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gtsam/cmake/GtsamBuildTypes.cmake

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CMake
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include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag()
# Set cmake policy to recognize the Apple Clang compiler
# independently from the Clang compiler.
if(POLICY CMP0025)
cmake_policy(SET CMP0025 NEW)
endif()
# function: list_append_cache(var [new_values ...])
# Like "list(APPEND ...)" but working for CACHE variables.
# -----------------------------------------------------------
function(list_append_cache var)
set(cur_value ${${var}})
list(APPEND cur_value ${ARGN})
get_property(MYVAR_DOCSTRING CACHE ${var} PROPERTY HELPSTRING)
set(${var} "${cur_value}" CACHE STRING "${MYVAR_DOCSTRING}" FORCE)
endfunction()
# function: append_config_if_not_empty(TARGET_VARIABLE build_type)
# Auxiliary function used to merge configuration-specific flags into the
# global variables that will actually be send to cmake targets.
# -----------------------------------------------------------
function(append_config_if_not_empty TARGET_VARIABLE_ build_type)
string(TOUPPER "${build_type}" build_type_toupper)
set(flags_variable_name "${TARGET_VARIABLE_}_${build_type_toupper}")
set(flags_ ${${flags_variable_name}})
if (NOT "${flags_}" STREQUAL "")
if (${build_type_toupper} STREQUAL "COMMON")
# Special "COMMON" configuration type, just append without CMake expression:
list_append_cache(${TARGET_VARIABLE_} "${flags_}")
else()
# Regular configuration type:
list_append_cache(${TARGET_VARIABLE_} "$<$<CONFIG:${build_type}>:${flags_}>")
endif()
endif()
endfunction()
# Add install prefix to search path
list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")
# Set up build types for MSVC and XCode
set(GTSAM_CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
CACHE STRING "Build types available to MSVC and XCode")
mark_as_advanced(FORCE GTSAM_CMAKE_CONFIGURATION_TYPES)
set(CMAKE_CONFIGURATION_TYPES ${GTSAM_CMAKE_CONFIGURATION_TYPES} CACHE STRING "Build configurations" FORCE)
# Default to Release mode
if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
set(GTSAM_CMAKE_BUILD_TYPE "Release" CACHE STRING
"Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo.")
set(CMAKE_BUILD_TYPE ${GTSAM_CMAKE_BUILD_TYPE} CACHE STRING
"Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE)
endif()
# Add option for using build type postfixes to allow installing multiple build modes
option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON)
# Define all cache variables, to be populated below depending on the OS/compiler:
set(GTSAM_COMPILE_OPTIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE)
set(GTSAM_COMPILE_OPTIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations." FORCE)
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private preprocessor macros for all build configurations." FORCE)
set(GTSAM_COMPILE_DEFINITIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public preprocessor macros for all build configurations." FORCE)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PUBLIC)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
string(TOUPPER "${build_type}" build_type_toupper)
# Define empty cache variables for "public". "private" are created below.
set(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper} "" CACHE STRING "(User editable) Public compiler flags (exported to user projects) for `${build_type_toupper}` configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper} "" CACHE STRING "(User editable) Public preprocessor macros for `${build_type_toupper}` configuration.")
endforeach()
# Common preprocessor macros for each configuration:
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG "_DEBUG;EIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "(User editable) Private preprocessor macros for Debug configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for RelWithDebInfo configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration.")
if(MSVC)
# Common to all configurations:
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE
WINDOWS_LEAN_AND_MEAN
NOMINMAX
)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC
_ENABLE_EXTENDED_ALIGNED_STORAGE
)
# Avoid literally hundreds to thousands of warnings:
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC
/wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
)
add_compile_options(/wd4005)
add_compile_options(/wd4101)
add_compile_options(/wd4834)
endif()
# Other (non-preprocessor macros) compiler flags:
if(MSVC)
# Common to all configurations, next for each configuration:
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON /W3 /GR /EHsc /MP CACHE STRING "(User editable) Private compiler flags for all configurations.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG /MDd /Zi /Ob0 /Od /RTC1 CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO /MD /O2 /D /Zi /d2Zi+ CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE /MD /O2 CACHE STRING "(User editable) Private compiler flags for Release configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING /MD /O2 /Zi CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING /MD /O2 CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
else()
# Common to all configurations, next for each configuration:
if (NOT MSVC)
check_cxx_compiler_flag(-Wsuggest-override COMPILER_HAS_WSUGGEST_OVERRIDE)
check_cxx_compiler_flag(-Wmissing COMPILER_HAS_WMISSING_OVERRIDE)
if (COMPILER_HAS_WSUGGEST_OVERRIDE)
set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday
elseif(COMPILER_HAS_WMISSING_OVERRIDE)
set(flag_override_ -Wmissing-override) # -Werror=missing-override: Add again someday
endif()
endif()
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
-Wall # Enable common warnings
-fPIC # ensure proper code generation for shared libraries
$<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr -Werror=return-local-addr> # Error: return local address
$<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address -Werror=return-stack-address> # Error: return local address
$<$<CXX_COMPILER_ID:Clang>:-Wno-weak-template-vtables> # TODO(dellaert): don't know how to resolve
$<$<CXX_COMPILER_ID:Clang>:-Wno-weak-vtables> # TODO(dellaert): don't know how to resolve
-Wreturn-type -Werror=return-type # Error on missing return()
-Wformat -Werror=format-security # Error on wrong printf() arguments
$<$<COMPILE_LANGUAGE:CXX>:${flag_override_}> # Enforce the use of the override keyword
#
CACHE STRING "(User editable) Private compiler flags for all configurations.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG -g -fno-inline CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO -g -O3 CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE -O3 CACHE STRING "(User editable) Private compiler flags for Release configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING -O3 CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING -g -O3 CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
endif()
# Enable C++17:
if (NOT CMAKE_VERSION VERSION_LESS 3.8)
set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.")
# See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
set(CMAKE_CXX_EXTENSIONS OFF)
if (MSVC)
# NOTE(jlblanco): seems to be required in addition to the cxx_std_17 above?
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC /std:c++17)
endif()
else()
# Old cmake versions:
if (NOT MSVC)
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-std=c++17>)
endif()
endif()
# Merge all user-defined flags into the variables that are to be actually used by CMake:
foreach(build_type "common" ${GTSAM_CMAKE_CONFIGURATION_TYPES})
append_config_if_not_empty(GTSAM_COMPILE_OPTIONS_PRIVATE ${build_type})
append_config_if_not_empty(GTSAM_COMPILE_OPTIONS_PUBLIC ${build_type})
append_config_if_not_empty(GTSAM_COMPILE_DEFINITIONS_PRIVATE ${build_type})
append_config_if_not_empty(GTSAM_COMPILE_DEFINITIONS_PUBLIC ${build_type})
endforeach()
# Linker flags:
set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
set(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
set(GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
mark_as_advanced(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING
GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING
GTSAM_CMAKE_C_FLAGS_PROFILING GTSAM_ GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING
GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING)
set(CMAKE_SHARED_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING})
set(CMAKE_MODULE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING})
set(CMAKE_EXE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING})
set(CMAKE_SHARED_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING})
set(CMAKE_MODULE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING})
set(CMAKE_EXE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING})
# Clang uses a template depth that is less than standard and is too small
if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
# Apple Clang before 5.0 does not support -ftemplate-depth.
if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0"))
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024")
endif()
endif()
if (NOT MSVC)
option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
if(GTSAM_BUILD_WITH_MARCH_NATIVE)
# Check if Apple OS and compiler is [Apple]Clang
if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$"))
# Check Clang version since march=native is only supported for version 15.0+.
if("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "15.0")
if(NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
# Add as public flag so all dependent projects also use it, as required
# by Eigen to avoid crashes due to SIMD vectorization:
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
else()
message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported for Apple silicon and AppleClang version < 15.0.")
endif() # CMAKE_SYSTEM_PROCESSOR
else()
# Add as public flag so all dependent projects also use it, as required
# by Eigen to avoid crashes due to SIMD vectorization:
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
endif() # CMAKE_CXX_COMPILER_VERSION
else()
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-march=native" COMPILER_SUPPORTS_MARCH_NATIVE)
if(COMPILER_SUPPORTS_MARCH_NATIVE)
# Add as public flag so all dependent projects also use it, as required
# by Eigen to avoid crashes due to SIMD vectorization:
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
else()
message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported.")
endif() # COMPILER_SUPPORTS_MARCH_NATIVE
endif() # APPLE
endif() # GTSAM_BUILD_WITH_MARCH_NATIVE
endif()
# Set up build type library postfixes
if(GTSAM_BUILD_TYPE_POSTFIXES)
foreach(build_type Debug Timing Profiling RelWithDebInfo MinSizeRel)
string(TOUPPER "${build_type}" build_type_toupper)
set(CMAKE_${build_type_toupper}_POSTFIX ${build_type})
endforeach()
endif()
# Make common binary output directory when on Windows
if(WIN32)
set(RUNTIME_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin")
set(EXECUTABLE_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin")
set(LIBRARY_OUTPUT_PATH "${GTSAM_BINARY_DIR}/lib")
endif()
# Set up build type list for cmake-gui
if(NOT "${CMAKE_BUILD_TYPE}" STREQUAL "")
if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
endif()
endif()
# Check build types
string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
if( NOT cmake_build_type_tolower STREQUAL ""
AND NOT cmake_build_type_tolower STREQUAL "none"
AND NOT cmake_build_type_tolower STREQUAL "debug"
AND NOT cmake_build_type_tolower STREQUAL "release"
AND NOT cmake_build_type_tolower STREQUAL "timing"
AND NOT cmake_build_type_tolower STREQUAL "profiling"
AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo"
AND NOT cmake_build_type_tolower STREQUAL "minsizerel")
message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo, MinSizeRel (case-insensitive).")
endif()
# Enable Visual Studio solution folders
set_property(GLOBAL PROPERTY USE_FOLDERS On)
# Function for automatically assigning source folders
function(gtsam_assign_source_folders)
set(FILES ${ARGV})
foreach(file ${FILES})
file(RELATIVE_PATH relative_file "${CMAKE_CURRENT_SOURCE_DIR}" "${file}")
get_filename_component(relative_path "${relative_file}" PATH)
file(TO_NATIVE_PATH "${relative_path}" relative_path)
source_group("${relative_path}" FILES "${file}")
endforeach()
endfunction()
# Find and assign all source and header files
function(gtsam_assign_all_source_folders)
file(GLOB_RECURSE all_c_srcs "*.c")
file(GLOB_RECURSE all_cpp_srcs "*.cpp")
file(GLOB_RECURSE all_headers "*.h")
gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}")
endfunction()
# Applies the per-config build flags to the given target (e.g. gtsam, wrap_lib)
function(gtsam_apply_build_flags target_name_)
# To enable C++11: the use of target_compile_features() is preferred since
# it will be not in conflict with a more modern C++ standard, if used in a
# client program.
if (NOT "${GTSAM_COMPILE_FEATURES_PUBLIC}" STREQUAL "")
target_compile_features(${target_name_} PUBLIC ${GTSAM_COMPILE_FEATURES_PUBLIC})
endif()
target_compile_definitions(${target_name_} PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
target_compile_definitions(${target_name_} PUBLIC ${GTSAM_COMPILE_DEFINITIONS_PUBLIC})
if (NOT "${GTSAM_COMPILE_OPTIONS_PUBLIC}" STREQUAL "")
target_compile_options(${target_name_} PUBLIC ${GTSAM_COMPILE_OPTIONS_PUBLIC})
endif()
target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
endfunction(gtsam_apply_build_flags)
if(NOT MSVC AND NOT XCODE_VERSION)
# Set the build type to upper case for downstream use
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
# Set the GTSAM_BUILD_TAG variable.
# If build type is Release, set to blank (""), else set to the build type.
if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
else()
set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
endif()
endif()
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