CMakeLists.txt

# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
#
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

# This file is autogenerated.

cmake_minimum_required (VERSION 3.10.2)
project (bosdyn VERSION 5.1.0)

# Dependencies:
find_package(Protobuf REQUIRED)
find_package(Eigen3 REQUIRED)

find_package(PkgConfig REQUIRED)
pkg_check_modules(GRPC REQUIRED grpc)
pkg_check_modules(GRPCPP REQUIRED grpc++)
find_program(GRPC_CPP_PLUGIN_LOCATION grpc_cpp_plugin REQUIRED)
find_package(CLI11 REQUIRED)
find_package(Threads REQUIRED)

include_directories(SYSTEM $<TARGET_PROPERTY:CLI11::CLI11,INTERFACE_INCLUDE_DIRECTORIES>)

set(CMAKE_EXPORT_COMPILE_COMMANDS true)

# Command-line arguments:
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)
option(BUILD_SHARED_LIBS "Build using shared libraries" ON)
option(BUILD_CHOREOGRAPHY_LIBS "Boolean to control whether choreography proto libraries are built" ON)
option(BUILD_EXAMPLES "Boolean to control whether examples are built" OFF)

IF (NOT UNIX)
    SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Build using shared libraries" FORCE)
ENDIF (NOT UNIX)

include(GNUInstallDirs)

### API protos LIBRARY ###
get_filename_component(API_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../protos/ ABSOLUTE)
file(GLOB_RECURSE bosdyn_protos_files CONFIGURE_DEPENDS "${API_protos_PATH}/*.proto")
set(protos_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/protos)
file(MAKE_DIRECTORY ${protos_OUTPUT_DIR})
if (bosdyn_protos_files)
  add_library(bosdyn_api_obj OBJECT ${bosdyn_protos_files})
  set_property(TARGET bosdyn_api_obj PROPERTY POSITION_INDEPENDENT_CODE 1)
  target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf ${GRPC_LINK_LIBRARIES} ${GRPCPP_LINK_LIBRARIES})
  target_include_directories(bosdyn_api_obj PUBLIC
    ${GRPC_INCLUDE_DIRS} ${GRPCPP_INCLUDE_DIRS}
    $<BUILD_INTERFACE:${protos_OUTPUT_DIR}>
    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
  )
  protobuf_generate(TARGET bosdyn_api_obj LANGUAGE cpp
    IMPORT_DIRS ${API_protos_PATH}
    PROTOC_OUT_DIR ${protos_OUTPUT_DIR}
  )
  protobuf_generate(TARGET bosdyn_api_obj
    LANGUAGE grpc GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
    PLUGIN "protoc-gen-grpc=${GRPC_CPP_PLUGIN_LOCATION}"
    IMPORT_DIRS ${API_protos_PATH}
    PROTOC_OUT_DIR ${protos_OUTPUT_DIR}
  )
  #set install params
  install(
    TARGETS bosdyn_api_obj 
    EXPORT ${PROJECT_NAME}Targets 
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
  )

  if (BUILD_SHARED_LIBS)
    add_library(bosdyn_api SHARED $<TARGET_OBJECTS:bosdyn_api_obj>)
    target_link_libraries(bosdyn_api INTERFACE bosdyn_api_obj)
    install(
      TARGETS bosdyn_api
      EXPORT ${PROJECT_NAME}Targets
      LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
      INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    )
  endif()
  add_library(bosdyn_api_static STATIC $<TARGET_OBJECTS:bosdyn_api_obj>)
  target_link_libraries(bosdyn_api_static INTERFACE bosdyn_api_obj)
  install(
    TARGETS bosdyn_api_static 
    EXPORT ${PROJECT_NAME}Targets 
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
  )
  # install the gnerated protobuf and grpc header files
  install(DIRECTORY ${protos_OUTPUT_DIR}/
    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    FILES_MATCHING PATTERN "*.h"
  )
endif()
if (BUILD_CHOREOGRAPHY_LIBS)

### API choreography_protos LIBRARY ###
get_filename_component(API_choreography_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../choreography_protos/ ABSOLUTE)
file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS "${API_choreography_protos_PATH}/*.proto")
set(choreography_protos_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/choreography_protos)
file(MAKE_DIRECTORY ${choreography_protos_OUTPUT_DIR})
file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS "${API_choreography_protos_PATH}/*.proto")

if (bosdyn_choreography_protos_files)
  add_library(bosdyn_choreography_protos_obj OBJECT ${bosdyn_choreography_protos_files})
  set_property(TARGET bosdyn_choreography_protos_obj PROPERTY POSITION_INDEPENDENT_CODE 1)
  target_link_libraries(bosdyn_choreography_protos_obj PUBLIC bosdyn_api)
  target_include_directories(bosdyn_choreography_protos_obj PUBLIC
    $<BUILD_INTERFACE:${choreography_protos_OUTPUT_DIR}>
    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
  )
  protobuf_generate(TARGET bosdyn_choreography_protos_obj LANGUAGE cpp
  IMPORT_DIRS ${API_choreography_protos_PATH}
  PROTOC_OUT_DIR ${choreography_protos_OUTPUT_DIR})
  protobuf_generate(TARGET bosdyn_choreography_protos_obj
    LANGUAGE grpc GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
    PLUGIN "protoc-gen-grpc=${GRPC_CPP_PLUGIN_LOCATION}"
    IMPORT_DIRS ${API_choreography_protos_PATH}
    PROTOC_OUT_DIR ${choreography_protos_OUTPUT_DIR}
  )
  #set install params
  install(
    TARGETS bosdyn_choreography_protos_obj 
    EXPORT ${PROJECT_NAME}Targets 
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
  )

  if (BUILD_SHARED_LIBS)
    add_library(bosdyn_choreography_protos SHARED $<TARGET_OBJECTS:bosdyn_choreography_protos_obj>)
    target_link_libraries(bosdyn_choreography_protos INTERFACE bosdyn_choreography_protos_obj)
    install(
      TARGETS bosdyn_choreography_protos
      EXPORT ${PROJECT_NAME}Targets
      LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
      INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    )
  endif()
  add_library(bosdyn_choreography_protos_static STATIC $<TARGET_OBJECTS:bosdyn_choreography_protos_obj>)
  target_link_libraries(bosdyn_choreography_protos_static INTERFACE bosdyn_choreography_protos_obj)
  install(
    TARGETS bosdyn_choreography_protos_static 
    EXPORT ${PROJECT_NAME}Targets 
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
  )
  # install the gnerated protobuf and grpc header files
  install(DIRECTORY ${choreography_protos_OUTPUT_DIR}/
    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    FILES_MATCHING PATTERN "*.h"
  )
endif()
endif()


### CLIENT LIBRARY ###
file(GLOB_RECURSE bosdyn_client_SRC CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/bosdyn/*")
if (BUILD_SHARED_LIBS)
  add_library (bosdyn_client SHARED ${bosdyn_client_SRC})
  set_property(TARGET bosdyn_client PROPERTY POSITION_INDEPENDENT_CODE 1)
  target_compile_features(bosdyn_client PUBLIC cxx_std_17)
  target_link_libraries(bosdyn_client PUBLIC bosdyn_api Eigen3::Eigen)
  target_include_directories(bosdyn_client PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
  )
  install(
    TARGETS bosdyn_client
    EXPORT ${PROJECT_NAME}Targets
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
  )
endif()

add_library (bosdyn_client_static STATIC ${bosdyn_client_SRC})
set_property(TARGET bosdyn_client_static PROPERTY POSITION_INDEPENDENT_CODE 1)
target_compile_features(bosdyn_client_static PUBLIC cxx_std_17)
target_link_libraries(bosdyn_client_static PUBLIC bosdyn_api_static Eigen3::Eigen)
target_include_directories(bosdyn_client_static PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
)
install(
  TARGETS bosdyn_client_static
  EXPORT ${PROJECT_NAME}Targets
  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
#extract the header files from the src dir and install them
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bosdyn
  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
  FILES_MATCHING PATTERN "*.h"
)


include(CMakePackageConfigHelpers)

### EXAMPLE EXECUTABLES ###
if(BUILD_EXAMPLES)

link_directories(
  ${PROTOBUF_LIB_DIR}
)
add_executable(arm_grasp_carry_overrides ${CMAKE_CURRENT_SOURCE_DIR}/examples/arm_grasp_carry_overrides/arm_grasp_carry_overrides.cpp)
target_compile_features(arm_grasp_carry_overrides PUBLIC cxx_std_17)
target_include_directories(arm_grasp_carry_overrides PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
)
target_link_libraries(arm_grasp_carry_overrides PUBLIC bosdyn_client_static)
install(TARGETS arm_grasp_carry_overrides DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(arm_manipulation_api_walk_to ${CMAKE_CURRENT_SOURCE_DIR}/examples/arm_manipulation_api_walk_to/arm_manipulation_api_walk_to.cpp)
target_compile_features(arm_manipulation_api_walk_to PUBLIC cxx_std_17)
target_include_directories(arm_manipulation_api_walk_to PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
  $<TARGET_PROPERTY:CLI11::CLI11,INTERFACE_INCLUDE_DIRECTORIES>
)
target_link_libraries(arm_manipulation_api_walk_to PUBLIC bosdyn_client_static)
install(TARGETS arm_manipulation_api_walk_to DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(basic_robot_command ${CMAKE_CURRENT_SOURCE_DIR}/examples/basic_robot_command/basic_robot_command.cpp)
target_compile_features(basic_robot_command PUBLIC cxx_std_17)
target_include_directories(basic_robot_command PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
)
target_link_libraries(basic_robot_command PUBLIC bosdyn_client_static)
install(TARGETS basic_robot_command DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(get_image ${CMAKE_CURRENT_SOURCE_DIR}/examples/get_image/get_image.cpp)
target_compile_features(get_image PUBLIC cxx_std_17)
target_include_directories(get_image PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
)
target_link_libraries(get_image PUBLIC bosdyn_client_static)
install(TARGETS get_image DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(hello_spot ${CMAKE_CURRENT_SOURCE_DIR}/examples/hello_spot/hello_spot.cpp)
target_compile_features(hello_spot PUBLIC cxx_std_17)
target_include_directories(hello_spot PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
)
target_link_libraries(hello_spot PUBLIC bosdyn_client_static)
install(TARGETS hello_spot DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(inverse_kinematics_reachability ${CMAKE_CURRENT_SOURCE_DIR}/examples/inverse_kinematics_reachability/inverse_kinematics_reachability.cpp)
target_compile_features(inverse_kinematics_reachability PUBLIC cxx_std_17)
target_include_directories(inverse_kinematics_reachability PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
)
target_link_libraries(inverse_kinematics_reachability PUBLIC bosdyn_client_static)
install(TARGETS inverse_kinematics_reachability DESTINATION ${CMAKE_INSTALL_BINDIR})
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/examples/joint_control)
add_executable(spot_cam ${CMAKE_CURRENT_SOURCE_DIR}/examples/spot_cam/ptz_example.cpp)
target_compile_features(spot_cam PUBLIC cxx_std_17)
target_include_directories(spot_cam PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${PROTOBUF_INCLUDE_DIR}
)
target_link_libraries(spot_cam PUBLIC bosdyn_client_static)
install(TARGETS spot_cam DESTINATION ${CMAKE_INSTALL_BINDIR})
# Save a version file in the project's binary directory
set(VERSION_FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
write_basic_package_version_file("${VERSION_FILE}"
  VERSION ${PACKAGE_VERSION}
  COMPATIBILITY AnyNewerVersion
)
endif()

# This defines the instructions to generate a relocatable targets file at install time
set(PROJECT_CONFIG_PATH "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
set(EXPORTS_FILE "UseInstall${PROJECT_NAME}.cmake")
install(
  EXPORT ${PROJECT_NAME}Targets
  NAMESPACE ${PROJECT_NAME}::
  FILE ${EXPORTS_FILE}
  DESTINATION ${PROJECT_CONFIG_PATH}
)

# Define Variables needed by package config file
set(PACKAGE_INSTALL_PREFIX /opt/spot-cpp-sdk)

#this generates a relocatable config file for install, but it gets invoked at build time,
#so the output has to be saved in a way that will not conflict with the export config
set(CONFIG_FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}InstallConfig.cmake")

configure_package_config_file( "cmake/ProjectConfig.cmake.in"
  ${CONFIG_FILE}
  INSTALL_DESTINATION ${PROJECT_CONFIG_PATH}
)
#and because the config is a file in the build dir, it has to be installed explicitly
install(
  FILES "${CONFIG_FILE}"
  RENAME ${PROJECT_NAME}Config.cmake
  DESTINATION "${PROJECT_CONFIG_PATH}"
)

set(EXPORTS_FILE "UseExport${PROJECT_NAME}.cmake")
# Provide a targets script for the build dir
export(EXPORT ${PROJECT_NAME}Targets
  NAMESPACE ${PROJECT_NAME}::
  FILE ${EXPORTS_FILE}
)

set(MAKE_PLUGIN_FILE "cmake/make_plugin.cmake")
set(MAKE_APP_FILE "cmake/make_standard_app.cmake")
#export requires a config.cmake to play well with find_package, so that gets made here
configure_package_config_file( "cmake/ProjectConfig.cmake.in"
${PROJECT_NAME}Config.cmake
  INSTALL_DESTINATION ${CMAKE_CURRENT_BINARY_DIR}
  INSTALL_PREFIX ${CMAKE_CURRENT_BINARY_DIR}
)
# Stick build location in the central CMake user package registry, so that
# it may be easily found.
message(STATUS "Location of this build will be exported. Set ENABLE_EXPORT to OFF if you do not want this and delete ~/.cmake/projects/${PROJECT_NAME} ")
export(PACKAGE ${PROJECT_NAME})

if (UNIX)
  # Packaging logic
  set(CPACK_GENERATOR "DEB")
  set(CPACK_PACKAGE_NAME "spot-cpp-sdk")
  set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
  set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
  set(CPACK_DEBIAN_PACKAGE_DEPENDS "libcli11-dev (>=2.1.2), libgrpc++-dev (>=1.30.2), libprotobuf-dev (>=3.12.4)")  # not picked up by shlibdeps, thus listed explicitly
  set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Boston Dynamics SDK Publisher <bd-sdk-publisher@bostondynamics.com>")
  set(CPACK_PACKAGE_VENDOR "Boston Dynamics")
  set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
  set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Boston Dynamics Spot C++ SDK")
  set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/../LICENSE")
  set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
  set(CPACK_PACKAGING_INSTALL_PREFIX "${PACKAGE_INSTALL_PREFIX}")
  include(CPack)
endif()