CMakeLists.txt

# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
# SPDX-License-Identifier: BSD-3-Clause

cmake_minimum_required(VERSION 3.8...3.30)
project(
    YarpCiA402
    VERSION 0.7.0
    DESCRIPTION "YARP device plugin for EtherCAT CiA402 drives"
    LANGUAGES CXX
)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) # to avoid the use of $ORIGIN in RPATH

#set default build type to "Release" in single-config generators
if(NOT CMAKE_CONFIGURATION_TYPES)
    if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Release" CACHE STRING
        "Choose the type of build, recommended options are: Debug or Release" FORCE)
    endif()
    set(ROBOTOLOGY_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${ROBOTOLOGY_BUILD_TYPES})
endif()


# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
include(GNUInstallDirs)

# Control where libraries and executables are placed during the build.
# With the following settings executables are placed in <the top level of the
# build tree>/bin and libraries/archives in <top level of the build tree>/lib.
# This is particularly useful to run ctests on libraries built on Windows
# machines: tests, which are executables, are placed in the same folders of
# dlls, which are treated as executables as well, so that they can properly
# find the libraries to run. This is a because of missing RPATH on Windows.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")

# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
# See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
# See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

# Under MSVC, we set CMAKE_DEBUG_POSTFIX to "d" to add a trailing "d" to library
# built in debug mode. In this Windows user can compile, build and install the
# library in both Release and Debug configuration avoiding naming clashes in the
# installation directories.
if(MSVC)
    set(CMAKE_DEBUG_POSTFIX "d")
endif()

# Further details on PIC can be found here:
# https://eli.thegreenplace.net/2011/11/03/position-independent-code-pic-in-shared-libraries/
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

# Disable C and C++ compiler extensions.
# C/CXX_EXTENSIONS are ON by default to allow the compilers to use extended
# variants of the C/CXX language.
# However, this could expose cross-platform bugs in user code or in the headers
# of third-party dependencies and thus it is strongly suggested to turn
# extensions off.
set(CMAKE_C_EXTENSIONS OFF)

# Find YARP and include the CMake code to compile plugins
find_package(YARP REQUIRED)
find_package(soem REQUIRED)
find_package(tomlplusplus REQUIRED)

# macro to automatize the process of creating a YARP device
include(AddLibrary)
include(AddYARPDevice)
include(AddApplication)

add_subdirectory(src)
add_subdirectory(utils)
add_subdirectory(device)

# add_subdirectory(test)

include(AddUninstallTarget)