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include (${sdf_cmake_dir}/FindOS.cmake)
include (FindPkgConfig)
# Detect the architecture
include (${project_cmake_dir}/TargetArch.cmake)
target_architecture(ARCH)
message(STATUS "Building for arch: ${ARCH}")
########################################
# Find Boost, if not specified manually
if (WIN32)
set(Boost_USE_STATIC_LIBS OFF)
set(Boost_USE_MULTITHREADED ON)
set(Boost_USE_STATIC_RUNTIME OFF)
endif()
include(FindBoost)
find_package(Boost ${MIN_BOOST_VERSION} REQUIRED system filesystem program_options regex iostreams)
if (NOT Boost_FOUND)
set (BUILD_SDF OFF CACHE INTERNAL "Build SDF" FORCE)
BUILD_ERROR ("Boost not found. Please install thread signals system filesystem program_options regex boost version ${MIN_BOOST_VERSION} or higher.")
endif()
if (USE_EXTERNAL_TINYXML)
#################################################
# Find tinyxml. Only debian distributions package tinyxml with a pkg-config
# Use pkg_check_modules and fallback to manual detection (needed, at least, for MacOS)
pkg_check_modules(tinyxml tinyxml)
if (NOT tinyxml_FOUND)
find_path (tinyxml_include_dirs tinyxml.h ${tinyxml_include_dirs} ENV CPATH)
find_library(tinyxml_LIBRARIES NAMES tinyxml)
set (tinyxml_FAIL False)
if (NOT tinyxml_include_dirs)
message (STATUS "Looking for tinyxml headers - not found")
set (tinyxml_FAIL True)
endif()
if (NOT tinyxml_LIBRARIES)
message (STATUS "Looking for tinyxml library - not found")
set (tinyxml_FAIL True)
endif()
endif()
if (tinyxml_FAIL)
message (STATUS "Looking for tinyxml.h - not found")
BUILD_ERROR("Missing: tinyxml")
endif()
else()
# Needed in WIN32 since in UNIX the flag is added in the code installed
add_definitions(-DTIXML_USE_STL)
include_directories (${PROJECT_SOURCE_DIR}/src/win/tinyxml)
set (tinyxml_LIBRARIES "tinyxml")
set (tinyxml_LIBRARY_DIRS "")
endif()
################################################
# Find urdfdom parser
if (USE_EXTERNAL_URDF)
if (NOT PKG_CONFIG_FOUND)
BUILD_ERROR ("pkgconfig not found. Please install to so USE_EXTERNAL_URDF can found the urdf library")
else()
# check for urdfdom with pkg-config
pkg_check_modules(URDF urdfdom>=0.3)
if (NOT URDF_FOUND)
# version >= 0.3.x not found, check for urdfdom again with no version
# restriction.
pkg_check_modules(URDF urdfdom)
if (NOT URDF_FOUND)
BUILD_ERROR ("URDF library not found. Please install it to use with USE_EXTERNAL_URDF or set this flag to false to use internal URDF code")
else()
# urdfdom library found < 0.3, unset flag
set (URDF_GE_0P3 FALSE)
endif()
else()
# urdfdom library found >= 0.3, set flag
set (URDF_GE_0P3 TRUE)
endif()
# what am I doing here? pkg-config and cmake
set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
endif()
else()
# the internal copy is currently 0.3.0
set (URDF_GE_0P3 TRUE)
endif()
################################################
# Find the Python interpreter for running the
# check_test_ran.py script
find_package(PythonInterp QUIET)
################################################
# Find psutil python package for memory tests
find_python_module(psutil)
if(NOT PY_PSUTIL)
BUILD_WARNING("Python psutil package not found. Memory leak tests will be skipped")
endif()
################################################
# Find Valgrind for checking memory leaks in the
# tests
find_program(VALGRIND_PROGRAM NAMES valgrind PATH ${VALGRIND_ROOT}/bin)
option(SDFORMAT_RUN_VALGRIND_TESTS "Run sdformat tests with Valgrind" FALSE)
mark_as_advanced(SDFORMAT_RUN_VALGRIND_TESTS)
if (SDFORMAT_RUN_VALGRIND_TESTS AND NOT VALGRIND_PROGRAM)
BUILD_WARNING("valgrind not found. Memory check tests will be skipped.")
endif()
################################################
# Find ruby executable to produce xml schemas
find_program(RUBY ruby)
if (NOT RUBY)
BUILD_ERROR ("Ruby version 1.9 is needed to build xml schemas")
else()
message(STATUS "Found ruby executable: ${RUBY}")
endif()
#################################################
# Macro to check for visibility capability in compiler
# Original idea from: https://gitorious.org/ferric-cmake-stuff/
macro (check_gcc_visibility)
include (CheckCXXCompilerFlag)
check_cxx_compiler_flag(-fvisibility=hidden GCC_SUPPORTS_VISIBILITY)
endmacro()
########################################
# Find ignition math
set(IGNITION-MATH_REQUIRED_MAJOR_VERSION 2)
if (NOT DEFINED IGNITION-MATH_LIBRARY_DIRS AND NOT DEFINED IGNITION-MATH_INCLUDE_DIRS AND NOT DEFINED IGNITION-MATH_LIBRARIES)
find_package(ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION} QUIET)
if (NOT ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION}_FOUND)
message(STATUS "Looking for ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION}-config.cmake - not found")
BUILD_ERROR ("Missing: Ignition math${IGNITION-MATH_REQUIRED_MAJOR_VERSION} library.")
else()
message(STATUS "Looking for ignition-math${IGNITION-MATH_REQUIRED_MAJOR_VERSION}-config.cmake - found")
endif()
endif()
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