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Various cmake modules are used by the flair build system. They are located in [source:flair-dev/trunk/cmake-modules flair-dev].

You will find some explanations of what they do here. But the best way to understand them is to read them!

= Cmake modules =

== [source:flair-dev/trunk/cmake-modules/ArchDir.cmake ArchDir.cmake] ==

Retrieves the arch name from the toolchain file (''toolchain.cmake''). It is used to install files in the correct folders, and to check if a lib, demo or tool is compatible with a specific architecture or not.

It also checks if host architecture is i686, as it is not supported.

== [source:flair-dev/trunk/cmake-modules/ColoredMessage.cmake ColoredMessage.cmake] ==

Defines some cmake functions to have colored messages.

== [source:flair-dev/trunk/cmake-modules/FindXenomai.cmake FindXenomai.cmake] ==

Find xenomai lib and defines some variables useful for cmake.

== [source:flair-dev/trunk/cmake-modules/GlobalCmakeFlair.cmake GlobalCmakeFlair.cmake] ==

reimplements some cmake built in functions to add extra functionalities

* ''ADD_EXECUTABLE'':
 * add a message to display architecture 
 * check if $HOME/.ssh/config have some hosts defined (see [wiki:setup#ConfigureSSHhostsoptional here]). In this case add a custom_target to cmake, to copy the executable with ssh. The custom target is called ''delivery_root_ADDRESS_PATH'', with address the target address and path the destination path. 
 * copy demos binaries. To enable this functionality, you need to add ''SET(FLAIR_DEMO_DEST_DIR yourproject)'' to your ''CMakeLists.txt'', see this [source:flair-src/trunk/demos/CircleFollower/uav/CMakeLists.txt example]. Files will be copied to ''$FLAIR_ROOT/flair-install/bin/demos/${ARCH_DIR}/yourproject''

* ''ADD_LIBRARY'':
 * add a message to display architecture.
 * add compile info in a .h (used by libs constructor), see [source:flair-src/trunk/lib/FlairMeta/src/UavFactory.cpp in FlairMeta] for example.

* ''INSTALL'':
 * copy resources files (scripts and xml files for the demos). Resources files are placed in the ''resources'' dir, and inside an arch dir. See for example in the [source:flair-src/trunk/demos/CircleFollower/uav/resources CircleFollower demo]. These files are not overwritten if they already exist. To enable this functionality, you need to add ''SET(FLAIR_RESOURCE_FILES_DEST_DIR yourproject)'' to your ''CMakeLists.txt'', see this [source:flair-src/trunk/demos/CircleFollower/uav/CMakeLists.txt example]. Files will be copied to ''$FLAIR_ROOT/flair-install/bin/demos/${ARCH_DIR}/yourproject''

== [source:flair-dev/trunk/cmake-modules/FlairUseFile.cmake FlairUseFile.cmake] ==

Used by demos/tools, it helps adding include dirs and libraries for programs using flair.

It performs some checks:
* presence of libxml2 in the toolchain
* presence of xenomai in the toolchain
* gcc version (must be >= 4.3)
* presence of a flair-hds directory. For Heudiasyc users, see [wiki:hds_users here]

Needed include dirs and libraries are determined using some boolean variables:
* ''FLAIR_USE_SIMULATOR''
* ''FLAIR_USE_VRPN''
* ''FLAIR_USE_GPS''
* ''FLAIR_USE_VISION_FILTER''
* ''FLAIR_USE_SENSOR_ACTUATOR''
* ''FLAIR_USE_FILTER''
* ''FLAIR_USE_META''

You have to set these variables to true in your ''CMakeLists.txt'', if you need need these functionalities.

In return, ''!FlairUseFile.cmake'' will fill 3 variables:
* ''${FLAIR_INCLUDE_DIR}'': list of needed include dirs
* ''${FLAIR_LIBRARIES_RT}'': list of needed libraries for real time (xenomai)
* ''${FLAIR_LIBRARIES_NRT}'': list of needed libraries for non real time

Take a look at !CircleFollower demo [source:flair-src/trunk/demos/CircleFollower/uav/CMakeLists.txt CMakeLists.txt] file to see how it is used.