优化 CMake 信息提示与部分编译选项

cv-rmvl · Apr 27, 2024 · a8fb765 · a8fb765
1 parent 2a341a0
commit a8fb765
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Showing 22 changed files with 198 additions and 90 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -71,6 +71,12 @@ include(cmake/RMVLVersion.cmake)
 set(para_template_path "${CMAKE_SOURCE_DIR}/cmake/templates" CACHE INTERNAL "GenPara template path" FORCE)
 include(cmake/RMVLGenPara.cmake)
 
+# ----------------------------------------------------------------------------
+#  RMVL 3rdparty libraries
+# ----------------------------------------------------------------------------
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+
 # ----------------------------------------------------------------------------
 #  Process subdirectories
 # ----------------------------------------------------------------------------
@@ -94,7 +100,7 @@ endif(BUILD_EXAMPLES)
 #  Documents generation
 # ----------------------------------------------------------------------------
 if(BUILD_DOCS)
-  find_package(Doxygen)
+  find_package(Doxygen REQUIRED)
     if(DOXYGEN_FOUND)
     add_custom_target(
       doxygen
@@ -163,15 +169,13 @@ endif()
 status("     ccache:"              ENABLE_CCACHE AND CCACHE_FOUND THEN YES ELSE NO)
 
 # =================== Other third-party libraries ===================
-find_package(OpenCV QUIET)
-find_package(Eigen3 QUIET)
 status("")
 status("  Other third-party libraries:")
 status("     OpenCV: (*)"           OpenCV_FOUND THEN "YES (ver ${OpenCV_VERSION})" ELSE NO)
 status("     Eigen library: (*)"    Eigen3_FOUND THEN "YES (ver ${EIGEN3_VERSION_STRING})" ELSE NO)
-status("     onnxruntime:"          WITH_ONNXRUNTIME THEN YES ELSE NO)
+status("     onnxruntime:"          WITH_ONNXRUNTIME THEN "YES (ver ${Ort_VERSION})" ELSE NO)
 status("     apriltag:"             WITH_APRILTAG THEN YES ELSE NO)
-status("     open62541:"            WITH_OPEN62541 THEN YES ELSE NO)
+status("     open62541:"            WITH_OPEN62541 THEN "YES (ver ${open62541_VERSION})" ELSE NO)
 
 # =============================== SDK ===============================
 status("")
@@ -183,18 +187,35 @@ status("        OPT:"               BUILD_rmvl_opt_camera THEN YES ELSE NO)
 status("     Light controller:")
 status("        OPT:"               BUILD_rmvl_opt_light_control THEN YES ELSE NO)
 
-# ===================== Inference engine in RMVL ====================
-status("")
-status("  Inference engine in RMVL:")
-status("     Ort:"                  BUILD_rmvl_ort THEN YES ELSE NO)
-
 # ========================== RMVL modules ===========================
-string(REGEX REPLACE "rmvl_" " " modules_public_dir ${RMVL_MODULES_PUBLIC})
-string(REGEX REPLACE "rmvl_" " " modules_interface_dir ${RMVL_MODULES_INTERFACE})
+set(RMVL_MAIN_MODULES_BUILD ${RMVL_MODULES_BUILD})
+foreach(m ${RMVL_EXTRA_MODULE})
+  string(TOUPPER "${m}" mUP)
+  list(REMOVE_ITEM RMVL_MAIN_MODULES_BUILD ${RMVL_${mUP}_MODULES_BUILD} rmvl_types)
+  if("${m}" STREQUAL "types")
+    continue()
+  endif()
+  string(REGEX REPLACE "rmvl_" " " ${m}_modules ${RMVL_${mUP}_MODULES_BUILD})
+endforeach()
+string(REGEX REPLACE "rmvl_" " " main_modules ${RMVL_MAIN_MODULES_BUILD})
+
+status("")
+status("  RMVL main modules:")
+status("     To be built:"          ${main_modules})
+status("")
+status("  RMVL extra modules:"      BUILD_EXTRA THEN YES ELSE NO)
+if(BUILD_EXTRA)
+  status("     To be built:")
+  foreach(m ${RMVL_EXTRA_MODULE})
+    if("${m}" STREQUAL "types")
+      continue()
+    endif()
+    status("        ${m}:"          ${${m}_modules})
+  endforeach()
+endif()
 status("")
-status("  RMVL modules:")
-status("     public modules:"       ${modules_public_dir})
-status("     interface modules:"    ${modules_interface_dir})
+status("  Documents (Doxygen):"     BUILD_DOCS THEN "YES (ver ${DOXYGEN_VERSION})" ELSE NO)
+
 
 # ======================== Test and examples ========================
 status("")

diff --git a/cmake/FindOrt.cmake b/cmake/FindOrt.cmake
@@ -1,8 +1,13 @@
+# ------------------------------------------------------------------------------
+#  find onnxruntime root path
+# ------------------------------------------------------------------------------
 if(NOT ort_root_path)
   set(ort_root_path "/usr/local")
 endif()
 
-# add the include directories path
+# ------------------------------------------------------------------------------
+#  find onnxruntime include directory
+# ------------------------------------------------------------------------------
 find_path(
   Ort_INCLUDE_DIR
   PATHS "${ort_root_path}/include/onnxruntime"
@@ -13,14 +18,19 @@ find_path(
   NO_DEFAULT_PATH
 )
 
-# add libraries
+# ------------------------------------------------------------------------------
+#  find onnxruntime library file
+# ------------------------------------------------------------------------------
 find_library(
   Ort_LIB
   NAMES "libonnxruntime.so"
   PATHS "${ort_root_path}/lib"
   NO_DEFAULT_PATH
 )
 
+# ------------------------------------------------------------------------------
+#  create imported target: onnxruntime
+# ------------------------------------------------------------------------------
 if(NOT TARGET onnxruntime)
   add_library(onnxruntime SHARED IMPORTED)
   set_target_properties(onnxruntime PROPERTIES
@@ -31,12 +41,24 @@ endif()
 
 mark_as_advanced(Ort_INCLUDE_DIR Ort_LIB)
 
+# ------------------------------------------------------------------------------
+#  set onnxruntime cmake variables and version variables
+# ------------------------------------------------------------------------------
 set(Ort_LIBS "onnxruntime")
 set(Ort_INCLUDE_DIRS "${Ort_INCLUDE_DIR}")
 
+file(STRINGS "${Ort_INCLUDE_DIR}/onnxruntime_c_api.h" Ort_VERSION
+  REGEX "#define ORT_API_VERSION [0-9]+"
+)
+string(REGEX REPLACE "#define ORT_API_VERSION ([0-9]+)" "1.\\1" Ort_VERSION "${Ort_VERSION}")
+
+# ------------------------------------------------------------------------------
+#  handle the package
+# ------------------------------------------------------------------------------
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   Ort
+  VERSION_VAR Ort_VERSION
   REQUIRED_VARS Ort_LIB Ort_INCLUDE_DIR
 )
diff --git a/cmake/RMVLCompilerOptions.cmake b/cmake/RMVLCompilerOptions.cmake
@@ -220,12 +220,17 @@ option(BUILD_OPEN62541 "Build the 3rd party: open62541" OFF)
 if(BUILD_OPEN62541)
   add_subdirectory(${CMAKE_SOURCE_DIR}/3rdparty/open62541)
 endif()
-find_package(open62541 QUIET)
-if(BUILD_OPEN62541 OR open62541_FOUND)
+if(BUILD_OPEN62541)
+  unset(WITH_OPEN62541 CACHE)
   option(WITH_OPEN62541 "Enable open62541 support" ON)
 else()
-  unset(WITH_OPEN62541 CACHE)
-  option(WITH_OPEN62541 "Enable open62541 support" OFF)
+  find_package(open62541 QUIET)
+  if(open62541_FOUND)
+    option(WITH_OPEN62541 "Enable open62541 support" ON)
+  else()
+    unset(WITH_OPEN62541 CACHE)
+    option(WITH_OPEN62541 "Enable open62541 support" OFF)
+  endif()
 endif()
 
 # onnxruntime

diff --git a/cmake/RMVLModule.cmake b/cmake/RMVLModule.cmake
@@ -6,15 +6,11 @@
 # 全局变量
 #
 # RMVL_MODULES_BUILD
-# RMVL_MODULES_PUBLIC
-# RMVL_MODULES_INTERFACE
 #
 # RMVL_MODULE_${the_module}_LOCATION
 # RMVL_MODULE_${the_module}_BINARY_DIR
 
-set(RMVL_MODULES_BUILD   "" CACHE INTERNAL "List of RMVL modules included into the build")
-set(RMVL_MODULES_PUBLIC  "" CACHE INTERNAL "List of RMVL public modules marked for export")
-set(RMVL_MODULES_INTERFACE "" CACHE INTERNAL "List of RMVL interface modules marked for export")
+set(RMVL_MODULES_BUILD "" CACHE INTERNAL "List of RMVL modules included into the build")
 
 # ----------------------------------------------------------------------------
 #   将预处理定义添加至指定目标
@@ -70,7 +66,11 @@ function(rmvl_install_directories _dir)
 endfunction(rmvl_install_directories)
 
 # ----------------------------------------------------------------------------
-#   在当前目录中添加新的 RMVL 模块
+#   在当前目录中添加新的 RMVL 模块，并会依次添加至
+#   - 局部变量 modules_build
+#   - 缓存变量 RMVL_MODULES_BUILD
+#   中
+#
 #   用法:
 #     rmvl_add_module(<name> [INTERFACE] [EXTRA_HEADER <list of other include directories>]
 #       [EXTRA_SOURCE <list of other source directories>] [DEPENDS <list of rmvl dependencies>]
@@ -190,12 +190,7 @@ macro(rmvl_add_module _name)
       ARCHIVE DESTINATION ${RMVL_LIB_INSTALL_PATH}
       LIBRARY DESTINATION ${RMVL_LIB_INSTALL_PATH}
     )
-
-    if(NOT MD_INTERFACE) # public library
-      set(RMVL_MODULES_PUBLIC ${RMVL_MODULES_PUBLIC} "${the_module}" CACHE INTERNAL "List of RMVL public modules marked for export" FORCE)
-    else() # interface library
-      set(RMVL_MODULES_INTERFACE ${RMVL_MODULES_INTERFACE} "${the_module}" CACHE INTERNAL "List of RMVL interface modules marked for export" FORCE)
-    endif(NOT MD_INTERFACE)
+    list(APPEND modules_build ${the_module})
     set(RMVL_MODULES_BUILD ${RMVL_MODULES_BUILD} "${the_module}" CACHE INTERNAL "List of RMVL modules included into the build" FORCE)
   endif()
   unset(the_module)

diff --git a/cmake/templates/RMVLConfig.cmake.in b/cmake/templates/RMVLConfig.cmake.in
@@ -100,5 +100,5 @@ endforeach()
 # =============================================================
 find_package_handle_standard_args(RMVL
   REQUIRED_VARS RMVL_INSTALL_PATH
-  VERSION_VAR RMVL_VERSION HANDLE_COMPONENTS
+  VERSION_VAR RMVL_VERSION
 )
diff --git a/extra/CMakeLists.txt b/extra/CMakeLists.txt
@@ -4,16 +4,16 @@ file(GLOB module_extra_st RELATIVE "${cur_path}" "${cur_path}/*")
 
 set(RMVL_EXTRA_MODULE "")
 foreach(m ${module_extra_st})
-    if(IS_DIRECTORY ${cur_path}/${m} AND (NOT (${m} STREQUAL include)))
-        list(APPEND RMVL_EXTRA_MODULE "${m}")
-    endif()
+  if(IS_DIRECTORY ${cur_path}/${m} AND (NOT (${m} STREQUAL include)))
+    list(APPEND RMVL_EXTRA_MODULE "${m}")
+  endif()
 endforeach()
 
-set(RMVL_EXTRA_MODULE ${RMVL_EXTRA_MODULE} CACHE INTERNAL "List of main modules" FORCE)
+set(RMVL_EXTRA_MODULE ${RMVL_EXTRA_MODULE} CACHE INTERNAL "List of main modules")
 
 # core modules
 foreach(m ${RMVL_EXTRA_MODULE})
-    add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/${m})
+  add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/${m})
 endforeach()
 
 unset(module_extra_st)
diff --git a/extra/combo/CMakeLists.txt b/extra/combo/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each combo
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   combo
   DEPENDS feature camera
@@ -25,11 +28,18 @@ rmvl_add_module(
 
 rmvl_generate_module_para(combo)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     combo Unit
     DEPENDS armor rune
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the combo modules
+# ----------------------------------------------------------------------------
+set(RMVL_COMBO_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/compensator/CMakeLists.txt b/extra/compensator/CMakeLists.txt
@@ -1,37 +1,45 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each compensator
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   compensator INTERFACE
   DEPENDS group
 )
 
+# gravity_compensator
 rmvl_generate_para(
   gravity_compensator
   MODULE compensator
 )
-
-rmvl_generate_para(
-  gyro_compensator
-  MODULE compensator
-)
-
-# gravity_compensator
 rmvl_add_module(
   gravity_compensator
   DEPENDS compensator
 )
 
 # gyro_compensator
+rmvl_generate_para(
+  gyro_compensator
+  MODULE compensator
+)
 rmvl_add_module(
   gyro_compensator
   DEPENDS compensator gyro_group
 )
 
 rmvl_generate_module_para(compensator)
 
-# Tests
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     compensator Unit
     DEPENDS gravity_compensator
     DEPEND_TESTS GTest::gtest_main
   )
 endif()
+
+# ----------------------------------------------------------------------------
+#  Export the compensator modules
+# ----------------------------------------------------------------------------
+set(RMVL_COMPENSATOR_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/decider/CMakeLists.txt b/extra/decider/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each decider
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   decider INTERFACE
   DEPENDS detector compensator predictor
@@ -35,8 +38,15 @@ rmvl_add_module(
 
 rmvl_generate_module_para(decider)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
 
 endif(BUILD_TESTS)
 
+# ----------------------------------------------------------------------------
+#  Export the decider modules
+# ----------------------------------------------------------------------------
+set(RMVL_DECIDER_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
+
diff --git a/extra/detector/CMakeLists.txt b/extra/detector/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each detector
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   detector INTERFACE
   DEPENDS imgproc group
@@ -50,11 +53,19 @@ endif()
 
 rmvl_generate_module_para(detector)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     detector Unit
     DEPENDS armor_detector rune_detector gyro_detector
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the detector modules
+# ----------------------------------------------------------------------------
+set(RMVL_DETECTOR_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
+