Use on-system color-debug

roboticslab-uc3m · Jun 15, 2018 · ccfeb48 · ccfeb48
1 parent da0a4ac
commit ccfeb48
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diff --git a/.travis.yml b/.travis.yml
@@ -49,6 +49,13 @@ install:
   - sudo make install
   - cd ../../..
 
+  # Install color-debug
+  - cd
+  - git clone https://github.com/roboticslab-uc3m/color-debug
+  - mkdir -p color-debug/build && cd "$_"
+  - cmake ..
+  - sudo make install
+
   #-- (for AmorCartesianControl) Install AMOR API
   - git clone [email protected]:roboticslab-uc3m/amor-api
   - cd amor-api && mkdir build && cd build

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -63,26 +63,11 @@ if(ENABLE_coverage)
     endif()
 endif()
 
-# Superbuild phase - include color-debug.
-include(FindOrBuildPackage)
-find_or_build_package(COLOR_DEBUG)
-
-# find_or_build_package() doesn't bring into scope COLOR_DEBUG_INCLUDE_DIRS
-# nor other config variables. If a system copy is found, we have to call the
-# find_package() command and proceed as usual.
-if(USE_SYSTEM_COLOR_DEBUG)
-    find_package(COLOR_DEBUG REQUIRED)
-    include_directories(${COLOR_DEBUG_INCLUDE_DIRS})
-    add_library(COLOR_DEBUG UNKNOWN IMPORTED)
-endif()
-
 # Store list of exported targets in global scope.
 set_property(GLOBAL PROPERTY ROBOTICSLAB_KINEMATICS_DYNAMICS_TARGETS)
 
-# Create targets if specific requirements are satisfied.
-include(CMakeDependentOption)
-
-# Find YARP (main dependency).
+# Find project's hard dependencies.
+find_package(COLOR_DEBUG REQUIRED)
 find_package(YARP REQUIRED)
 
 # Load YARP modules.
@@ -95,6 +80,9 @@ endif()
 # Configure installation paths for YARP resources.
 yarp_configure_external_installation(roboticslab-kinematics-dynamics WITH_PLUGINS)
 
+# Create targets if specific requirements are satisfied.
+include(CMakeDependentOption)
+
 # Dependency-related tweaks.
 set(_target_kdl_version 1.4)
 

diff --git a/cmake/ycm-modules/BuildCOLOR_DEBUG.cmake b/cmake/ycm-modules/BuildCOLOR_DEBUG.cmake
diff --git a/doc/kinematics-dynamics-install.md b/doc/kinematics-dynamics-install.md
@@ -5,10 +5,9 @@ First install the dependencies:
 - [Install CMake](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md)
 - [Install YARP](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md)
 - [Install KDL](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-kdl.md)
+- [Install color-debug](https://github.com/roboticslab-uc3m/color-debug)
 
-Additionally, this project depends on YCM to download and build external packages. Although this process is intended to run automatically during the CMake configuration phase, you may still want to install YCM and said packages by yourself. In that respect, refer to [Install YCM](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md) and to the installation guides of any package listed below:
-
-- [color-debug](https://github.com/roboticslab-uc3m/color-debug)
+Additionally, this project depends on YCM to download and use additional CMake modules. Although this process is intended to run automatically during the CMake configuration phase, you may still want to install YCM by yourself. In that respect, refer to [Install YCM](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md).
 
 Only for `testBasicCartesianControl` and `streamingDeviceController`, we use `FakeControlboard` and `ProximitySensorsClient` from [yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices), respectively:
 

diff --git a/libraries/KdlVectorConverterLib/CMakeLists.txt b/libraries/KdlVectorConverterLib/CMakeLists.txt
@@ -13,11 +13,10 @@ if(ENABLE_KdlVectorConverterLib)
     add_library(KdlVectorConverterLib KdlVectorConverter.cpp
                                       KdlVectorConverter.hpp)
 
-    add_dependencies(KdlVectorConverterLib COLOR_DEBUG)
-
     set_target_properties(KdlVectorConverterLib PROPERTIES PUBLIC_HEADER KdlVectorConverter.hpp)
 
-    target_link_libraries(KdlVectorConverterLib PUBLIC ${orocos_kdl_LIBRARIES})
+    target_link_libraries(KdlVectorConverterLib PUBLIC ${orocos_kdl_LIBRARIES}
+                                                       PRIVATE ROBOTICSLAB::ColorDebug)
 
     target_include_directories(KdlVectorConverterLib PUBLIC ${orocos_kdl_INCLUDE_DIRS}
                                                             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

diff --git a/libraries/KdlVectorConverterLib/KdlVectorConverter.cpp b/libraries/KdlVectorConverterLib/KdlVectorConverter.cpp
@@ -2,7 +2,7 @@
 
 #include "KdlVectorConverter.hpp"
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // -----------------------------------------------------------------------------
 

diff --git a/libraries/KinematicRepresentationLib/CMakeLists.txt b/libraries/KinematicRepresentationLib/CMakeLists.txt
@@ -12,11 +12,10 @@ if(ENABLE_KinematicRepresentationLib)
     add_library(KinematicRepresentationLib KinematicRepresentation.hpp
                                            KinematicRepresentation.cpp)
 
-    add_dependencies(KinematicRepresentationLib COLOR_DEBUG)
-
     set_target_properties(KinematicRepresentationLib PROPERTIES PUBLIC_HEADER KinematicRepresentation.hpp)
 
-    target_link_libraries(KinematicRepresentationLib PRIVATE ${orocos_kdl_LIBRARIES})
+    target_link_libraries(KinematicRepresentationLib PRIVATE ${orocos_kdl_LIBRARIES}
+                                                             ROBOTICSLAB::ColorDebug)
 
     target_include_directories(KinematicRepresentationLib PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
                                                                  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>

diff --git a/libraries/KinematicRepresentationLib/KinematicRepresentation.cpp b/libraries/KinematicRepresentationLib/KinematicRepresentation.cpp
@@ -6,7 +6,7 @@
 
 #include <kdl/frames.hpp>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 namespace roboticslab
 {

diff --git a/libraries/TrajectoryLib/CMakeLists.txt b/libraries/TrajectoryLib/CMakeLists.txt
@@ -15,16 +15,18 @@ if(ENABLE_TrajectoryLib)
                                 KdlTrajectory.hpp)
 
     # Set up our library.
-    add_library(TrajectoryLib ${_trayectory_lib_sources})
-
-    add_dependencies(TrajectoryLib COLOR_DEBUG)
+    add_library(TrajectoryLib ITrajectory.hpp
+                              ICartesianTrajectory.hpp
+                              KdlTrajectory.cpp
+                              KdlTrajectory.hpp)
 
     set_property(TARGET TrajectoryLib PROPERTY PUBLIC_HEADER ICartesianTrajectory.hpp
                                                              ITrajectory.hpp
                                                              KdlTrajectory.hpp)
 
     target_link_libraries(TrajectoryLib PUBLIC ${orocos_kdl_LIBRARIES}
-                                        PRIVATE KdlVectorConverterLib)
+                                        PRIVATE KdlVectorConverterLib
+                                                ROBOTICSLAB::ColorDebug)
 
     target_include_directories(TrajectoryLib PUBLIC ${orocos_kdl_INCLUDE_DIRS}
                                                     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

diff --git a/libraries/TrajectoryLib/KdlTrajectory.cpp b/libraries/TrajectoryLib/KdlTrajectory.cpp
@@ -6,7 +6,7 @@
 #include <kdl/velocityprofile_trap.hpp>
 #include <kdl/path_line.hpp>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 #include "KdlVectorConverter.hpp"
 

diff --git a/libraries/YarpPlugins/AmorCartesianControl/AmorCartesianControl.cpp b/libraries/YarpPlugins/AmorCartesianControl/AmorCartesianControl.cpp
@@ -4,7 +4,7 @@
 
 #include <cmath>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // -----------------------------------------------------------------------------
 

diff --git a/libraries/YarpPlugins/AmorCartesianControl/CMakeLists.txt b/libraries/YarpPlugins/AmorCartesianControl/CMakeLists.txt
@@ -23,11 +23,10 @@ if(NOT SKIP_AmorCartesianControl)
                                          DeviceDriverImpl.cpp
                                          ICartesianControlImpl.cpp)
 
-    add_dependencies(AmorCartesianControl COLOR_DEBUG)
-
     target_link_libraries(AmorCartesianControl YARP::YARP_OS
                                                YARP::YARP_dev
                                                AMOR::amor_api
+                                               ROBOTICSLAB::ColorDebug
                                                KinematicRepresentationLib
                                                KinematicsDynamicsInterfaces)
 

diff --git a/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp
@@ -8,7 +8,7 @@
 #include <yarp/os/Property.h>
 #include <yarp/os/Value.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 #include "KinematicRepresentation.hpp"
 

diff --git a/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp
@@ -5,7 +5,7 @@
 #include <yarp/os/Time.h>
 #include <yarp/os/Vocab.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 #include "KinematicRepresentation.hpp"
 

diff --git a/libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.cpp b/libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.cpp
@@ -5,7 +5,7 @@
 #include <cmath>
 #include <sstream>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 using namespace roboticslab;
 

diff --git a/libraries/YarpPlugins/AsibotSolver/AsibotConfigurationLeastOverallAngularDisplacement.cpp b/libraries/YarpPlugins/AsibotSolver/AsibotConfigurationLeastOverallAngularDisplacement.cpp
@@ -7,7 +7,7 @@
 #include <numeric>
 #include <utility>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 using namespace roboticslab;
 

diff --git a/libraries/YarpPlugins/AsibotSolver/CMakeLists.txt b/libraries/YarpPlugins/AsibotSolver/CMakeLists.txt
@@ -21,12 +21,11 @@ if(NOT SKIP_AsibotSolver)
                                  AsibotConfiguration.cpp
                                  AsibotConfigurationLeastOverallAngularDisplacement.cpp)
 
-    add_dependencies(AsibotSolver COLOR_DEBUG)
-
     target_link_libraries(AsibotSolver YARP::YARP_OS
                                        YARP::YARP_dev
                                        YARP::YARP_sig
                                        YARP::YARP_math
+                                       ROBOTICSLAB::ColorDebug
                                        KinematicRepresentationLib
                                        KinematicsDynamicsInterfaces)
 

diff --git a/libraries/YarpPlugins/AsibotSolver/DeviceDriverImpl.cpp b/libraries/YarpPlugins/AsibotSolver/DeviceDriverImpl.cpp
@@ -13,7 +13,7 @@
 
 #include <yarp/math/Math.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- DeviceDriver Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/AsibotSolver/ICartesianSolverImpl.cpp b/libraries/YarpPlugins/AsibotSolver/ICartesianSolverImpl.cpp
@@ -8,7 +8,7 @@
 #include <yarp/math/Math.h>
 #include <yarp/math/SVD.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 #include "KinematicRepresentation.hpp"
 

diff --git a/libraries/YarpPlugins/AsibotSolver/TrajGen.hpp b/libraries/YarpPlugins/AsibotSolver/TrajGen.hpp
@@ -3,7 +3,7 @@
 #ifndef __TRAJ_GEN_HPP__
 #define __TRAJ_GEN_HPP__
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 /**
  * @ingroup kinematics-dynamics-libraries

diff --git a/libraries/YarpPlugins/BasicCartesianControl/CMakeLists.txt b/libraries/YarpPlugins/BasicCartesianControl/CMakeLists.txt
@@ -20,10 +20,9 @@ yarp_add_plugin(BasicCartesianControl BasicCartesianControl.hpp
                                       ICartesianControlImpl.cpp
                                       RateThreadImpl.cpp)
 
-add_dependencies(BasicCartesianControl COLOR_DEBUG)
-
 target_link_libraries(BasicCartesianControl YARP::YARP_OS
                                             YARP::YARP_dev
+                                            ROBOTICSLAB::ColorDebug
                                             TrajectoryLib
                                             KinematicsDynamicsInterfaces)
 

diff --git a/libraries/YarpPlugins/BasicCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/DeviceDriverImpl.cpp
@@ -2,7 +2,7 @@
 
 #include "BasicCartesianControl.hpp"
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- DeviceDriver Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
@@ -9,7 +9,7 @@
 
 #include <yarp/os/Vocab.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 #include "KdlTrajectory.hpp"
 

diff --git a/libraries/YarpPlugins/BasicCartesianControl/RateThreadImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/RateThreadImpl.cpp
@@ -4,7 +4,7 @@
 
 #include <cmath>  //-- abs
 #include <yarp/os/Time.h>
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- RateThread Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/BasicTwoLimbCartesianControl/CMakeLists.txt b/libraries/YarpPlugins/BasicTwoLimbCartesianControl/CMakeLists.txt
@@ -20,10 +20,9 @@ yarp_add_plugin(BasicTwoLimbCartesianControl BasicTwoLimbCartesianControl.hpp
                                              ICartesianControlImpl.cpp
                                              RateThreadImpl.cpp)
 
-add_dependencies(BasicTwoLimbCartesianControl COLOR_DEBUG)
-
 target_link_libraries(BasicTwoLimbCartesianControl YARP::YARP_OS
                                                    YARP::YARP_dev
+                                                   ROBOTICSLAB::ColorDebug
                                                    TrajectoryLib
                                                    Gait)
 

diff --git a/libraries/YarpPlugins/BasicTwoLimbCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/BasicTwoLimbCartesianControl/DeviceDriverImpl.cpp
@@ -2,7 +2,7 @@
 
 #include "BasicTwoLimbCartesianControl.hpp"
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- DeviceDriver Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/BasicTwoLimbCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/BasicTwoLimbCartesianControl/ICartesianControlImpl.cpp
@@ -2,7 +2,7 @@
 
 #include "BasicTwoLimbCartesianControl.hpp"
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- ICartesianControl Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/BasicTwoLimbCartesianControl/RateThreadImpl.cpp b/libraries/YarpPlugins/BasicTwoLimbCartesianControl/RateThreadImpl.cpp
@@ -2,7 +2,7 @@
 
 #include "BasicTwoLimbCartesianControl.hpp"
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- RateThread Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/CartesianControlClient/CMakeLists.txt b/libraries/YarpPlugins/CartesianControlClient/CMakeLists.txt
@@ -19,10 +19,9 @@ yarp_add_plugin(CartesianControlClient CartesianControlClient.hpp
                                        ICartesianControlImpl.cpp
                                        FkStreamResponder.cpp)
 
-add_dependencies(CartesianControlClient COLOR_DEBUG)
-
 target_link_libraries(CartesianControlClient YARP::YARP_OS
                                              YARP::YARP_dev
+                                             ROBOTICSLAB::ColorDebug
                                              KinematicsDynamicsInterfaces)
 
 yarp_install(TARGETS CartesianControlClient

diff --git a/libraries/YarpPlugins/CartesianControlClient/DeviceDriverImpl.cpp b/libraries/YarpPlugins/CartesianControlClient/DeviceDriverImpl.cpp
@@ -7,7 +7,7 @@
 #include <yarp/os/Network.h>
 #include <yarp/os/Time.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- DeviceDriver Related ------------------------------------
 

diff --git a/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp b/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp
@@ -4,7 +4,7 @@
 
 #include <yarp/os/Time.h>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // -----------------------------------------------------------------------------
 

diff --git a/libraries/YarpPlugins/CartesianControlServer/CMakeLists.txt b/libraries/YarpPlugins/CartesianControlServer/CMakeLists.txt
@@ -21,10 +21,9 @@ yarp_add_plugin(CartesianControlServer CartesianControlServer.hpp
                                        RpcResponder.cpp
                                        StreamResponder.cpp)
 
-add_dependencies(CartesianControlServer COLOR_DEBUG)
-
 target_link_libraries(CartesianControlServer YARP::YARP_OS
                                              YARP::YARP_dev
+                                             ROBOTICSLAB::ColorDebug
                                              KinematicRepresentationLib
                                              KinematicsDynamicsInterfaces)
 

diff --git a/libraries/YarpPlugins/CartesianControlServer/DeviceDriverImpl.cpp b/libraries/YarpPlugins/CartesianControlServer/DeviceDriverImpl.cpp
@@ -4,7 +4,7 @@
 
 #include <string>
 
-#include <ColorDebug.hpp>
+#include <ColorDebug.h>
 
 // ------------------- DeviceDriver Related ------------------------------------