From b9e1183b4587fa358b5415f0327ca30a9f7aff0c Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Tue, 24 Aug 2021 15:28:19 +0200
Subject: [PATCH] refactor: Adhere to new cmake usage style.
---
.../navigation/algorithms/CMakeLists.txt | 9 ------
.../navigation/algorithms/test/CMakeLists.txt | 6 ----
.../armarx/navigation/client/CMakeLists.txt | 2 +-
.../navigation/client/test/CMakeLists.txt | 9 ------
.../components/ExampleClient/CMakeLists.txt | 2 +-
.../NavigationMemory/CMakeLists.txt | 2 +-
.../components/Navigator/CMakeLists.txt | 2 +-
.../navigation/conversions/CMakeLists.txt | 15 +++++-----
.../conversions/test/CMakeLists.txt | 6 ----
source/armarx/navigation/core/CMakeLists.txt | 29 ++++++++++---------
.../navigation/core/test/CMakeLists.txt | 6 ----
.../navigation/factories/CMakeLists.txt | 17 +++++------
.../navigation/factories/test/CMakeLists.txt | 7 -----
.../navigation/global_planning/CMakeLists.txt | 22 +++++---------
.../global_planning/test/CMakeLists.txt | 6 ----
.../local_planning/test/CMakeLists.txt | 6 ----
.../armarx/navigation/memory/CMakeLists.txt | 19 +++++-------
.../navigation/memory/test/CMakeLists.txt | 7 -----
.../safety_control/test/CMakeLists.txt | 6 ----
.../armarx/navigation/server/CMakeLists.txt | 18 ++++++------
.../navigation/server/test/CMakeLists.txt | 9 ------
.../trajectory_control/CMakeLists.txt | 20 +++++++++----
.../trajectory_control/test/CMakeLists.txt | 6 ----
.../navigation/util/test/CMakeLists.txt | 6 ----
24 files changed, 73 insertions(+), 164 deletions(-)
delete mode 100644 source/armarx/navigation/algorithms/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/client/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/conversions/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/core/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/factories/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/global_planning/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/local_planning/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/memory/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/safety_control/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/server/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/trajectory_control/test/CMakeLists.txt
delete mode 100644 source/armarx/navigation/util/test/CMakeLists.txt
diff --git a/source/armarx/navigation/algorithms/CMakeLists.txt b/source/armarx/navigation/algorithms/CMakeLists.txt
index bfc7213e..d408bd1b 100644
--- a/source/armarx/navigation/algorithms/CMakeLists.txt
+++ b/source/armarx/navigation/algorithms/CMakeLists.txt
@@ -1,4 +1,3 @@
-
armarx_add_library(algorithms
DEPENDENCIES
ArmarXCoreInterfaces
@@ -24,11 +23,3 @@ armarx_add_library(algorithms
./smoothing/ChainApproximation.h
./smoothing/CircularPathSmoothing.h
)
-
-
-# find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
-# libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
-# target_include_directories(algorithms PUBLIC ${MyLib_INCLUDE_DIRS}) endif()
-
-# add unit tests add_subdirectory(test)
diff --git a/source/armarx/navigation/algorithms/test/CMakeLists.txt b/source/armarx/navigation/algorithms/test/CMakeLists.txt
deleted file mode 100644
index da23b0c9..00000000
--- a/source/armarx/navigation/algorithms/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME algorithmsTest
- TEST_FILE algorithmsTest.cpp
- DEPENDEND_LIBS ArmarXCore
- algorithms
-)
diff --git a/source/armarx/navigation/client/CMakeLists.txt b/source/armarx/navigation/client/CMakeLists.txt
index 6da3e2da..abbbd158 100644
--- a/source/armarx/navigation/client/CMakeLists.txt
+++ b/source/armarx/navigation/client/CMakeLists.txt
@@ -6,7 +6,7 @@ armarx_add_library(client
# RobotAPI
aron
# Navigation
- NavigatorInterfaces
+ armarx_navigation::Navigator_ice
armarx_navigation::core
armarx_navigation::global_planning
armarx_navigation::local_planning
diff --git a/source/armarx/navigation/client/test/CMakeLists.txt b/source/armarx/navigation/client/test/CMakeLists.txt
deleted file mode 100644
index 2273a1f9..00000000
--- a/source/armarx/navigation/client/test/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-armarx_add_test(
- TEST_NAME clientTest
- TEST_FILE clientTest.cpp
- DEPENDEND_LIBS
- ArmarXCore
- armarx_navigation::client
- armarx_navigation::factories
- armarx_navigation::server
-)
diff --git a/source/armarx/navigation/components/ExampleClient/CMakeLists.txt b/source/armarx/navigation/components/ExampleClient/CMakeLists.txt
index adc80632..08338b99 100644
--- a/source/armarx/navigation/components/ExampleClient/CMakeLists.txt
+++ b/source/armarx/navigation/components/ExampleClient/CMakeLists.txt
@@ -1,4 +1,4 @@
-armarx__add_component(ExampleClient
+armarx_add_component(ExampleClient
DEPENDENCIES
ArmarXCore
# ArmarXCoreComponentPlugins # For DebugObserver plugin. ArmarXGui
diff --git a/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt b/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt
index 7b53773a..9398e2c5 100644
--- a/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt
+++ b/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt
@@ -1,4 +1,4 @@
-armarx__add_component(NavigationMemory
+armarx_add_component(NavigationMemory
DEPENDENCIES
# ArmarXCore
ArmarXCore
diff --git a/source/armarx/navigation/components/Navigator/CMakeLists.txt b/source/armarx/navigation/components/Navigator/CMakeLists.txt
index 315e2dbf..9af18dba 100644
--- a/source/armarx/navigation/components/Navigator/CMakeLists.txt
+++ b/source/armarx/navigation/components/Navigator/CMakeLists.txt
@@ -1,4 +1,4 @@
-armarx__add_component(Navigator
+armarx_add_component(Navigator
ICE_FILES
NavigatorInterface.ice
ICE_DEPENDENCIES
diff --git a/source/armarx/navigation/conversions/CMakeLists.txt b/source/armarx/navigation/conversions/CMakeLists.txt
index f81f95f5..b00dce45 100644
--- a/source/armarx/navigation/conversions/CMakeLists.txt
+++ b/source/armarx/navigation/conversions/CMakeLists.txt
@@ -1,4 +1,3 @@
-
armarx_add_library(conversions
DEPENDENCIES
ArmarXCoreInterfaces
@@ -7,10 +6,10 @@ armarx_add_library(conversions
HEADERS ./eigen.h
)
-# find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
-# libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
-# target_include_directories(conversions PUBLIC ${MyLib_INCLUDE_DIRS}) endif()
-
-# add unit tests
-add_subdirectory(test)
+armarx_add_test(
+ TEST_NAME conversions_test
+ TEST_FILE test/conversionsTest.cpp
+ DEPENDEND_LIBS
+ ArmarXCore
+ armarx_navigation::conversions
+)
diff --git a/source/armarx/navigation/conversions/test/CMakeLists.txt b/source/armarx/navigation/conversions/test/CMakeLists.txt
deleted file mode 100644
index 7b63faf2..00000000
--- a/source/armarx/navigation/conversions/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME conversionsTest
- TEST_FILE conversionsTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::conversions
-)
diff --git a/source/armarx/navigation/core/CMakeLists.txt b/source/armarx/navigation/core/CMakeLists.txt
index a0c1f6dd..88ca66a0 100644
--- a/source/armarx/navigation/core/CMakeLists.txt
+++ b/source/armarx/navigation/core/CMakeLists.txt
@@ -1,3 +1,11 @@
+armarx_add_aron_library(core_aron
+ ARON_FILES
+ aron/Twist.xml
+ aron/TwistLimits.xml
+ aron/PIDParams.xml
+ aron/Trajectory.xml
+ aron/Events.xml
+)
armarx_add_library(core
DEPENDENCIES
@@ -10,6 +18,7 @@ armarx_add_library(core
RobotAPIInterfaces
Simox::VirtualRobot
range-v3
+ armarx_navigation::core_aron
SOURCES
StaticScene.cpp
Trajectory.cpp
@@ -28,18 +37,12 @@ armarx_add_library(core
aron_conversions.h
time/ChronoMonotonicTimeServer.h
time/TimeServerInterface.h
- ARON_FILES
- aron/Twist.xml
- aron/TwistLimits.xml
- aron/PIDParams.xml
- aron/Trajectory.xml
- aron/Events.xml
)
-# find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
-# libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
-# target_include_directories(core PUBLIC ${MyLib_INCLUDE_DIRS}) endif()
-
-# add unit tests
-add_subdirectory(test)
+armarx_add_test(
+ TEST_NAME core_test
+ TEST_FILE test/coreTest.cpp
+ DEPENDEND_LIBS
+ ArmarXCore
+ armarx_navigation::core
+)
diff --git a/source/armarx/navigation/core/test/CMakeLists.txt b/source/armarx/navigation/core/test/CMakeLists.txt
deleted file mode 100644
index c0b9e962..00000000
--- a/source/armarx/navigation/core/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME coreTest
- TEST_FILE coreTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::core
-)
diff --git a/source/armarx/navigation/factories/CMakeLists.txt b/source/armarx/navigation/factories/CMakeLists.txt
index d532e7d3..6b90e485 100644
--- a/source/armarx/navigation/factories/CMakeLists.txt
+++ b/source/armarx/navigation/factories/CMakeLists.txt
@@ -1,4 +1,3 @@
-
armarx_add_library(factories
DEPENDENCIES
ArmarXCoreInterfaces
@@ -22,11 +21,11 @@ armarx_add_library(factories
./NavigationStackFactory.h
)
-
-# find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
-# libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
-# target_include_directories(factories PUBLIC ${MyLib_INCLUDE_DIRS}) endif()
-
-# add unit tests
-add_subdirectory(test)
+armarx_add_test(
+ TEST_NAME factories_test
+ TEST_FILE test/factoriesTest.cpp
+ DEPENDEND_LIBS
+ ArmarXCore
+ armarx_navigation::factories
+ armarx_navigation::client
+)
diff --git a/source/armarx/navigation/factories/test/CMakeLists.txt b/source/armarx/navigation/factories/test/CMakeLists.txt
deleted file mode 100644
index 3899f92f..00000000
--- a/source/armarx/navigation/factories/test/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-armarx_add_test(
- TEST_NAME factoriesTest
- TEST_FILE factoriesTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::factories
- armarx_navigation::client
-)
diff --git a/source/armarx/navigation/global_planning/CMakeLists.txt b/source/armarx/navigation/global_planning/CMakeLists.txt
index b40fa24f..43b7e9e6 100644
--- a/source/armarx/navigation/global_planning/CMakeLists.txt
+++ b/source/armarx/navigation/global_planning/CMakeLists.txt
@@ -1,13 +1,19 @@
-
+armarx_add_aron_library(global_planning_aron
+ ARON_FILES
+ aron/GlobalPlannerParams.xml
+ aron/Point2PointParams.xml
+ aron/AStarParams.xml
+)
armarx_add_library(global_planning
DEPENDENCIES
+ ceres
ArmarXCoreInterfaces
ArmarXCore
aroncommon
armarx_navigation::core
armarx_navigation::algorithms
- ceres
+ armarx_navigation::global_planning_aron
SOURCES
./GlobalPlanner.cpp
./AStar.cpp
@@ -20,16 +26,4 @@ armarx_add_library(global_planning
./Point2Point.h
./aron_conversions.h
./optimization/OrientationOptimizer.h
- ARON_FILES
- aron/GlobalPlannerParams.xml
- aron/Point2PointParams.xml
- aron/AStarParams.xml
)
-
-# find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
-# libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
-# target_include_directories(global_planning PUBLIC ${MyLib_INCLUDE_DIRS})
-# endif()
-
-# add unit tests add_subdirectory(test)
diff --git a/source/armarx/navigation/global_planning/test/CMakeLists.txt b/source/armarx/navigation/global_planning/test/CMakeLists.txt
deleted file mode 100644
index dc3b1e36..00000000
--- a/source/armarx/navigation/global_planning/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME global_planningTest
- TEST_FILE global_planningTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::global_planning
-)
diff --git a/source/armarx/navigation/local_planning/test/CMakeLists.txt b/source/armarx/navigation/local_planning/test/CMakeLists.txt
deleted file mode 100644
index 3d26c9e0..00000000
--- a/source/armarx/navigation/local_planning/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME local_planningTest
- TEST_FILE local_planningTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::core
-)
diff --git a/source/armarx/navigation/memory/CMakeLists.txt b/source/armarx/navigation/memory/CMakeLists.txt
index bf8a5e99..8ae407ee 100644
--- a/source/armarx/navigation/memory/CMakeLists.txt
+++ b/source/armarx/navigation/memory/CMakeLists.txt
@@ -1,4 +1,3 @@
-
armarx_add_library(memory
DEPENDENCIES
ArmarXCoreInterfaces
@@ -19,14 +18,10 @@ armarx_add_library(memory
./client/events/Writer.h
)
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-# target_include_directories(memory PUBLIC ${MyLib_INCLUDE_DIRS})
-#endif()
-
-# add unit tests
-add_subdirectory(test)
+armarx_add_test(
+ TEST_NAME memory_test
+ TEST_FILE test/memoryTest.cpp
+ DEPENDEND_LIBS
+ ArmarXCore
+ armarx_navigation::memory
+)
diff --git a/source/armarx/navigation/memory/test/CMakeLists.txt b/source/armarx/navigation/memory/test/CMakeLists.txt
deleted file mode 100644
index e68ad9e0..00000000
--- a/source/armarx/navigation/memory/test/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-
-armarx_add_test(
- TEST_NAME memoryTest
- TEST_FILE memoryTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::memory
-)
diff --git a/source/armarx/navigation/safety_control/test/CMakeLists.txt b/source/armarx/navigation/safety_control/test/CMakeLists.txt
deleted file mode 100644
index 30633534..00000000
--- a/source/armarx/navigation/safety_control/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME safety_controlTest
- TEST_FILE safety_controlTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::safety_control
-)
diff --git a/source/armarx/navigation/server/CMakeLists.txt b/source/armarx/navigation/server/CMakeLists.txt
index 3a0201f4..01d668ad 100644
--- a/source/armarx/navigation/server/CMakeLists.txt
+++ b/source/armarx/navigation/server/CMakeLists.txt
@@ -1,4 +1,3 @@
-
armarx_add_library(server
DEPENDENCIES
ArmarXCoreInterfaces
@@ -45,11 +44,12 @@ armarx_add_library(server
./parameterization/MemoryParameterizationService.h
)
-
-# find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
-# libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
-# target_include_directories(server PUBLIC ${MyLib_INCLUDE_DIRS}) endif()
-
-# add unit tests
-add_subdirectory(test)
+armarx_add_test(
+ TEST_NAME server_test
+ TEST_FILE test/serverTest.cpp
+ DEPENDEND_LIBS
+ ArmarXCore
+ armarx_navigation::client
+ armarx_navigation::factories
+ armarx_navigation::server
+)
diff --git a/source/armarx/navigation/server/test/CMakeLists.txt b/source/armarx/navigation/server/test/CMakeLists.txt
deleted file mode 100644
index b301fdde..00000000
--- a/source/armarx/navigation/server/test/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-armarx_add_test(
- TEST_NAME serverTest
- TEST_FILE serverTest.cpp
- DEPENDEND_LIBS
- ArmarXCore
- armarx_navigation::client
- armarx_navigation::factories
- armarx_navigation::server
-)
diff --git a/source/armarx/navigation/trajectory_control/CMakeLists.txt b/source/armarx/navigation/trajectory_control/CMakeLists.txt
index aa6d4997..c0fe1f69 100644
--- a/source/armarx/navigation/trajectory_control/CMakeLists.txt
+++ b/source/armarx/navigation/trajectory_control/CMakeLists.txt
@@ -1,3 +1,9 @@
+armarx_add_aron_library(trajectory_control_aron
+ ARON_FILES
+ aron/TrajectoryControllerParams.xml
+ aron/TrajectoryFollowingControllerParams.xml
+ aron/WaypointControllerParams.xml
+)
armarx_add_library(trajectory_control
DEPENDENCIES
@@ -5,6 +11,7 @@ armarx_add_library(trajectory_control
ArmarXCore
RobotAPICore
armarx_navigation::core
+ armarx_navigation::trajectory_control_aron
SOURCES
./TrajectoryController.cpp
./TrajectoryFollowingController.cpp
@@ -15,11 +22,12 @@ armarx_add_library(trajectory_control
./TrajectoryFollowingController.h
./WaypointController.h
./aron_conversions.h
- ARON_FILES
- aron/TrajectoryControllerParams.xml
- aron/TrajectoryFollowingControllerParams.xml
- aron/WaypointControllerParams.xml
)
-# add unit tests
-add_subdirectory(test)
+armarx_add_test(
+ TEST_NAME trajectory_control_test
+ TEST_FILE test/trajectory_controlTest.cpp
+ DEPENDEND_LIBS
+ ArmarXCore
+ armarx_navigation::trajectory_control
+)
diff --git a/source/armarx/navigation/trajectory_control/test/CMakeLists.txt b/source/armarx/navigation/trajectory_control/test/CMakeLists.txt
deleted file mode 100644
index 206297c1..00000000
--- a/source/armarx/navigation/trajectory_control/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME trajectory_controlTest
- TEST_FILE trajectory_controlTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::trajectory_control
-)
diff --git a/source/armarx/navigation/util/test/CMakeLists.txt b/source/armarx/navigation/util/test/CMakeLists.txt
deleted file mode 100644
index bc28c118..00000000
--- a/source/armarx/navigation/util/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_add_test(
- TEST_NAME utilTest
- TEST_FILE utilTest.cpp
- DEPENDEND_LIBS ArmarXCore
- armarx_navigation::util
-)
--
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