[CMake] yarp devices and cmake struggle

[Pol Monsó IRI]

Sorry the last output should be, when building the device,

pmonso at delucia:~/YARP/yarp-2.2.2/src/modules$ make
[ 14%] Building CXX object CMakeFiles/yarpmod.dir/wamArm/wamarm.o
[ 28%] Building CXX object
CMakeFiles/yarpmod.dir/generated_code/yarpdev_add_wamArm.o
[ 42%] Building CXX object CMakeFiles/yarpmod.dir/barrettHand/barrettHand.o
[ 57%] Building CXX object
CMakeFiles/yarpmod.dir/generated_code/yarpdev_add_barrettHand.o
[ 71%] Building C object CMakeFiles/yarpmod.dir/barrettHand/bsockcmds.o
[ 85%] Building CXX object
CMakeFiles/yarpmod.dir/generated_code/add_yarpmod_devices.o
Linking CXX static library libyarpmod.a
[ 85%] Built target yarpmod
[100%] Building CXX object
CMakeFiles/yarpmoddev.dir/generated_code/yarpdev_yarpmod.o
Linking CXX executable yarpmoddev
/usr/bin/ld: cannot find -lwamarm
collect2: ld returned 1 exit status
make[2]: *** [yarpmoddev] Error 1
make[1]: *** [CMakeFiles/yarpmoddev.dir/all] Error 2
make: *** [all] Error 2

And cmake complains about not knowing where the needed libraries are
throwing a warning. The output I posted on the previous mail corresponds to
the CMakeLists.txt that creates the libraries prior to preparing de device,
which I assume it's wrong.

Anyway, why isn't cmake seeing the library when building the wamArm device?
It is in the wamArm subdirectory though.

Thanks to y'all,

Pol Monsó

2009/9/10 Pol Monsó IRI <pmonso at iri.upc.edu>

> Hello all,
>
> Here we are struggling again with cmake and yarp devices. Now we're trying
> to break a device I already had into a directory and a subdirectory in order
> to provide yarp decoupling with the device class.
>
> So thats my directory structure
> yarp-2.2.2/src/modules/wamArm/
> |-- CMakeLists.txt
> |-- libwamarm.a
> |-- sockcmds.c
> |-- sockcmds.h
> |-- wamDriver
> |   |-- CMakeLists.txt
> |   |-- cmake_install.cmake
> |   |-- constants.h
> |   |-- libsockcmds.a
> |   |-- libwamdrive.a
> |   |-- sockcmds.cpp
> |   |-- sockcmds.h
> |   |-- wamDriver.cpp
> |   |-- wamDriver.h
> |   |-- wamDriverTest
> |   `-- wamDriverTest.cpp
> |-- wamarm.cpp
> |-- wamarm.h
> `-- wamtest.cpp
>
> And we have three libraries there, wamarm, wamdrive and sockcmds. When
> building the wamDriver directory, we create wamdrive and sockcmds libraries
> and link them, as wamdrive uses sockcmds. Later, when building the wamArm
> directory wamarm library is created and linked to wamdrive. Finally, we'll
> be building the yarp devices which include the wamArm directory with the
> ADD_SUBDIRECTORY(wamArm) statement.
>
> Here are my CMakeLists
>
> In the wamArm/ directory
>
>> PROJECT(wamArm)
>> cmake_minimum_required(VERSION 2.4)
>> FIND_PACKAGE(YARP REQUIRED)
>>
>> IF (COMPILE_DEVICE_LIBRARY)
>>   PREPARE_DEVICE(wamArm TYPE Wamarm INCLUDE wamarm.h WRAPPER controlboard)
>> ENDIF (COMPILE_DEVICE_LIBRARY)
>>
>
>>
> ADD_SUBDIRECTORY(wamDriver)
>> INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/wamDriver)
>> LINK_DIRECTORIES(wamDriver)
>>
>> ADD_LIBRARY(wamarm wamarm.h wamarm.cpp)
>> LINK_LIBRARIES(wamarm wamdrive)
>> LINK_LIBRARIES(wamarm sockcmds)
>>
>
>>
> IF (NOT COMPILE_DEVICE_LIBRARY)
>>   ADD_EXECUTABLE(wamtest wamtest.cpp)
>>   TARGET_LINK_LIBRARIES(wamtest wamarm)
>> ENDIF (NOT COMPILE_DEVICE_LIBRARY)
>>
>>
> in the wamArm/wamDriver/ directory
>
>  PROJECT(wamArm)
>>
>> cmake_minimum_required(VERSION 2.4)
>>
>>   #build a shared library
>>   ADD_LIBRARY(sockcmds sockcmds.cpp sockcmds.h)
>>   ADD_LIBRARY(wamdrive wamDriver.cpp wamDriver.h)
>>   LINK_LIBRARIES(wamdrive sockcmds)
>>
>> IF (NOT COMPILE_DEVICE_LIBRARY)
>>   ADD_EXECUTABLE(wamDriverTest wamDriverTest.cpp)
>>   TARGET_LINK_LIBRARIES(wamDriverTest wamdrive)
>>   TARGET_LINK_LIBRARIES(wamDriverTest sockcmds)
>> ENDIF (NOT COMPILE_DEVICE_LIBRARY)
>>
>
> The output of building both wamArm and wamDriver goes fine.
>
>> pmonso at delucia:~/YARP/yarp-2.2.2/src/modules/wamArm/wamDriver$ make
>> Scanning dependencies of target sockcmds
>> [ 33%] Building CXX object CMakeFiles/sockcmds.dir/sockcmds.o
>> Linking CXX static library libsockcmds.a
>> [ 33%] Built target sockcmds
>> Scanning dependencies of target wamdrive
>> [ 66%] Building CXX object CMakeFiles/wamdrive.dir/wamDriver.o
>> Linking CXX static library libwamdrive.a
>> [ 66%] Built target wamdrive
>> Scanning dependencies of target wamDriverTest
>> [100%] Building CXX object CMakeFiles/wamDriverTest.dir/wamDriverTest.o
>> Linking CXX executable wamDriverTest
>> [100%] Built target wamDriverTest
>>
>
> pmonso at delucia:~/YARP/yarp-2.2.2/src/modules/wamArm$ make
>> [ 20%] Built target wamarm
>> [ 40%] Built target wamdrive
>> Scanning dependencies of target sockcmds
>> [ 60%] Building CXX object wamDriver/CMakeFiles/sockcmds.dir/sockcmds.o
>> Linking CXX static library libsockcmds.a
>> [ 60%] Built target sockcmds
>> Scanning dependencies of target wamtest
>> Linking CXX executable wamtest
>> [ 80%] Built target wamtest
>> Scanning dependencies of target wamDriverTest
>> [100%] Building CXX object
>> wamDriver/CMakeFiles/wamDriverTest.dir/wamDriverTest.o
>> Linking CXX executable wamDriverTest
>> [100%] Built target wamDriverTest
>>
>
> While building the device
>
>> pmonso at delucia:~/YARP/yarp-2.2.2/src/modules$ make
>> [ 80%] Built target yarpmod
>> Linking CXX executable yarpmoddev
>> libyarpmod.a(add_yarpmod_devices.o): In function `add_yarpmod_devices':
>> add_yarpmod_devices.cpp:(.text+0x1c): undefined reference to
>> `add_wamArm()'
>> collect2: ld returned 1 exit status
>> make[2]: *** [yarpmoddev] Error 1
>> make[1]: *** [CMakeFiles/yarpmoddev.dir/all] Error 2
>> make: *** [all] Error 2
>>
>
> Two questions arise there, why do I have to link sockcmds with wamdrive if
> we already do that on the wamDriver subdirectory? Shouldn't they be linked
> as were descending upon the directory structure?
>
> and, more important, what am I missing? I'm quite new on cmake and I find
> it hard to understand how is it dealing with libraries and linking.
>
> Also, there are two more issues that I avoided as I could. Originally, the
> sockcmds is in C not in C++ but I had trouble building it although I had
> marked the prototypes as extern C, there were undefined references when we
> were linking. And second, as wamarm class is just a wrapper for the actual
> driver, there wasn't any much code so no .cpp file was needed. However,
> cmake would not know what compiler to use as it couldn't guess from the
> extension. The SET_TARGET_PROPERTIES(wamarm PROPERTIES LINKER_LANGUAGE CXX)
> statement worked when compiling the wamArm directory, but failed when
> compiling the library on the yarp devices directory.
>
> Anyhow, I'm more concerned on the first issue there, although I don't
> really know if it's a cmake issue, a yarp issue or both. Any kind of help
> would be highly appreciated as well as some guidelines on the proper way to
> do that.
>
> Thanks for your wisdom,
>
> Pol Monsó
>
>
>
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