[v7] Create v7 target

.clang-format

@@ -58,6 +58,8 @@ IncludeCategories:
   # DART headers
   - Regex: '^<dart\/config.hpp>$'
     Priority: 10
+  - Regex: '^<dart\/v7\/fwd.hpp>$'
+    Priority: 11
   - Regex: '^<dart\/test\/.*\.h(pp)?>$'
     Priority: 20
   - Regex: '^<dart\/python\/.*\.h(pp)?>$'
@@ -84,7 +86,7 @@ IncludeCategories:
     Priority: 31
   - Regex: '^<dart\/common\/.*\.h(pp)?>$'
     Priority: 32
-  - Regex: '^<dart\/common\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/v7\/.*\.h(pp)?>$'
     Priority: 33
   - Regex: '^<dart\/.*\.h(pp)?>$'
     Priority: 40

cmake/DARTConfig.cmake.in

@@ -143,6 +143,9 @@ endfunction()
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
 
+# TODO: Improve the include mechanism
+include(dart_v7Targets)
+
 # Default component: dart
 list(APPEND @PROJECT_NAME_UPPERCASE@_FIND_COMPONENTS dart)
 

cmake/DARTFindDependencies.cmake

@@ -115,6 +115,11 @@ find_package(Python3 COMPONENTS Interpreter Development)
 option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)
 mark_as_advanced(DART_SKIP_spdlog)
 dart_find_package(spdlog)
+if(spdlog_FOUND)
+  set(DART_HAVE_SPDLOG 1)
+else()
+  set(DART_HAVE_SPDLOG 0)
+endif()
 
 #--------------------
 # Misc. dependencies

dart/CMakeLists.txt

@@ -13,6 +13,7 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 #===============================================================================
 # Source directories
 #===============================================================================
+# v7
 # common
 # math
 # integration
@@ -60,6 +61,8 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 # gui - (utils), {dart-gui}
 # gui-osg - (gui), {dart-gui-osg}
 
+add_subdirectory(v7)
+
 # Component. This should be called before adding subdirectories.
 add_component(${PROJECT_NAME} dart)
 
@@ -84,14 +87,6 @@ add_subdirectory(simulation)
 add_subdirectory(utils) # tinyxml2, bullet
 add_subdirectory(gui) # opengl, glut, bullet
 
-set(DART_CONFIG_HPP_IN ${DART_SOURCE_DIR}/dart/config.hpp.in)
-set(DART_CONFIG_HPP_OUT ${DART_BINARY_DIR}/dart/config.hpp)
-if(DART_VERBOSE)
-  message(STATUS ${DART_CONFIG_HPP_OUT})
-endif()
-configure_file(${DART_CONFIG_HPP_IN} ${DART_CONFIG_HPP_OUT} @ONLY)
-install(FILES ${DART_CONFIG_HPP_OUT} DESTINATION include/dart)
-
 # Print building component
 get_property(components GLOBAL PROPERTY ${PROJECT_NAME}_COMPONENTS)
 if(DART_VERBOSE)
@@ -124,6 +119,7 @@ target_link_libraries(dart
   PUBLIC
     ${CMAKE_DL_LIBS}
     ${PROJECT_NAME}-external-odelcpsolver
+    v7
     Eigen3::Eigen
     fcl
     assimp
@@ -137,20 +133,10 @@ else()
 endif()
 
 # spdlog settings
-if(spdlog_FOUND)
-  # Prefer header only target
-  if(TARGET spdlog::spdlog_header_only)
-    target_link_libraries(dart PUBLIC spdlog::spdlog_header_only)
-    target_compile_definitions(dart PUBLIC -DDART_HAVE_spdlog=1)
-  elseif(TARGET spdlog::spdlog)
-    target_link_libraries(dart PUBLIC spdlog::spdlog)
-    target_compile_definitions(dart PUBLIC -DDART_HAVE_spdlog=1)
-  else()
-    message(WARNING "spdlog found, but no target is found. Expected spdlog::spdlog or target_link_library_public spdlog::spdlog_header_only")
-    target_compile_definitions(dart PUBLIC -DDART_HAVE_spdlog=0)
-  endif()
-else()
-  target_compile_definitions(dart PUBLIC -DDART_HAVE_spdlog=0)
+if(TARGET spdlog::spdlog_header_only)
+  target_link_libraries(dart PUBLIC spdlog::spdlog_header_only)
+elseif(TARGET spdlog::spdlog)
+  target_link_libraries(dart PUBLIC spdlog::spdlog)
 endif()
 
 # octomap settings
@@ -240,3 +226,11 @@ endif()
 install(FILES dart.hpp DESTINATION include/dart/ COMPONENT headers)
 
 dart_format_add(${dart_core_headers} ${dart_core_sources})
+
+set(DART_CONFIG_HPP_IN ${DART_SOURCE_DIR}/dart/config.hpp.in)
+set(DART_CONFIG_HPP_OUT ${DART_BINARY_DIR}/dart/config.hpp)
+if(DART_VERBOSE)
+  message(STATUS ${DART_CONFIG_HPP_OUT})
+endif()
+configure_file(${DART_CONFIG_HPP_IN} ${DART_CONFIG_HPP_OUT} @ONLY)
+install(FILES ${DART_CONFIG_HPP_OUT} DESTINATION include/dart)

dart/common/Logging.hpp

@@ -33,114 +33,6 @@
 #ifndef DART_COMMON_LOGGING_HPP_
 #define DART_COMMON_LOGGING_HPP_
 
-// clang-format off
-#define DART_LOG_LEVEL_TRACE 0
-#define DART_LOG_LEVEL_DEBUG 1
-#define DART_LOG_LEVEL_INFO  2
-#define DART_LOG_LEVEL_WARN  3
-#define DART_LOG_LEVEL_ERROR 4
-#define DART_LOG_LEVEL_FATAL 5
-#define DART_LOG_LEVEL_OFF   6
-// clang-format on
-
-// Default active log level
-#if !defined(DART_ACTIVE_LOG_LEVEL)
-  #define DART_ACTIVE_LOG_LEVEL DART_LOG_LEVEL_INFO
-#endif
-
-#if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_TRACE
-  #define DART_TRACE(...) ::dart::common::trace(__VA_ARGS__)
-#else
-  #define DART_TRACE(...) (void)0
-#endif
-
-#if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_DEBUG
-  #define DART_DEBUG(...) ::dart::common::debug(__VA_ARGS__)
-#else
-  #define DART_DEBUG(...) (void)0
-#endif
-
-#if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_INFO
-  #define DART_INFO(...) ::dart::common::info(__VA_ARGS__)
-#else
-  #define DART_INFO(...) (void)0
-#endif
-
-#if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_WARN
-  #define DART_WARN(...) ::dart::common::warn(__VA_ARGS__)
-#else
-  #define DART_WARN(...) (void)0
-#endif
-
-#if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_ERROR
-  #define DART_ERROR(...) ::dart::common::error(__VA_ARGS__)
-#else
-  #define DART_ERROR(...) (void)0
-#endif
-
-#if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_FATAL
-  #define DART_FATAL(...) ::dart::common::fatal(__VA_ARGS__)
-#else
-  #define DART_FATAL(...) (void)0
-#endif
-
-namespace dart::common {
-
-/// \brief Logs for a trace message
-///
-/// Logs for the most fine-grained information than any other log levels.
-///
-/// \sa info
-template <typename S, typename... Args>
-void trace(const S& format_str, Args&&... args);
-
-/// \brief Logs for a debug message
-///
-/// Logs for fine-grained information that is useful for debugging.
-///
-/// \sa info
-template <typename S, typename... Args>
-void debug(const S& format_str, Args&&... args);
-
-/// \brief Logs for a information message
-///
-/// Logs for useful information from normal operations.
-///
-/// You can use a Python like formatting API as
-/// \code
-/// dart::common::info("Hello {}!", "World");  // logged as "Hello World!"
-/// \endcode
-template <typename S, typename... Args>
-void info(const S& format_str, Args&&... args);
-
-/// \brief Logs for a warning message
-///
-/// Logs for warning information that is potentially harmful.
-///
-/// \sa info
-template <typename S, typename... Args>
-void warn(const S& format_str, Args&&... args);
-
-/// \brief Logs for a error message
-///
-/// Logs for errors that might still allow the application to continue running,
-/// but the application might lead to unexpected behavior.
-///
-/// \sa info
-template <typename S, typename... Args>
-void error(const S& format_str, Args&&... args);
-
-/// \brief Logs for a fatal error message
-///
-/// Logs for highly sever errors that will presumably lead the application to
-/// crash.
-///
-/// \sa info
-template <typename S, typename... Args>
-void fatal(const S& format_str, Args&&... args);
-
-} // namespace dart::common
-
-#include <dart/common/detail/Logging-impl.hpp>
+#include <dart/v7/logging.hpp>
 
 #endif // DART_COMMON_LOGGING_HPP_

dart/common/Macros.hpp

@@ -33,46 +33,6 @@
 #ifndef DART_COMMON_MACROS_HPP_
 #define DART_COMMON_MACROS_HPP_
 
-#include <dart/common/Logging.hpp>
-
-#include <cassert>
-
-// DART_NUM_ARGS(<arg1> [, <arg2> [, ...]])
-#define DETAIL_DART_NUM_ARGS(z, a, b, c, d, e, f, cnt, ...) cnt
-#define DART_NUM_ARGS(...)                                                     \
-  DETAIL_DART_NUM_ARGS(, ##__VA_ARGS__, 6, 5, 4, 3, 2, 1, 0)
-
-// DART_CONCAT(a, b)
-#define DETAIL_DART_CONCAT(a, b) a##b
-#define DART_CONCAT(a, b) DETAIL_DART_CONCAT(a, b)
-
-// Macro to suppress -Wunused-parameter and -Wunused-variable warnings in
-// release mode when a variable is only used in assertions.
-//
-// Usage: DART_UNUSED(<variable1> [, <variable2> [, ...]])
-#define DETAIL_DART_UNUSED_0()
-#define DETAIL_DART_UNUSED_1(a) (void)(a)
-#define DETAIL_DART_UNUSED_2(a, b) (void)(a), DETAIL_DART_UNUSED_1(b)
-#define DETAIL_DART_UNUSED_3(a, b, c) (void)(a), DETAIL_DART_UNUSED_2(b, c)
-#define DETAIL_DART_UNUSED_4(a, b, c, d)                                       \
-  (void)(a), DETAIL_DART_UNUSED_3(b, c, d)
-#define DETAIL_DART_UNUSED_5(a, b, c, d, e)                                    \
-  (void)(a), DETAIL_DART_UNUSED_4(b, c, d, e)
-#define DETAIL_DART_UNUSED_6(a, b, c, d, e, f)                                 \
-  (void)(a), DETAIL_DART_UNUSED_5(b, c, d, e, f)
-#define DART_UNUSED(...)                                                       \
-  DART_CONCAT(DETAIL_DART_UNUSED_, DART_NUM_ARGS(__VA_ARGS__))(__VA_ARGS__)
-
-// DART_ASSERT(<expression> [, <message>])
-#define DETAIL_DART_ASSERT_1(condition) assert(condition)
-#define DETAIL_DART_ASSERT_2(condition, message) assert((condition) && #message)
-#define DART_ASSERT(...)                                                       \
-  DART_CONCAT(DETAIL_DART_ASSERT_, DART_NUM_ARGS(__VA_ARGS__))                 \
-  (__VA_ARGS__)
-
-// Macro to mark the function is not implemented
-#define DART_NOT_IMPLEMENTED                                                   \
-  DART_FATAL("Not implemented: {}:{}", __FILE__, __LINE__);                    \
-  void(0)
+#include <dart/v7/assert.hpp>
 
 #endif