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Simplify the drake_cmake_external example #338

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merged 1 commit into from
Nov 19, 2024
Merged

Simplify the drake_cmake_external example #338

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2 changes: 0 additions & 2 deletions drake_cmake_external/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,6 @@ endif()

list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")

find_package(Python3 REQUIRED COMPONENTS Interpreter Development)

include(ExternalProject)

# This shows how to fetch Eigen from source as part of Drake's CMake build.
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33 changes: 20 additions & 13 deletions drake_cmake_external/drake_external_examples/CMakeLists.txt
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@@ -1,22 +1,29 @@
# SPDX-License-Identifier: MIT-0

cmake_minimum_required(VERSION 3.10.2)
cmake_minimum_required(VERSION 3.16)
project(drake_external_examples)

include(CTest)

if(APPLE)
set(FIND_PYTHON_INTERP_VERSION 3.12)
else()
set(FIND_PYTHON_INTERP_VERSION 3.6)
endif()
find_package(PythonInterp ${FIND_PYTHON_INTERP_VERSION} MODULE REQUIRED)

find_package(drake CONFIG REQUIRED)

get_filename_component(PYTHONPATH
"${drake_DIR}/../../python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages"
find_package(Python3 ${drake_PYTHON_VERSION} EXACT REQUIRED COMPONENTS Interpreter Development)

get_filename_component(DRAKE_PYTHONPATH
"${drake_DIR}/../../python${drake_PYTHON_VERSION}/site-packages"
REALPATH
)

add_subdirectory(apps)
add_executable(simple_continuous_time_system simple_continuous_time_system.cc)
target_link_libraries(simple_continuous_time_system drake::drake)

include(CTest)

add_test(NAME simple_continuous_time_system
COMMAND simple_continuous_time_system
)
add_test(NAME import_all_test COMMAND
"${Python3_EXECUTABLE}" "${CMAKE_CURRENT_SOURCE_DIR}/import_all_test.py"
)
set_tests_properties(import_all_test PROPERTIES
ENVIRONMENT "PYTHONPATH=${DRAKE_PYTHONPATH}"
)

14 changes: 0 additions & 14 deletions drake_cmake_external/drake_external_examples/apps/CMakeLists.txt
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This file was deleted.

0 ...external_examples/apps/import_all_test.py → ...rake_external_examples/import_all_test.py
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File renamed without changes.
0 ...les/apps/simple_continuous_time_system.cc → ...examples/simple_continuous_time_system.cc
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16 changes: 3 additions & 13 deletions drake_cmake_installed_apt/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# SPDX-License-Identifier: MIT-0

cmake_minimum_required(VERSION 3.10)
cmake_minimum_required(VERSION 3.16)
project(drake_cmake_installed_apt)

include(CTest)
Expand All @@ -21,23 +21,13 @@ target_include_directories(gtest PUBLIC
)
target_link_libraries(gtest Threads::Threads)

if(CMAKE_VERSION VERSION_LESS 3.12)
list(INSERT CMAKE_MODULE_PATH 0
"${CMAKE_CURRENT_SOURCE_DIR}/third_party/cmake/3.12/Modules"
)
endif()

find_package(Python 3.6 MODULE REQUIRED)
set(PYTHON_VERSION_MAJOR_MINOR
"${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}"
)

find_package(drake CONFIG REQUIRED PATHS /opt/drake)
find_package(Python3 ${drake_PYTHON_VERSION} EXACT REQUIRED COMPONENTS Interpreter Development)

get_filename_component(DRAKE_PYTHONPATH "${drake_DIR}" DIRECTORY)
get_filename_component(DRAKE_PYTHONPATH "${DRAKE_PYTHONPATH}" DIRECTORY)
set(DRAKE_PYTHONPATH
"${DRAKE_PYTHONPATH}/python${PYTHON_VERSION_MAJOR_MINOR}/site-packages"
"${DRAKE_PYTHONPATH}/python${drake_PYTHON_VERSION}/site-packages"
)

add_subdirectory(src)
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2 changes: 1 addition & 1 deletion drake_cmake_installed_apt/src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ add_test(NAME cc_particle_test COMMAND particle_test)
set_tests_properties(cc_particle_test PROPERTIES LABELS small TIMEOUT 60)

add_test(NAME python_particle_test
COMMAND Python::Interpreter -B -m unittest particle_test
COMMAND Python3::Interpreter -B -m unittest particle_test
)
set_tests_properties(python_particle_test PROPERTIES
ENVIRONMENT "PYTHONPATH=${DRAKE_PYTHONPATH}"
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