Add support for distributing and consuming the CMake project (#92)

### What change is being made

- Add installation support.
- Export C++ targets.
- Scope headers to have a symmetric build and install trees.

Fixes #65.

### Why this change is being made

Enhance how the C++ project is consumed by upstream and downstream
projects.

### Tested

Waited CI to pass.

GitOrigin-RevId: adae13412984ce65be3c52d7ac452aab16429c46

Author: diegoferigo-rai

.github/workflows/test.yml

@@ -100,6 +100,11 @@ jobs:
           OMNI_KIT_ACCEPT_EULA: yes
         run: pixi run -e isaaclab export-isaaclab-ci
 
+      - name: Build Exploy Library
+        run: |
+          pixi run -e controller setup
+          pixi run -e controller build
+
       - name: Run Controller Loopback Example
         run: pixi run -e controller run-example
 

cmake/Findonnxruntime.cmake

@@ -1,41 +1,159 @@
 # Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
-cmake_minimum_required(VERSION 3.20)
-project(exploy LANGUAGES CXX)
+cmake_minimum_required(VERSION 3.22)
 
-set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+# Keep this aligned with the Python version defined in pyproject.toml.
+project(exploy LANGUAGES CXX VERSION 0.1.0)
 
 include(CTest)
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
 
-# Treat warnings as errors
+# Enable shared libraries and position independent code by default.
+set(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries")
+
+# Configure RPATH.
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+if(APPLE)
+    list(APPEND CMAKE_INSTALL_RPATH "@loader_path/../lib")
+else()
+    list(APPEND CMAKE_INSTALL_RPATH "$ORIGIN/../lib")
+endif()
+
+# Treat warnings as errors.
 add_compile_options(-Werror -Wpedantic -Wunused-variable -Wunused-parameter -Wreorder)
 
-# Find dependencies
+# Find dependencies.
 find_package(Eigen3 REQUIRED)
 find_package(nlohmann_json REQUIRED)
 find_package(fmt REQUIRED)
 find_package(onnxruntime REQUIRED)
 
-# C++ Shared Library
+# ==============
+# Exploy library
+# ==============
+
+# C++ shared library.
 add_library(exploy SHARED
-    controller.cpp
-    context.cpp
-    onnx_runtime.cpp
-    components.cpp
-    matcher.cpp
+    src/controller.cpp
+    src/context.cpp
+    src/onnx_runtime.cpp
+    src/components.cpp
+    src/matcher.cpp
+)
+
+# Create an alias target for symmetry between the build tree and install tree.
+add_library(exploy::exploy ALIAS exploy)
+
+# Set the C++ standard.
+target_compile_features(exploy PUBLIC cxx_std_20)
+set_target_properties(exploy PROPERTIES
+    CXX_STANDARD_REQUIRED ON
+    CXX_EXTENSIONS OFF
+    POSITION_INDEPENDENT_CODE ON
 )
 
-target_include_directories(exploy PUBLIC .)
+# Include directories and public headers.
+target_include_directories(exploy PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+# Find all header files in the include directory.
+file(GLOB EXPLOY_HEADERS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/include/exploy/*.hpp")
+
+# Add public headers to the target.
+if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.23)
+    target_sources(exploy PUBLIC
+        FILE_SET HEADERS BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
+        FILES ${EXPLOY_HEADERS}
+    )
+endif()
 
+# Link dependencies.
 target_link_libraries(exploy PUBLIC
     Eigen3::Eigen
     nlohmann_json::nlohmann_json
     fmt::fmt
     onnxruntime::onnxruntime
 )
 
+# =================================
+# Exported targets and installation
+# =================================
+
+# Install the target (the library itself) and public headers.
+if(CMAKE_VERSION VERSION_LESS 3.23)
+    install(
+        FILES ${EXPLOY_HEADERS}
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/exploy
+    )
+    install(
+        TARGETS exploy
+        EXPORT exployTargets
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    )
+else()
+    install(TARGETS exploy
+        EXPORT exployTargets
+        FILE_SET HEADERS
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    )
+endif()
+
+# Export the targets for use by downstream packages.
+install(EXPORT exployTargets
+    FILE exployTargets.cmake
+    NAMESPACE exploy::
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/exploy
+)
+
+# Generate and install the package configuration files.
+export(EXPORT exployTargets
+    FILE "${CMAKE_CURRENT_BINARY_DIR}/exployTargets.cmake"
+    NAMESPACE exploy::
+)
+
+# Create a ConfigVersion.cmake file.
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/exployConfig.cmake.in"
+"@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3)
+find_dependency(nlohmann_json)
+find_dependency(fmt)
+find_dependency(onnxruntime)
+
+include(\"\${CMAKE_CURRENT_LIST_DIR}/exployTargets.cmake\")
+")
+
+# Configure and install the package configuration files.
+configure_package_config_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/exployConfig.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/exployConfig.cmake"
+    INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/exploy
+)
+
+# Create a version file for the config file.
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/exployConfigVersion.cmake"
+    VERSION ${PROJECT_VERSION}
+    COMPATIBILITY SameMajorVersion
+)
+
+# Install the config and version files.
+install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/exployConfig.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/exployConfigVersion.cmake"
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/exploy
+)
+
+# =====
 # Tests
+# =====
+
 if(BUILD_TESTING)
   find_package(GTest REQUIRED)
   find_package(Python3 REQUIRED COMPONENTS Interpreter)
@@ -50,7 +168,7 @@ if(BUILD_TESTING)
       COMMENT "Generating test ONNX model..."
   )
 
-  add_executable(exploy_test
+  add_executable(${PROJECT_NAME}_test
       test/controller_test.cpp
       test/components_test.cpp
       test/context_test.cpp
@@ -59,14 +177,13 @@ if(BUILD_TESTING)
       test/onnx_runtime_test.cpp
       "${GEN_OUTPUT}"
   )
-  target_compile_definitions(exploy_test PRIVATE
+  target_compile_definitions(${PROJECT_NAME}_test PRIVATE
       TEST_DATA_DIR="${CMAKE_CURRENT_SOURCE_DIR}/test/testdata"
   )
-  target_link_libraries(exploy_test PRIVATE
-      exploy
+  target_link_libraries(${PROJECT_NAME}_test PRIVATE
+      exploy::exploy
       GTest::gtest_main
       GTest::gmock
-      fmt::fmt
   )
-  add_test(NAME exploy_test COMMAND exploy_test)
+  add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
 endif()

control/CMakeLists.txt

@@ -5,8 +5,8 @@
 #include <optional>
 #include <string>
 
-#include "interfaces.hpp"
-#include "logging_utils.hpp"
+#include "exploy/interfaces.hpp"
+#include "exploy/logging_utils.hpp"
 
 namespace exploy::control {
 

control/command_interface.hpp …rol/include/exploy/command_interface.hppcontrol/command_interface.hpp renamed to control/include/exploy/command_interface.hpp control/command_interface.hpp renamed to control/include/exploy/command_interface.hpp

@@ -5,10 +5,10 @@
 #include <regex>
 #include <string>
 
-#include "command_interface.hpp"
-#include "metadata.hpp"
-#include "onnx_runtime.hpp"
-#include "state_interface.hpp"
+#include "exploy/command_interface.hpp"
+#include "exploy/metadata.hpp"
+#include "exploy/onnx_runtime.hpp"
+#include "exploy/state_interface.hpp"
 
 namespace exploy::control {
 

control/components.hpp control/include/exploy/components.hppcontrol/components.hpp renamed to control/include/exploy/components.hpp

@@ -7,9 +7,9 @@
 #include <unordered_map>
 #include <vector>
 
-#include "components.hpp"
-#include "matcher.hpp"
-#include "onnx_runtime.hpp"
+#include "exploy/components.hpp"
+#include "exploy/matcher.hpp"
+#include "exploy/onnx_runtime.hpp"
 
 namespace exploy::control {
 

control/context.hpp control/include/exploy/context.hppcontrol/context.hpp renamed to control/include/exploy/context.hpp

@@ -2,12 +2,12 @@
 
 #pragma once
 
-#include "command_interface.hpp"
-#include "context.hpp"
-#include "data_collection_interface.hpp"
-#include "interfaces.hpp"
-#include "onnx_runtime.hpp"
-#include "state_interface.hpp"
+#include "exploy/command_interface.hpp"
+#include "exploy/context.hpp"
+#include "exploy/data_collection_interface.hpp"
+#include "exploy/interfaces.hpp"
+#include "exploy/onnx_runtime.hpp"
+#include "exploy/state_interface.hpp"
 
 #include <string>
 #include <unordered_map>