Import standard cmake modules, standardise dependency resolution [ESD…

…-1246] [ESD-1247] (#126)

* Start importing common cmake repo

* Finish importing cmake modules

* Swift to swift fork of eigen

* Use https for common cmake modules

* Use https for eigen

* Fix CI errors

* Make unit tests and examples optional

* Include tests directory in interface

* Update swift project options

* Update project options

* Bump cmake modules

* Revert to old unit test run targets

* Fix example build targets

* Change cereal to be header only interface target

* Don't clobber global compiler flags

* Bump cmake modules

* cmake compile features not available in higher level projects

* Re-add clang-format support

* Bump cmake modules

* Include gzip headers as system

* Remove clang-format hack

* Bump cmake

* Import merged submodules

* Enforce no compiler extensions

* Bump cmake modules

* Bump cmake modules

* Bump cmake modules

* Bump cmake modules

.gitmodules

@@ -1,18 +1,21 @@
 [submodule "third_party/eigen"]
 	path = third_party/eigen
-	url = https://github.com/PX4/eigen.git
+	url = https://github.com/swift-nav/eigen.git
 [submodule "third_party/gflags"]
-	path = third_party/gflags
+	path = third_party/googleflags
 	url = https://github.com/gflags/gflags.git
 [submodule "third_party/googletest"]
 	path = third_party/googletest
 	url = https://github.com/google/googletest.git
 [submodule "third_party/fast-cpp-csv-parser"]
 	path = third_party/fast-cpp-csv-parser
-	url = https://github.com/ben-strasser/fast-cpp-csv-parser.git
+	url = https://github.com/swift-nav/fast-cpp-csv-parser.git
 [submodule "third_party/cereal"]
 	path = third_party/cereal
 	url = https://github.com/USCiLab/cereal.git
 [submodule "third_party/gzip-hpp"]
 	path = third_party/gzip-hpp
 	url = https://github.com/mapbox/gzip-hpp.git
+[submodule "cmake/cmake"]
+	path = cmake/common
+	url = https://github.com/swift-nav/cmake.git

CMakeLists.txt

@@ -1,31 +1,43 @@
 project(albatross)
 cmake_minimum_required(VERSION 2.8.7)
 
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
-include(ClangTools)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake" "${CMAKE_CURRENT_LIST_DIR}/cmake/common")
+
+include(CCache)
+include(SwiftCmakeOptions)
+swift_create_project_options(
+    HAS_TESTS 
+    HAS_EXAMPLES
+    TEST_PACKAGES "Googletest" "GFlags"
+    )
+
+include(ClangFormat)
+swift_setup_clang_format()
 
-option(ENABLE_AUTOFORMAT "Enable automatic formatting and replacement with clang-format." ON)
-option(ENABLE_AUTOLINT "Enable automatic linting and warning with clang-tidy. " OFF)
 option(ENABLE_STACK_ANALYSIS "Enable stack analysis. Requires gcc." OFF)
 
-if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
+if(albatross_BUILD_EXAMPLES)
+  find_package(GFlags REQUIRED)
 endif()
 
-add_subdirectory(third_party/googletest)
+set(JUST_INSTALL_CEREAL YES CACHE BOOL "" FORCE) #Don't generate docs, it conflicts with Eigen
+find_package(Cereal REQUIRED)
+find_package(Eigen REQUIRED)
+find_package(FastCSV REQUIRED)
+find_package(Gzip-Hpp REQUIRED)
 
 add_library(albatross INTERFACE)
 target_include_directories(albatross INTERFACE
   "${PROJECT_SOURCE_DIR}/include"
+  "${PROJECT_SOURCE_DIR}/tests"
   )
-target_include_directories(albatross SYSTEM INTERFACE
-  "${PROJECT_SOURCE_DIR}/third_party/eigen/"
-  "${PROJECT_SOURCE_DIR}/third_party/cereal/include"
-  "${PROJECT_SOURCE_DIR}/third_party/fast-cpp-csv-parser/"
-  "${PROJECT_SOURCE_DIR}/third_party/gzip-hpp/include"
-  )
-
-include(${PROJECT_SOURCE_DIR}/cmake/FindGFlags.cmake)
+target_link_libraries(albatross
+    INTERFACE
+    eigen
+    cereal
+    fast-csv
+    gzip-hpp
+    )
 
 set(albatross_COMPILE_OPTIONS
   -Werror
@@ -67,7 +79,10 @@ set(albatross_COMPILE_OPTIONS
   -Wvolatile-register-var
   -Wwrite-strings
   )
-target_compile_features(albatross INTERFACE cxx_std_14)
 
-add_subdirectory(tests)
-add_subdirectory(examples)
+if(albatross_BUILD_TESTS)
+  add_subdirectory(tests)
+endif()
+if(albatross_BUILD_EXAMPLES)
+  add_subdirectory(examples)
+endif()

cmake/FindCereal.cmake

@@ -0,0 +1,11 @@
+# Cereal throws lots of compiler errors if we add_subdirectory it, but we 
+# only want the headers anyway
+if(TARGET cereal)
+  return()
+endif()
+
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/third_party/cereal/include")
+  add_library(cereal INTERFACE)
+
+  target_include_directories(cereal SYSTEM INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}/third_party/cereal/include")
+endif()

cmake/FindGzip-Hpp.cmake

@@ -0,0 +1,12 @@
+# Non-swift code that doesn't nicely export a library target, can't use the generic module
+if(EXISTS "${PROJECT_SOURCE_DIR}/third_party/gzip-hpp/CMakeLists.txt")
+  add_library(gzip-hpp INTERFACE)
+  target_include_directories(gzip-hpp SYSTEM INTERFACE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/third_party/gzip-hpp/include>)
+else()
+  if(Gzip-Hpp_FIND_REQUIRED)
+    message(FATAL_ERROR "Could not find REQUIRED package Gzip-Hpp")
+  else()
+    message(WARNING "Could not find package Gzip-Hpp")
+  endif()
+endif()
+

examples/CMakeLists.txt

@@ -85,5 +85,6 @@ set(albatross_example_BINARIES
   )
 foreach(TARGET IN LISTS albatross_example_BINARIES)
   target_compile_options(${TARGET} PRIVATE ${albatross_COMPILE_OPTIONS})
+  set_target_properties(${TARGET} PROPERTIES CXX_STANDARD 14 CXX_EXTENSIONS OFF)
 endforeach()
 

tests/CMakeLists.txt

@@ -1,4 +1,4 @@
-add_executable(albatross_unit_tests EXCLUDE_FROM_ALL
+add_executable(albatross_unit_tests 
   test_block_utils.cc
   test_call_trace.cc
   test_core_dataset.cc
@@ -50,6 +50,8 @@ target_link_libraries(albatross_unit_tests
   nlopt
   z
   )
+set_target_properties(albatross_unit_tests PROPERTIES CXX_STANDARD 14 CXX_EXTENSIONS OFF)
+
 add_custom_target(run_albatross_unit_tests ALL
   COMMAND albatross_unit_tests
   COMMENT "Running unit tests"