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#############################################################################
#
# ViSP, open source Visual Servoing Platform software.
# Copyright (C) 2005 - 2025 by Inria. All rights reserved.
#
# This software is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
# See the file LICENSE.txt at the root directory of this source
# distribution for additional information about the GNU GPL.
#
# For using ViSP with software that can not be combined with the GNU
# GPL, please contact Inria about acquiring a ViSP Professional
# Edition License.
#
# See https://visp.inria.fr for more information.
#
# This software was developed at:
# Inria Rennes - Bretagne Atlantique
# Campus Universitaire de Beaulieu
# 35042 Rennes Cedex
# France
#
# If you have questions regarding the use of this file, please contact
# Inria at visp@inria.fr
#
# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
#
# Description:
# Try to find libBiclops, libPMD and libUtils for Biclops head.
# Once run this will define:
#
# BICLOPS_FOUND
# BICLOPS_INCLUDE_DIRS
# BICLOPS_LIBRARIES
#
#############################################################################
if(NOT UNIX AND NOT WIN32)
# message("FindBICLOPS.cmake: macro only for Unix and Windows for the moment.")
set(BICLOPS_FOUND FALSE)
else(NOT UNIX AND NOT WIN32)
find_path(BICLOPS_INCLUDE_DIR Biclops.h
$ENV{BICLOPS_HOME}/include
/usr/include )
#message("DBG BICLOPS_INCLUDE_DIR=${BICLOPS_INCLUDE_DIR}")
find_path(PMD_INCLUDE_DIR PMD.h
$ENV{BICLOPS_HOME}/include
$ENV{BICLOPS_PMD_HOME}/include
/usr/include )
find_path(UTILS_INCLUDE_DIR utility.h
$ENV{BICLOPS_HOME}/include
$ENV{BICLOPS_UTILS_HOME}/include
/usr/include )
find_library(BICLOPS_LIBRARY
NAMES Biclops libBiclops libBiclopsD
PATHS
$ENV{BICLOPS_HOME}/lib
/usr/lib
)
find_library(PMD_LIBRARY
NAMES PMD libPMD libPMDD
PATHS
$ENV{BICLOPS_HOME}/lib
$ENV{BICLOPS_PMD_HOME}/lib
/usr/lib
)
find_library(UTILS_LIBRARY
NAMES Utils libUtils libUtilsD
PATHS
$ENV{BICLOPS_HOME}/lib
$ENV{BICLOPS_UTILS_HOME}/lib
/usr/lib
)
#message("DBG BICLOPS_LIBRARY=${BICLOPS_LIBRARY}")
## --------------------------------
if(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
set(BICLOPS_LIBRARIES ${BICLOPS_LIBRARY} ${PMD_LIBRARY} ${UTILS_LIBRARY})
else(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
# message(SEND_ERROR "Biclops library not found. Set USE_BICLOPS option OFF")
endif(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
if(NOT BICLOPS_INCLUDE_DIR)
# message(SEND_ERROR "Biclops include dir not found. Set USE_BICLOPS option OFF")
endif(NOT BICLOPS_INCLUDE_DIR)
if(NOT PMD_INCLUDE_DIR)
# message(SEND_ERROR "PMD include dir not found. Set USE_BICLOPS option OFF")
endif(NOT PMD_INCLUDE_DIR)
if(NOT UTILS_INCLUDE_DIR)
# message(SEND_ERROR "Utils include dir not found. Set USE_BICLOPS option OFF ")
endif(NOT UTILS_INCLUDE_DIR)
if(BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
set(BICLOPS_INCLUDE_DIRS ${BICLOPS_INCLUDE_DIR} ${PMD_INCLUDE_DIR} ${UTILS_INCLUDE_DIR})
endif(BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
if(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
#message("BICLOPS_LIBRARIES: ${BICLOPS_LIBRARIES}")
#message("BICLOPS_INCLUDE_DIRS: ${BICLOPS_INCLUDE_DIRS}")
# Try to compile a sample code using Biclops library to see if GetHomedState() is available
#set(BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION FALSE)
include(CheckCXXSourceCompiles)
set(CMAKE_REQUIRED_LIBRARIES ${BICLOPS_LIBRARIES})
set(CMAKE_REQUIRED_INCLUDES ${BICLOPS_INCLUDE_DIRS})
CHECK_CXX_SOURCE_COMPILES("
#include <PMDUtils.h>
int main(){
PMDAxisControl *axis;
axis->GetHomedState();
return 0;
}
" BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION)
#message("DBG1 BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION ${BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION}")
set(BICLOPS_FOUND TRUE)
else(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
set(BICLOPS_FOUND FALSE)
endif(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
mark_as_advanced(
BICLOPS_INCLUDE_DIR
BICLOPS_LIBRARIES
BICLOPS_LIBRARY
PMD_INCLUDE_DIR
UTILS_INCLUDE_DIR
PMD_LIBRARY
UTILS_LIBRARY
)
endif(NOT UNIX AND NOT WIN32)
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