source: flair-dev/trunk/cmake-modules/FlairUseFile.cmake@ 95

find_package(LibXml2 REQUIRED)
find_package(Xenomai QUIET)

if(NOT XENOMAI_FOUND)
        warn("Xenomai not found, you will not be able to link a real time program")
endif()

execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion
                OUTPUT_VARIABLE GCC_VERSION)

if (GCC_VERSION VERSION_GREATER 4.3 OR GCC_VERSION VERSION_EQUAL 4.3)
        if (GCC_VERSION VERSION_GREATER 4.7 OR GCC_VERSION VERSION_EQUAL 4.7)
                ADD_DEFINITIONS("-std=c++11")
        else()
                ADD_DEFINITIONS("-std=c++0x")
        endif()
else()
        message(STATUS "GCC version < 4.3, c+11 is not supported!")
endif()

#check if we have a flair-hds directory
if (IS_DIRECTORY $ENV{FLAIR_ROOT}/flair-hds )
        message("found flair-hds directory")
        SET(FOUND_HDS_DIR TRUE) 
  SET(FLAIRHDS_LIBRARY_DIR
                $ENV{FLAIR_ROOT}/flair-hds/bin/lib/${ARCH_DIR}
        )
endif()

SET(FLAIR_INCLUDE_DIR   
        ${LIBXML2_INCLUDE_DIR}  
        ${CMAKE_SYSROOT}/usr/include/opencv1
        ${FLAIR_DEV}/include/FlairCore
)
SET(FLAIR_LIBRARY_DIR
        ${FLAIR_BIN}/lib/${ARCH_DIR}
)

SET(FLAIR_LIBRARIES     
        ${LIBXML2_LIBRARIES}
        udt pthread cv cxcore highgui FileLib rt z
)

#auto select dependencies
IF (FLAIR_USE_SIMULATOR)
        SET(FLAIR_USE_VRPN TRUE)
ENDIF (FLAIR_USE_SIMULATOR)

#VRPN for motion capture
IF (FLAIR_USE_VRPN)
        SET(FLAIR_LIBRARIES vrpn ${FLAIR_LIBRARIES})
ENDIF (FLAIR_USE_VRPN)

#nmea for GPS
IF (FLAIR_USE_GPS)
        SET(FLAIR_LIBRARIES nmea ${FLAIR_LIBRARIES})
ENDIF (FLAIR_USE_GPS)

#core, will be replace by rt or nrt version at the end
SET(FLAIR_LIBRARIES FlairCore ${FLAIR_LIBRARIES})

#vision filter lib
IF (FLAIR_USE_VISION_FILTER)
    if(FOUND_HDS_DIR AND ("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon" OR "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64"))
        message("using libdspcv_gpp.a for vision filter")
                SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-hds/dev/include/VisionFilter)
                SET(FLAIR_LIBRARIES ${FLAIRHDS_LIBRARY_DIR}/libVisionFilter.a ${FLAIRHDS_LIBRARY_DIR}/libdspcv_gpp.a ${FLAIR_LIBRARIES})
  else()
        SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-dev/include/FlairVisionFilter)
                SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairVisionFilter.a ${FLAIR_LIBRARIES})
        endif()
ENDIF (FLAIR_USE_VISION_FILTER)

#sensor and actuator lib
IF (FLAIR_USE_SENSOR_ACTUATOR)
        SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} ${FLAIR_DEV}/include/FlairSensorActuator)
        SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSensorActuator.a nmea ${FLAIR_LIBRARIES})
ENDIF (FLAIR_USE_SENSOR_ACTUATOR)

#filter lib
IF (FLAIR_USE_FILTER)
        SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} ${FLAIR_DEV}/include/FlairFilter)
        SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairFilter.a iir ${FLAIR_LIBRARIES})
ENDIF (FLAIR_USE_FILTER)


#meta lib
IF (FLAIR_USE_META)
        SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} ${FLAIR_DEV}/include/FlairMeta)
        SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairMeta.a ${FLAIR_LIBRARIES})
ENDIF (FLAIR_USE_META)

#simulator lib
IF (FLAIR_USE_SIMULATOR)
        if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm")
                SET(FLAIR_USE_SIMULATOR_GL FALSE)
        endif()
        SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR}
                ${FLAIR_DEV}/include/FlairSimulator
                ${CMAKE_SYSROOT}/usr/include/irrlicht
                )
        
        IF (FLAIR_USE_SIMULATOR_GL)
                ADD_DEFINITIONS("-DGL")
                SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_gl.a GL ${FLAIR_LIBRARIES} Irrlicht Xxf86vm)
        else()
                SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_nogl.a ${FLAIR_LIBRARIES})
        endif()
ENDIF (FLAIR_USE_SIMULATOR)

#set RT or NRT specific libraries
set(FLAIR_LIBRARIES_RT ${FLAIR_LIBRARIES} ${XENOMAI_LIBRARIES})

list(FIND FLAIR_LIBRARIES_RT "FlairCore" POS)
if(POS GREATER -1)
        list(REMOVE_AT FLAIR_LIBRARIES_RT ${POS})
        list(INSERT FLAIR_LIBRARIES_RT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_rt.a")
endif()

set(FLAIR_LIBRARIES_NRT ${FLAIR_LIBRARIES})

list(FIND FLAIR_LIBRARIES_NRT "FlairCore" POS)
if(POS GREATER -1)
        list(REMOVE_AT FLAIR_LIBRARIES_NRT ${POS})
        list(INSERT FLAIR_LIBRARIES_NRT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_nrt.a")
endif()

#add ardrone2, bebop or minidrones lib
if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon")  
  SET (PARROT_LIB -Wl,--whole-archive ${FLAIRHDS_LIBRARY_DIR}/libFlairArdrone2.a ${FLAIRHDS_LIBRARY_DIR}/libFlairBebop.a -Wl,--no-whole-archive)
        set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
    set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea)
endif()
if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv5te")      
  SET (PARROT_LIB -Wl,--whole-archive ${FLAIRHDS_LIBRARY_DIR}/libFlairMinidrones.a ${FLAIRHDS_LIBRARY_DIR}/libFlairMamboEdu.a -Wl,--no-whole-archive)
        set(FLAIR_LIBRARIES_NRT ${PARROT_LIB}  ${FLAIR_LIBRARIES_NRT} nmea)
    set(FLAIR_LIBRARIES_RT ${PARROT_LIB}  ${FLAIR_LIBRARIES_RT} nmea)
endif()