h")
+
+add_library(mc_panda_lirmm SHARED ${panda_lirmm_SRC} ${panda_lirmm_HDR})
+add_library(mc_panda_lirmm::panda_lirmm ALIAS mc_panda_lirmm)
+set_target_properties(mc_panda_lirmm PROPERTIES EXPORT_NAME panda_lirmm)
+set_target_properties(mc_panda_lirmm PROPERTIES SOVERSION ${PROJECT_VERSION_MAJOR} VERSION ${PROJECT_VERSION})
+target_link_libraries(mc_panda_lirmm PUBLIC mc_panda::panda)
+target_include_directories(mc_panda_lirmm PUBLIC $<INSTALL_INTERFACE:include> $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>)
+target_include_directories(mc_panda_lirmm PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>)
+target_compile_definitions(mc_panda_lirmm PRIVATE -DMC_PANDA_EXPORTS)
+install(FILES ${panda_lirmm_HDR} DESTINATION include/mc_panda_lirmm)
+
+install(TARGETS mc_panda_lirmm
+  EXPORT mc_panda_lirmmTargets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(EXPORT mc_panda_lirmmTargets
+  FILE mc_panda_lirmmTargets.cmake
+  NAMESPACE mc_panda_lirmm::
+  DESTINATION lib/cmake/mc_panda_lirmm)
+
+add_robot(PandaLIRMM src/module.cpp)
+target_link_libraries(PandaLIRMM PUBLIC mc_panda_lirmm::panda_lirmm)
+target_compile_definitions(PandaLIRMM PRIVATE -DPANDA_DESCRIPTION_PATH="${PANDA_DESCRIPTION_PATH}")
 
 install(DIRECTORY rsdf/panda2_lirmm
   DESTINATION "${PANDA_DESCRIPTION_PATH}/rsdf"

modules/module.h → modules/include/mc_panda_lirmm/panda_lirmm.h

@@ -44,20 +44,20 @@ static std::string pandaVariantUppercase(bool pump, bool foot, bool hand)
   return v;
 }
 
-enum class Robots
+enum class PandaLIRMMRobots
 {
   Panda2LIRMM,
   Panda6LIRMM,
   Panda7LIRMM
 };
 
-static std::string to_string(Robots robots)
+static std::string to_string(PandaLIRMMRobots robots)
 {
-  if(robots == Robots::Panda2LIRMM)
+  if(robots == PandaLIRMMRobots::Panda2LIRMM)
   {
     return "Panda2LIRMM";
   }
-  else if(robots == Robots::Panda6LIRMM)
+  else if(robots == PandaLIRMMRobots::Panda6LIRMM)
   {
     return "Panda6LIRMM";
   }
@@ -67,7 +67,7 @@ static std::string to_string(Robots robots)
   }
 }
 
-inline static std::string NameFromParams(Robots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
+inline static std::string NameFromParams(PandaLIRMMRobots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
 {
   auto name = to_string(robot) + pandaVariantUppercase(pump, foot, hand);
   if(!fixSensorFrame)
@@ -84,7 +84,7 @@ static void ForAllVariants(Callback cb)
       {false, false, false}, {true, false, false}, {false, true, false}, {false, false, true}};
   auto fixSensorFrameOptions = {true, false};
 
-  for(auto robot : {Robots::Panda2LIRMM, Robots::Panda6LIRMM, Robots::Panda7LIRMM})
+  for(auto robot : {PandaLIRMMRobots::Panda2LIRMM, PandaLIRMMRobots::Panda6LIRMM, PandaLIRMMRobots::Panda7LIRMM})
   {
     for(auto endEffector : endEffectorOptions)
     {
@@ -99,7 +99,7 @@ static void ForAllVariants(Callback cb)
 struct ROBOT_MODULE_API PandaLIRMM : public mc_robots::PandaRobotModule
 {
 public:
-  PandaLIRMM(Robots robot, bool pump, bool foot, bool hand, bool fixSensorFrame = true);
+  PandaLIRMM(PandaLIRMMRobots robot, bool pump, bool foot, bool hand, bool fixSensorFrame = true);
 
 protected:
   void create_urdf();
@@ -110,10 +110,4 @@ struct ROBOT_MODULE_API PandaLIRMM : public mc_robots::PandaRobotModule
               double box_mass);
 };
 
-struct ROBOT_MODULE_API Panda2LIRMM : public mc_robots::PandaLIRMM
-{
-public:
-  Panda2LIRMM(bool pump, bool foot, bool hand, bool fixSensorFrame = true);
-};
-
 } // namespace mc_robots

modules/src/module.cpp

@@ -0,0 +1,42 @@
+#include <mc_panda_lirmm/panda_lirmm.h>
+
+extern "C"
+{
+  ROBOT_MODULE_API void MC_RTC_ROBOT_MODULE(std::vector<std::string> & names)
+  {
+    using namespace mc_robots;
+    ForAllVariants([&names](PandaLIRMMRobots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
+                   { names.push_back(NameFromParams(robot, pump, foot, hand, fixSensorFrame)); });
+  }
+  ROBOT_MODULE_API void destroy(mc_rbdyn::RobotModule * ptr)
+  {
+    delete ptr;
+  }
+  ROBOT_MODULE_API mc_rbdyn::RobotModule * create(const std::string & n)
+  {
+    ROBOT_MODULE_CHECK_VERSION("PandaLIRMM")
+
+    static auto variant_factory = []()
+    {
+      std::map<std::string, std::function<mc_rbdyn::RobotModule *()>> variant_factory;
+      using namespace mc_robots;
+      ForAllVariants(
+          [&variant_factory](PandaLIRMMRobots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
+          {
+            variant_factory[NameFromParams(robot, pump, foot, hand, fixSensorFrame)] = [=]()
+            { return new PandaLIRMM(robot, pump, foot, hand, fixSensorFrame); };
+          });
+      return variant_factory;
+    }();
+    auto it = variant_factory.find(n);
+    if(it != variant_factory.end())
+    {
+      return it->second();
+    }
+    else
+    {
+      mc_rtc::log::error("PandaLIRMM module Cannot create an object of type {}", n);
+      return nullptr;
+    }
+  }
+}

modules/module.cpp → modules/src/panda_lirmm.cpp

@@ -1,7 +1,7 @@
-#include "module.h"
 #include <RBDyn/parsers/urdf.h>
-#include "config.h"
 #include <Eigen/Core>
+#include <mc_panda_lirmm/config.h>
+#include <mc_panda_lirmm/panda_lirmm.h>
 #include <sch/S_Object/S_Box.h>
 
 #include <boost/filesystem.hpp>
@@ -52,12 +52,12 @@ Eigen::Vector3d computeBoxCenterOfMass(const Eigen::Vector3d & size, double mass
   return com_vector;
 }
 
-PandaLIRMM::PandaLIRMM(Robots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
+PandaLIRMM::PandaLIRMM(PandaLIRMMRobots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
 : mc_robots::PandaRobotModule(pump, foot, hand)
 {
   this->name += "_" + pandaVariant(pump, foot, hand);
 
-  if(robot == Robots::Panda2LIRMM)
+  if(robot == PandaLIRMMRobots::Panda2LIRMM)
   {
     this->name = "panda2_lirmm_" + pandaVariant(pump, foot, hand);
     auto size = Eigen::Vector3d{0.75, 1.0, 0.75};
@@ -67,7 +67,7 @@ PandaLIRMM::PandaLIRMM(Robots robot, bool pump, bool foot, bool hand, bool fixSe
     _default_attitude = {1, 0, 0, 0, 0, 0, size.z()};
     create_urdf();
   }
-  else if(robot == Robots::Panda6LIRMM)
+  else if(robot == PandaLIRMMRobots::Panda6LIRMM)
   {
     this->name = "panda6_lirmm_" + pandaVariant(pump, foot, hand);
     double mass = 40;
@@ -78,7 +78,7 @@ PandaLIRMM::PandaLIRMM(Robots robot, bool pump, bool foot, bool hand, bool fixSe
     _default_attitude = {1, 0, 0, 0, 0, 0, size.z()};
     create_urdf();
   }
-  else if(robot == Robots::Panda7LIRMM)
+  else if(robot == PandaLIRMMRobots::Panda7LIRMM)
   {
     this->name = "panda7_lirmm_" + pandaVariant(pump, foot, hand);
     double mass = 10;
@@ -163,44 +163,3 @@ void PandaLIRMM::create_urdf()
 }
 
 } // namespace mc_robots
-
-extern "C"
-{
-  ROBOT_MODULE_API void MC_RTC_ROBOT_MODULE(std::vector<std::string> & names)
-  {
-    using namespace mc_robots;
-    ForAllVariants([&names](Robots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
-                   { names.push_back(NameFromParams(robot, pump, foot, hand, fixSensorFrame)); });
-  }
-  ROBOT_MODULE_API void destroy(mc_rbdyn::RobotModule * ptr)
-  {
-    delete ptr;
-  }
-  ROBOT_MODULE_API mc_rbdyn::RobotModule * create(const std::string & n)
-  {
-    ROBOT_MODULE_CHECK_VERSION("PandaLIRMM")
-
-    static auto variant_factory = []()
-    {
-      std::map<std::string, std::function<mc_rbdyn::RobotModule *()>> variant_factory;
-      using namespace mc_robots;
-      ForAllVariants(
-          [&variant_factory](Robots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
-          {
-            variant_factory[NameFromParams(robot, pump, foot, hand, fixSensorFrame)] = [=]()
-            { return new PandaLIRMM(robot, pump, foot, hand, fixSensorFrame); };
-          });
-      return variant_factory;
-    }();
-    auto it = variant_factory.find(n);
-    if(it != variant_factory.end())
-    {
-      return it->second();
-    }
-    else
-    {
-      mc_rtc::log::error("PandaLIRMM module Cannot create an object of type {}", n);
-      return nullptr;
-    }
-  }
-}