cmake: fix bug #1012: CMake issues with newer Xenomai custom installs.

Addressed the various issues and ambiguous error reports one could have
when selecting the xenomai target.
Also fixed linking with the mqueue headers in Xenomai environments by
passing the flags from xeno-config directly.

Signed-off-by: Peter Soetens <[email protected]>

Author: Peter Soetens

config/FindXenomai.cmake

@@ -1,6 +1,6 @@
 ################################################################################
 #
-# CMake script for finding XENOMAI.
+# CMake script for finding the XENOMAI native skin.
 # If the optional XENOMAI_ROOT_DIR environment variable exists, header files and
 # libraries will be searched in the XENOMAI_ROOT_DIR/include and XENOMAI_ROOT_DIR/lib
 # directories, respectively. Otherwise the default CMake search process will be
@@ -21,6 +21,14 @@ if(NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
   mark_as_advanced(XENOMAI_ROOT_DIR)
 endif()
 
+if ( Xenomai_FIND_QUIETLY )
+  set( XENOMAI_FIND_QUIETLY "QUIET")
+endif()
+
+if ( Xenomai_FIND_REQUIRED )
+  set( XENOMAI_FIND_REQUIRED "REQUIRED")
+endif()
+
 # Header files to find
 set(header_NAME    native/task.h)
 
@@ -31,16 +39,26 @@ set(XENOMAI_NATIVE_NAME   native)
 # Find headers and libraries
 if(XENOMAI_ROOT_DIR)
   # Use location specified by environment variable
+  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_ROOT_DIR}/bin NO_DEFAULT_PATH)
   find_path(XENOMAI_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_ROOT_DIR}/include PATH_SUFFIXES xenomai NO_DEFAULT_PATH)
   find_library(XENOMAI_LIBRARY         NAMES ${XENOMAI_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
   find_library(XENOMAI_NATIVE_LIBRARY         NAMES ${XENOMAI_NATIVE_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
 else()
   # Use default CMake search process
+  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config )
   find_path(XENOMAI_INCLUDE_DIR       NAMES ${header_NAME} PATH_SUFFIXES xenomai )
   find_library(XENOMAI_LIBRARY        NAMES ${XENOMAI_NAME})
   find_library(XENOMAI_NATIVE_LIBRARY        NAMES ${XENOMAI_NATIVE_NAME})
 endif()
 
+if( XENOMAI_LIBRARY AND XENOMAI_INCLUDE_DIR AND NOT XENOMAI_XENO_CONFIG )
+  message(SEND_ERROR "Your Xenomai installation is broken: I can not determine Xenomai Native cflags/ldflags without xeno-config.")
+else()
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=native --ldflags OUTPUT_VARIABLE XENOMAI_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=native --cflags OUTPUT_VARIABLE XENOMAI_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+endif()
+
+
 # Set the include dir variables and the libraries and let libfind_process do the rest.
 # NOTE: Singular variables for this library, plural for libraries this this lib depends on.
 set(XENOMAI_PROCESS_INCLUDES XENOMAI_INCLUDE_DIR)

config/FindXenomaiPosix.cmake

@@ -1,6 +1,6 @@
 ################################################################################
 #
-# CMake script for finding XENOMAI.
+# CMake script for finding the XENOMAI Posix skin.
 # If the optional XENOMAI_ROOT_DIR environment variable exists, header files and
 # libraries will be searched in the XENOMAI_ROOT_DIR/include and XENOMAI_ROOT_DIR/lib
 # directories, respectively. Otherwise the default CMake search process will be
@@ -16,9 +16,17 @@
 include(LibFindMacros)
 
 # Get hint from environment variable (if any)
-if(NOT $ENV{XENOMAI_POSIX_ROOT_DIR} STREQUAL "")
-  set(XENOMAI_POSIX_ROOT_DIR $ENV{XENOMAI_POSIX_ROOT_DIR} CACHE PATH "Xenomai Posix base directory location (optional, used for nonstandard installation paths)" FORCE)
-  mark_as_advanced(XENOMAI_POSIX_ROOT_DIR)
+if(NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
+  set(XENOMAI_ROOT_DIR $ENV{XENOMAI_ROOT_DIR} CACHE PATH "Xenomai Posix base directory location (optional, used for nonstandard installation paths)" FORCE)
+  mark_as_advanced(XENOMAI_ROOT_DIR)
+endif()
+
+if ( XenomaiPosix_FIND_QUIETLY )
+  set( XENOMAI_POSIX_FIND_QUIETLY "QUIET")
+endif()
+
+if ( XenomaiPosix_FIND_REQUIRED )
+  set( XENOMAI_POSIX_FIND_REQUIRED "REQUIRED")
 endif()
 
 # Header files to find
@@ -28,11 +36,11 @@ set(header_NAME    pthread.h)
 set(XENOMAI_POSIX_NAME   pthread_rt)
 
 # Find headers and libraries
-if(XENOMAI_POSIX_ROOT_DIR)
+if(XENOMAI_ROOT_DIR)
   # Use location specified by environment variable
-  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_POSIX_ROOT_DIR}/bin NO_DEFAULT_PATH)
-  find_path(XENOMAI_POSIX_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_POSIX_ROOT_DIR}/include PATH_SUFFIXES xenomai/posix NO_DEFAULT_PATH)
-  find_library(XENOMAI_POSIX_LIBRARY         NAMES ${XENOMAI_POSIX_NAME}       PATHS ${XENOMAI_POSIX_ROOT_DIR}/lib     NO_DEFAULT_PATH)
+  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_ROOT_DIR}/bin NO_DEFAULT_PATH)
+  find_path(XENOMAI_POSIX_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_ROOT_DIR}/include PATH_SUFFIXES xenomai/posix NO_DEFAULT_PATH)
+  find_library(XENOMAI_POSIX_LIBRARY         NAMES ${XENOMAI_POSIX_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
 else()
   # Use default CMake search process
   find_program(XENOMAI_XENO_CONFIG NAMES xeno-config )
@@ -43,8 +51,8 @@ endif()
 if( XENOMAI_POSIX_LIBRARY AND XENOMAI_POSIX_INCLUDE_DIR AND NOT XENOMAI_XENO_CONFIG )
   message(SEND_ERROR "Your Xenomai installation is broken: I can not determine Xenomai POSIX cflags/ldflags without xeno-config.")
 else()
-  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --posix-ldflags OUTPUT_VARIABLE XENOMAI_POSIX_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
-  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --posix-cflags OUTPUT_VARIABLE XENOMAI_POSIX_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=posix --ldflags OUTPUT_VARIABLE XENOMAI_POSIX_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=posix --cflags OUTPUT_VARIABLE XENOMAI_POSIX_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
 endif()
 
 # Set the include dir variables and the libraries and let libfind_process do the rest.

config/LibFindMacros.cmake

@@ -71,7 +71,7 @@ macro (libfind_process PREFIX)
         foreach (i ${${PREFIX}_PROCESS_INCLUDES} ${${PREFIX}_PROCESS_LIBS})
           message("${i}=${${i}}")
         endforeach (i)
-        message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, use the ${PREFIX}_ROOT_DIR environment variable or ccmake to set the missing variables manually.")
+        message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, set the ${PREFIX}_ROOT_DIR environment variable or use cmake to set the missing variables manually.")
       else (${PREFIX}_FIND_REQUIRED)  # NOTE: else case not included in original file
         message (STATUS "Optional library ${PREFIX} NOT FOUND. If the library is already installed, use the ${PREFIX}_ROOT_DIR environment variable or ccmake to set the missing variables manually.")
       endif (${PREFIX}_FIND_REQUIRED)

config/check_depend.cmake

@@ -111,6 +111,10 @@ endif(XERCES_FOUND)
 message("Orocos target is ${OROCOS_TARGET}")
 string(TOUPPER ${OROCOS_TARGET} OROCOS_TARGET_CAP)
 
+if ( NOT ";lxrt;gnulinux;xenomai;macosx;win32;" MATCHES ".*;${OROCOS_TARGET};.*")
+  message( FATAL_ERROR "OROCOS_TARGET=${OROCOS_TARGET} is an unkown target. Please use one of lxrt;gnulinux;xenomai;macosx;win32.")
+endif()
+
 # Setup flags for RTAI/LXRT
 if(OROCOS_TARGET STREQUAL "lxrt")
   set(OROPKG_OS_LXRT TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
@@ -144,10 +148,13 @@ if(OROCOS_TARGET STREQUAL "xenomai")
   add_definitions( -Wall )
 
   if(XENOMAI_FOUND)
-    list(APPEND OROCOS-RTT_USER_LINK_LIBS ${XENOMAI_LIBRARIES} ) # For libraries used in inline (fosi/template) code.
+    # Input for .pc and .cmake generated files:
     list(APPEND OROCOS-RTT_INCLUDE_DIRS ${XENOMAI_INCLUDE_DIRS} ${PTHREAD_INCLUDE_DIRS})
     list(APPEND OROCOS-RTT_LIBRARIES ${XENOMAI_LIBRARIES} ${PTHREAD_LIBRARIES} dl) 
     list(APPEND OROCOS-RTT_DEFINITIONS "OROCOS_TARGET=${OROCOS_TARGET}") 
+    # Direct input only for .pc file:
+    list(APPEND RTT_USER_LDFLAGS ${XENOMAI_LDFLAGS} )
+    list(APPEND RTT_USER_CFLAGS ${XENOMAI_CFLAGS} )
     if (XENOMAI_POSIX_FOUND)
       set(MQ_LDFLAGS ${XENOMAI_POSIX_LDFLAGS} )
       set(MQ_CFLAGS ${XENOMAI_POSIX_CFLAGS} )
@@ -261,7 +268,7 @@ else(OROCOS_TARGET STREQUAL "win32")
 endif(OROCOS_TARGET STREQUAL "win32")
 
 if( NOT OROCOS-RTT_DEFINITIONS )
-  message(FATAL_ERROR "No suitable OROCOS_TARGET selected. Use one of 'lxrt,xenomai,gnulinux,macosx,win32'")
+  message(FATAL_ERROR "No suitable OROCOS_TARGET found. Please check your setup or provide additional search paths to cmake.")
 endif()
 
 # The machine type is tested using compiler macros in rtt-config.h.in

orocos-rtt.default.cmake

@@ -69,7 +69,7 @@ else()
       set(OROCOS_TARGET gnulinux CACHE STRING "${DOC_STRING}")
     endif()
   endif()
-  message( "No OROCOS_TARGET environment variable detected. Using: ${OROCOS_TARGET}")
+  message( "No OROCOS_TARGET environment variable set. Using: ${OROCOS_TARGET}")
 endif()
 
 # Useful for Windows/MSVC builds, sets all libraries and executables in one place.

rtt/orocos-rtt.pc.in

@@ -6,6 +6,6 @@ includedir=${prefix}/include
 Name: Orocos-RTT                          # human-readable name
 Description: Open Robot Control Software: Real-Time Tookit # human-readable description
 Version: @RTT_VERSION@
-Libs: -L${libdir} -lorocos-rtt-@OROCOS_TARGET@ @RTT_USER_LINK_LIBS@ # If some RTT headers include inline calls to other libraries, we need to specify these here too.
+Libs: -L${libdir} -lorocos-rtt-@OROCOS_TARGET@ @RTT_USER_LINK_LIBS@ @RTT_USER_LDFLAGS@ # If some RTT headers include inline calls to other libraries, we need to specify these here too.
 Libs.private: @RTT_LINKFLAGS@
-Cflags: -I${includedir} @RTT_DEFINES@ @RTT_CFLAGS@
+Cflags: -I${includedir} @RTT_DEFINES@ @RTT_CFLAGS@ @RTT_USER_CFLAGS@

rtt/transports/mqueue/orocos-rtt-mqueue.pc.in

@@ -7,6 +7,6 @@ Name: Orocos-RTT-MQUEUE                                     # human-readable nam
 Description: Open Robot Control Software: Real-Time Tookit # human-readable description
 Requires: orocos-rtt-@OROCOS_TARGET@
 Version: @RTT_VERSION@
-Libs: -L${libdir} -lorocos-rtt-mqueue-@OROCOS_TARGET@
-Libs.private: @RTT_MQUEUE_LINKFLAGS@
-Cflags: -I${includedir}/rtt/mqueue @RTT_MQUEUE_DEFINES@ @RTT_MQUEUE_CFLAGS@
+Libs: -L${libdir} -lorocos-rtt-mqueue-@OROCOS_TARGET@ @MQ_LDFLAGS@
+Libs.private:
+Cflags: -I${includedir}/rtt/mqueue @MQ_CFLAGS@