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include (FindPkgConfig)
# Detect the architecture
include (${project_cmake_dir}/TargetArch.cmake)
target_architecture(ARCH)
message(STATUS "Building for arch: ${ARCH}")
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. Logic:
#
# 1. if USE_INTERNAL_URDF is unset, try to use system installation, fallback to internal copy
# 2. if USE_INTERNAL_URDF is set to True, use the internal copy
# 3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error
if (NOT PKG_CONFIG_FOUND)
if (NOT DEFINED USE_INTERNAL_URDF)
BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy")
set(USE_INTERNAL_URDF true)
elseif(NOT USE_INTERNAL_URDF)
BUILD_ERROR("Couldn't find pkg-config for urdfdom")
endif()
endif()
if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
# check for urdfdom with pkg-config
pkg_check_modules(URDF urdfdom>=1.0)
if (NOT URDF_FOUND)
find_package(urdfdom)
if (urdfdom_FOUND)
set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
# ${urdfdom_LIBRARIES} already contains absolute library filenames
set(URDF_LIBRARY_DIRS "")
set(URDF_LIBRARIES ${urdfdom_LIBRARIES})
elseif (NOT DEFINED USE_INTERNAL_URDF)
message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy")
set(USE_INTERNAL_URDF true)
else()
BUILD_ERROR("Couldn't find the urdfdom >= 1.0 system installation")
endif()
else()
# what am I doing here? pkg-config and cmake
set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
endif()
endif()
#################################################
# Find ign command line utility:
find_package(ignition-tools)
if (IGNITION-TOOLS_BINARY_DIRS)
message(STATUS "Looking for ignition-tools-config.cmake - found")
else()
BUILD_WARNING ("ignition-tools not found, for command line utilities and for \
generating aggregated SDFormat descriptions for sdformat.org, please install \
ignition-tools.")
endif()
################################################
# Find the Python interpreter for running the
# check_test_ran.py script
find_package(PythonInterp 3 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 a variable for generating ProjectConfig.cmake
find_package(ignition-math6 QUIET)
if (NOT ignition-math6_FOUND)
message(STATUS "Looking for ignition-math6-config.cmake - not found")
BUILD_ERROR ("Missing: Ignition math (libignition-math6-dev)")
else()
set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
message(STATUS "Looking for ignition-math${IGN_MATH_VER}-config.cmake - found")
endif()
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