CMakeLists.txt

#===============================================================================
# CMake settings
#===============================================================================
cmake_minimum_required(VERSION 3.22.1)

project(dart)

string(TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPERCASE)

# Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and
# became default in CMake 3.0. Explicitly setting this policy is necessary to
# suppress a warning in CMake 3.0 and above.
if(POLICY CMP0042)
  cmake_policy(SET CMP0042 NEW)
endif()

# Simplify variable reference and escape sequence evaluation. This was added in
# CMake 3.1. Explicitly setting this policy is necessary to suppress a warning
# in CMake 3.1 and above.
if(POLICY CMP0053)
  cmake_policy(SET CMP0053 NEW)
endif()

# Use DART_SOURCE/BINARY_DIR instead of CMAKE_SOURCE/BINARY_DIR to support the
# case that DART is built as a sub-project in another project.
set(DART_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set(DART_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})

include(GNUInstallDirs)

# Variables used in Components.cmake
set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
set(LIBRARY_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
set(CONFIG_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake")

# Set relative location to install additional documentation (sample data,
# examples, and tutorials)
set(DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH
  "${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}"
)

set(CMAKE_DEBUG_POSTFIX "d")
set(CMAKE_MODULE_PATH "${DART_SOURCE_DIR}/cmake")

include(DARTMacros)
include(dart_defs)

# CMake component helper. It uses the following variables:
# - LIBRARY_INSTALL_DIR
# - CONFIG_INSTALL_DIR
include(Components)
initialize_component_helpers(${PROJECT_NAME})

#===============================================================================
# Project settings
#===============================================================================

# Extract version numbers from package.xml
file(READ package.xml PACKAGE_XML)
string(REGEX MATCH "<version>[0-9]+\\.[0-9]+\\.[0-9]+</version>" DIRTY_VERSION_STRING ${PACKAGE_XML})
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\1" DART_MAJOR_VERSION "${DIRTY_VERSION_STRING}")
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\2" DART_MINOR_VERSION "${DIRTY_VERSION_STRING}")
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\3" DART_PATCH_VERSION "${DIRTY_VERSION_STRING}")
set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")

set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")

#===============================================================================
# Build options
#===============================================================================
if(MSVC)
  set(DART_RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
  set_property(CACHE DART_RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
  dart_option(DART_MSVC_DEFAULT_OPTIONS "Build DART with default Visual Studio options" OFF)
else()
  dart_option(BUILD_SHARED_LIBS "Build shared libraries" ON)
endif()
dart_option(DART_BUILD_DARTPY "Build dartpy" OFF)
dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
dart_option(DART_CODECOV "Turn on codecov support" OFF)
# Warning: DART_ENABLE_SIMD should be ON only when you build DART and the DART
# dependent projects on the same machine. If this option is on, then compile
# option `-march=native` is added to the target `dart` that enables all
# instruction subsets supported by the local machine. If the architecture of
# local machines are different then the projects will be built with different
# compile options, which may cause runtime errors especially memory alignment
# errors.
dart_option(DART_ENABLE_SIMD
  "Build DART with all SIMD instructions on the current local machine" OFF)
dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
# GCC and Clang add ANSI-formatted colors when they detect the output medium is a
# terminal. However, this doesn't work in some cases such as when the makefile is
# invoked by Ninja. DART_FORCE_COLORED_OUTPUT can be used in this case to enforce
# to always generate ANSI-formatted colors regardless of the output medium types.
# See: https://medium.com/@alasher/colored-c-compiler-output-with-ninja-clang-gcc-10bfe7f2b949
dart_option(DART_FORCE_COLORED_OUTPUT
  "Always produce ANSI-colored output (GNU/Clang only)." OFF)
dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
dart_option(DART_USE_SYSTEM_GOOGLEBENCHMARK "Use system GoogleBenchmark" OFF)
dart_option(DART_USE_SYSTEM_GOOGLETEST "Use system GoogleTest" OFF)
dart_option(DART_USE_SYSTEM_PYBIND11 "Use system pybind11" OFF)
dart_option(DART_USE_SYSTEM_TRACY "Use system Tracy" OFF)
dart_option(DART_VERBOSE "Whether print detailed information in CMake process" OFF)

#===============================================================================
# Print intro
#===============================================================================
message(STATUS "")
message(STATUS "============================================")
message(STATUS "                DART ${DART_VERSION}")
message(STATUS "============================================")
message(STATUS "")

dart_print_options()

# Print build tool information
message(STATUS "[ Build Tools ]")
message(STATUS "- CMake               : ${CMAKE_VERSION}")
message(STATUS "- C++                 : ${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}")
if(MSVC)
  message(STATUS "- CMAKE_TOOLCHAIN_FILE: ${CMAKE_TOOLCHAIN_FILE}")
endif()
message(STATUS "")

#===============================================================================
# CodeCov settings
#===============================================================================
if(DART_CODECOV)
  # Set up custom targets for code coverage
  dart_coverage(
    INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dart
    SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dart
  )

  # Code Coverage Configuration
  add_library(coverage_config INTERFACE)

  # CodeCov can only be enabled in Debug mode
  if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
    message(FATAL_ERROR "CodeCov can only be enabled in Debug mode")
  endif()

  # CodeCov can only be enabled with GCC or Clang
  if(NOT CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
    message(FATAL_ERROR "CodeCov can only be enabled with GCC or Clang")
  endif()

  # Add required flags (GCC & LLVM/Clang)
  target_compile_options(coverage_config INTERFACE
    -O0        # no optimization
    -g         # generate debug info
    --coverage # sets all required flags
  )

  # Add required flags (GCC & LLVM/Clang)
  target_link_options(coverage_config INTERFACE --coverage)

  # Export CodeCov configuration
  install(TARGETS coverage_config DESTINATION lib EXPORT coverage_config)
  install(EXPORT coverage_config DESTINATION ${CONFIG_INSTALL_DIR})
endif()

#===============================================================================
# Build type settings
#===============================================================================
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel" FORCE)
endif()
string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)

set(DART_BUILD_MODE_DEBUG FALSE)
set(DART_BUILD_MODE_RELEASE FALSE)

if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
  set(DART_BUILD_MODE_DEBUG TRUE)
elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
  set(DART_BUILD_MODE_RELEASE TRUE)
elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
  set(DART_BUILD_MODE_RELEASE TRUE)
elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
  set(DART_BUILD_MODE_RELEASE TRUE)
else()
  message(WARNING "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug | Release | RelWithDebInfo | MinSizeRel")
endif()

# Active log level:
#
# - TRACE: To enable log with DART_TRACE() and below
# - DEBUG: To enable log with DART_DEBUG() and below
# - INFO: To enable log with DART_INFO() and below
# - WARN: To enable log with DART_WARN() and below
# - ERROR: To enable log with DART_ERROR() and below
# - FATAL: To enable log with DART_FATAL()
# - OFF: To turn off all the logs
if(DART_BUILD_MODE_DEBUG)
  set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
else()
  set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
endif()
set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)

if(DART_BUILD_MODE_DEBUG)
  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
else()
  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
endif()

option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)

#===============================================================================
# Find dependencies
#===============================================================================
include(DARTFindDependencies)

#===============================================================================
# Check for non-case-sensitive filesystems
#===============================================================================
execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/case_sensitive_filesystem
                RESULT_VARIABLE FILESYSTEM_CASE_SENSITIVE_RETURN)
if(${FILESYSTEM_CASE_SENSITIVE_RETURN} EQUAL 0)
  set(FILESYSTEM_CASE_SENSITIVE TRUE)
else()
  set(FILESYSTEM_CASE_SENSITIVE FALSE)
endif()

#===============================================================================
# Compiler flags
#===============================================================================
if(MSVC)

  # Visual Studio enables C++17 support by default
  set(msvc_required_version 1920)
  if(MSVC_VERSION VERSION_LESS ${msvc_required_version} AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
    message(FATAL_ERROR "Visual Studio ${MSVC_VERSION} is detected, but "
      "${PROJECT_NAME_UPPERCASE} requires ${msvc_required_version} or greater."
    )
  endif()

  if(DART_TREAT_WARNINGS_AS_ERRORS)
    add_compile_options(/WX)
  endif()
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /permissive- /Zc:twoPhase-")
  set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
  if(NOT DART_MSVC_DEFAULT_OPTIONS)
    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc")
  endif(NOT DART_MSVC_DEFAULT_OPTIONS)
  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_ENABLE_EXTENDED_ALIGNED_STORAGE)
  add_compile_options(/wd4005)
  add_compile_options(/wd4099)
  add_compile_options(/wd4146)  # for FCL warnings: https://github.com/dartsim/dart/runs/4568423649?check_suite_focus=true#step:5:407
  add_compile_options(/wd4244)
  add_compile_options(/wd4250)
  add_compile_options(/wd4267)
  add_compile_options(/wd4305)
  add_compile_options(/wd4334)
  add_compile_options(/wd4838)
  add_compile_options(/wd4996)
  add_compile_options(/bigobj)

elseif(CMAKE_COMPILER_IS_GNUCXX)

  # There is a known bug in GCC 12.1 and above that leads to spurious
  # -Wmaybe-uninitialized warnings from gcc/x86_64-linux-gnu/12/include/avxintrin.h and
  # -Warray-bounds warnings from gcc/x86_64-linux-gnu/12/include/avx512fintrin.h.
  # The bug is tracked here: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105593
  # The following workaround can be removed once the bug is fixed.
  if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 12.1)
    add_compile_options(-Wno-array-bounds)
    add_compile_options(-Wno-dangling-pointer)
    add_compile_options(-Wno-maybe-uninitialized)
    add_compile_options(-Wno-stringop-overflow)
    add_compile_options(-Wno-uninitialized)
  endif()

  add_compile_options(-Wall -Wextra -fPIC)
  if(DART_TREAT_WARNINGS_AS_ERRORS)
    add_compile_options(-Werror)
  endif()
  execute_process(
    COMMAND ${CMAKE_CXX_COMPILER} -dumpfullversion -dumpversion OUTPUT_VARIABLE GCC_VERSION)
  if(DART_BUILD_WHEELS)
    set(gcc_required_version 10.2.1) # Lowered from 11.2.0 to support building in manylinux2014
  else()
    set(gcc_required_version 11.2.0)
  endif()
  if(GCC_VERSION VERSION_LESS ${gcc_required_version})
    message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ ${gcc_required_version} or greater.")
  endif()
  if(GCC_VERSION VERSION_GREATER_EQUAL 13.2.0)
    # TODO: These warnings should be properly addressed and these compiler options removed
    add_compile_options(-Wno-overloaded-virtual -Wno-alloc-size-larger-than -Wno-dangling-pointer)
  endif()
  if(GCC_VERSION VERSION_GREATER_EQUAL 13.2.0)
    # TODO: These warnings should be properly addressed and these compiler options removed
    add_compile_options(-Wno-overloaded-virtual -Wno-alloc-size-larger-than -Wno-dangling-pointer)
  endif()
  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
  set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
  if(DART_FAST_DEBUG)
    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
  endif()
  set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
  set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
  set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-undefined")

  # Enforce to colorize compilation output
  if(${DART_FORCE_COLORED_OUTPUT})
    add_compile_options(-fdiagnostics-color=always)
  endif()

elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")

  add_compile_options(-Wall -Wextra -fPIC)
  if(DART_TREAT_WARNINGS_AS_ERRORS)
    add_compile_options(-Werror)
  endif()
  execute_process(
    COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
  if(CLANG_VERSION VERSION_LESS 6.0)
    message(FATAL_ERROR "The installed Clang version is ${CLANG_VERSION}. ${PROJECT_NAME} requires clang 6.0 or greater.")
  endif()
  if("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
  endif()
  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
  set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-optimize-sibling-calls")
  if(DART_FAST_DEBUG)
    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
  endif()
  set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
  set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")

  # Enforce to colorize compilation output
  if(${DART_FORCE_COLORED_OUTPUT})
     add_compile_options(-fcolor-diagnostics)
  endif()

else()

  message(SEND_ERROR "Compiler[${CMAKE_CXX_COMPILER_ID}] not supported.")

endif()

#===============================================================================
# Print build summary
#===============================================================================
if(DART_VERBOSE)
  message(STATUS "")
  message(STATUS "[ Build summary ]")
  message(STATUS "CMAKE_GENERATOR  : ${CMAKE_GENERATOR}")
  message(STATUS "Compiler ID      : ${CMAKE_CXX_COMPILER_ID}")
  message(STATUS "Compiler version : ${CMAKE_CXX_COMPILER_VERSION}")
  message(STATUS "Build type       : ${CMAKE_BUILD_TYPE}")
  message(STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}")
  message(STATUS "Build gui::osg   : ${DART_BUILD_GUI_OSG}")
  message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
  message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
  if(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELEASE")
    message(STATUS "CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "DEBUG")
    message(STATUS "CXX_FLAGS_DEBUG  : ${CMAKE_CXX_FLAGS_DEBUG}")
  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELWITHDEBINFO")
    message(STATUS "CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "PROFILE")
    message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
  endif()
  message(STATUS "DART_SOURCE_DIR : ${DART_SOURCE_DIR}")
  message(STATUS "DART_BINARY_DIR : ${DART_BINARY_DIR}")
endif(DART_VERBOSE)

#===============================================================================
# Add sub-directories
#===============================================================================

add_subdirectory(dart)

set(DART_IN_SOURCE_BUILD TRUE)

if(TARGET dart)

  # Add a "tests" target to build unit tests.
  include(CTest)
  if (BUILD_TESTING)
    if(MSVC)
      add_subdirectory(tests)
    else()
      add_subdirectory(tests EXCLUDE_FROM_ALL)
    endif()
  endif()

  # Add example subdirectories and an "examples" target.
  if(MSVC)
    add_subdirectory(examples)
  else()
    add_subdirectory(examples EXCLUDE_FROM_ALL)
    get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
    add_custom_target(examples DEPENDS ${examples})
  endif()

  if(DART_VERBOSE)
    message(STATUS "")
    message(STATUS "[ Examples ]")
    foreach(example ${examples})
      message(STATUS "Adding example: ${example}")
    endforeach(example ${examples})
  else(DART_VERBOSE)
    list(LENGTH examples examples_length)
    message(STATUS "Adding ${examples_length} examples")
  endif(DART_VERBOSE)

  # Add a "tutorials" target to build tutorials.
  if(MSVC)
    add_subdirectory(tutorials)
  else()
    add_subdirectory(tutorials EXCLUDE_FROM_ALL)
    get_property(tutorials GLOBAL PROPERTY DART_TUTORIALS)
    add_custom_target(tutorials DEPENDS ${tutorials})
  endif()

  if(DART_VERBOSE)
    message(STATUS "")
    message(STATUS "[ Tutorials ]")
    foreach(tutorial ${tutorials})
      message(STATUS "Adding tutorial: ${tutorial}")
    endforeach(tutorial ${tutorials})
  else(DART_VERBOSE)
    list(LENGTH tutorials tutorials_length)
    message(STATUS "Adding ${tutorials_length} tutorials")
  endif(DART_VERBOSE)

endif()

add_subdirectory(python)

# Add 'ALL' target that builds everything
set(all_target_candidates dartpy)
if (BUILD_TESTING)
  list(APPEND all_target_candidates tests_and_run pytest)
endif()
foreach(target_candidate ${all_target_candidates})
  if(TARGET ${target_candidate})
    list(APPEND all_targets ${target_candidate})
  endif()
endforeach()
foreach(target_candidate ${examples})
  if(TARGET ${target_candidate})
    list(APPEND all_targets ${target_candidate})
  endif()
endforeach()
foreach(target_candidate ${tutorials})
  if(TARGET ${target_candidate})
    list(APPEND all_targets ${target_candidate})
  endif()
endforeach()
add_custom_target(ALL DEPENDS ${all_targets})

#===============================================================================
# CMake configuration files for components and targets
#===============================================================================
# Generate and install CMake configuration files for each component <C>:
# - <C>Component.cmake, which defines:
#   - dart_<C>_DEPENDENCIES: list of component dependencies
#   - dart_<C>_LIBRARIES: list of library targets in this component
# - <C>Targets.cmake, which creates IMPORTED targets
install_component_exports(${PROJECT_NAME})

#===============================================================================
# Configure files
#===============================================================================
if(DART_VERBOSE)
  message(STATUS "")
  message(STATUS "[ Configured files ]")
endif()

# Generate and install a Config.cmake file. This file includes the
# <C>Component.cmake and <C>Targets.cmake created above. It also uses the
# following variables:
#
# - PACKAGE_INCLUDE_INSTALL_DIR
# - PACKAGE_INCLUDE_DIRS
get_property(PACKAGE_INCLUDE_DIRS GLOBAL
  PROPERTY "${PROJECT_NAME_UPPERCASE}_INCLUDE_DIRS")

# Generate the DART CMake Config and version files
include(CMakePackageConfigHelpers)
set(DART_CONFIG_IN ${DART_SOURCE_DIR}/cmake/${PROJECT_NAME_UPPERCASE}Config.cmake.in)
set(DART_CONFIG_OUT ${DART_BINARY_DIR}/${PROJECT_NAME_UPPERCASE}Config.cmake)
set(DART_VERSION_OUT ${DART_BINARY_DIR}/cmake/${PROJECT_NAME_UPPERCASE}ConfigVersion.cmake)
if(DART_VERBOSE)
  message(STATUS ${DART_CONFIG_OUT})
  message(STATUS ${DART_VERSION_OUT})
endif()
configure_package_config_file(
  ${DART_CONFIG_IN}
  ${DART_CONFIG_OUT}
  INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}"
  PATH_VARS INCLUDE_INSTALL_DIR
)
write_basic_config_version_file(
  ${DART_VERSION_OUT}
  VERSION ${${PROJECT_NAME_UPPERCASE}_VERSION}
  COMPATIBILITY SameMajorVersion
)
install(
  FILES ${DART_CONFIG_OUT} ${DART_VERSION_OUT}
  DESTINATION "${CONFIG_INSTALL_DIR}"
)

# Generate the DART pkg-config
set(PC_CONFIG_IN ${DART_SOURCE_DIR}/cmake/dart.pc.in)
set(PC_CONFIG_OUT ${DART_BINARY_DIR}/cmake/dart.pc)
set(PC_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/pkgconfig)
file(RELATIVE_PATH
  RELATIVE_PATH_TO_INSTALL_PREFIX
  "${PC_CONFIG_INSTALL_DIR}"
  "${CMAKE_INSTALL_PREFIX}"
)
if(DART_VERBOSE)
  message(STATUS ${PC_CONFIG_OUT})
endif()
configure_file(${PC_CONFIG_IN} ${PC_CONFIG_OUT} @ONLY)
install(FILES ${PC_CONFIG_OUT} DESTINATION ${PC_CONFIG_INSTALL_DIR})

# Install a Catkin 'package.xml' file. This is required by REP-136.
install(FILES package.xml DESTINATION
  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}
)

#===============================================================================
# Install sample data, examples, and tutorials
#===============================================================================

# Sample data
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/data"
  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH}
)

# Examples source
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples"
  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH}
)

# Tutorials source
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/tutorials"
  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH}
)

#===============================================================================
# Uninstall
#===============================================================================

# Add an "uninstall" target
# https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/recipe/AddUninstallTarget
configure_file(
  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/uninstall_target.cmake.in"
  "${CMAKE_CURRENT_BINARY_DIR}/cmake/uninstall_target.cmake"
  IMMEDIATE @ONLY
)
add_custom_target(uninstall
  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
)

#===============================================================================
# Code Formatting
#===============================================================================
if(DART_VERBOSE)
  message(STATUS "")
  message(STATUS "[ Code Formatting ]")
endif()

find_program(
  CLANG_FORMAT_EXECUTABLE
  NAMES clang-format-14
)

get_property(formatting_files GLOBAL PROPERTY DART_FORMAT_FILES)
list(LENGTH formatting_files formatting_files_length)

if(CLANG_FORMAT_EXECUTABLE)

  if(DART_VERBOSE)
    message(STATUS "Looking for clang-format - found")
  endif()

  message(STATUS "Formatting on ${formatting_files_length} source files.")

  if(formatting_files)
    add_custom_target(format
                      COMMAND ${CMAKE_COMMAND} -E echo "Formatting ${formatting_files_length} files... "
                      COMMAND ${CLANG_FORMAT_EXECUTABLE} -style=file -i ${formatting_files}
                      COMMAND ${CMAKE_COMMAND} -E echo "Done."
                      DEPENDS ${CLANG_FORMAT_EXECUTABLE}
                      WORKING_DIRECTORY ${DART_SOURCE_DIR}/dart)

    add_custom_target(check-format
                      COMMAND ${CMAKE_COMMAND} -E echo "Checking ${formatting_files_length} files... "
                      COMMAND ${DART_SOURCE_DIR}/scripts/check_format.sh ${CLANG_FORMAT_EXECUTABLE} ${formatting_files}
                      COMMAND ${CMAKE_COMMAND} -E echo "Done."
                      DEPENDS ${CLANG_FORMAT_EXECUTABLE}
                      WORKING_DIRECTORY ${DART_SOURCE_DIR}/dart)
  else()
    add_custom_target(format
                      COMMAND ${CMAKE_COMMAND} -E echo "Warning: Not found any source files to format.")

    add_custom_target(check-format
                      COMMAND ${CMAKE_COMMAND} -E echo "Warning: Not found any source files to check.")
  endif()

else()

  if(DART_VERBOSE)
    message(WARNING "Looking for clang-format - NOT found, please install clang-format to enable automatic code formatting")
  endif()

endif()

#===============================================================================
# API Document using Doxygen
# References:
#   http://mementocodex.wordpress.com/2013/01/19/how-to-generate-code-documentation-with-doxygen-and-cmake-a-slightly-improved-approach/
#   http://www.cmake.org/pipermail/cmake/2007-February/012796.html
#===============================================================================
if(DOXYGEN_FOUND)

  set(DOXYGEN_DOXYFILE_IN      "${PROJECT_SOURCE_DIR}/docs/doxygen/Doxyfile.in"    )
  set(DOXYGEN_DOXYFILE         "${PROJECT_BINARY_DIR}/docs/doxygen/Doxyfile"       )
  set(DOXYGEN_HTML_INDEX       "${PROJECT_BINARY_DIR}/docs/doxygen/html/index.html")
  set(DOXYGEN_OUTPUT_ROOT      "${PROJECT_BINARY_DIR}/docs/doxygen/html"           )
  set(DOXYGEN_GENERATE_TAGFILE "${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag"   )
  set(DOXYGEN_INCLUDE_PATH     "${PROJECT_SOURCE_DIR}"                        )
  set(DOXYGEN_INPUT_ROOT       "${PROJECT_SOURCE_DIR}/dart"                   )
  set(DOXYGEN_EXTRA_INPUTS     "${PROJECT_SOURCE_DIR}/docs/doxygen/mainpage.dox"   )
  set(DOXYGEN_EXCLUDE          "${PROJECT_SOURCE_DIR}/dart/external"          )
  set(DOXYGEN_STRIP_FROM_PATH  "${CMAKE_CURRENT_SOURCE_DIR}"                  )

  # Generate a Doxyfile. This uses the variables:
  #
  # - DOXYGEN_OUTPUT_ROOT
  # - DOXYGEN_GENERATE_TAGFILE
  # - DOXYGEN_EXTRA_INPUTS
  # - DOXYGEN_INPUT_ROOT
  # - DOXYGEN_EXCLUDE
  # - DOXYGEN_STRIP_FROM_PATH
  configure_file(${DOXYGEN_DOXYFILE_IN} ${DOXYGEN_DOXYFILE} @ONLY)
  file(
    COPY "${PROJECT_SOURCE_DIR}/docs/doxygen/DART logo.png"
    DESTINATION ${DOXYGEN_OUTPUT_ROOT}
  )
  add_custom_command(
    OUTPUT ${DOXYGEN_HTML_INDEX}
    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
    # Strip path prefix from all paths in dart.tag
    COMMAND ${CMAKE_COMMAND} -E echo "Stripping paths from"
        "${DOXYGEN_GENERATE_TAGFILE}"
    COMMAND sed -i s:${DOXYGEN_STRIP_FROM_PATH}::g ${DOXYGEN_GENERATE_TAGFILE}
    # Strip all doxygen="path" HTML tags
    COMMAND ${CMAKE_COMMAND} -E echo "Stripping Doxygen HTML tags"
    COMMAND find "${DOXYGEN_OUTPUT_ROOT}" -type f -name "*.html"
        -exec sed -i 's: doxygen=\"[^\"]*\"::g' {} \\$<SEMICOLON>
    COMMAND ${CMAKE_COMMAND} -E echo "Done."
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/docs/doxygen
    DEPENDS ${DOXYGEN_DOXYFILE}
  )
  add_custom_target(docs DEPENDS ${DOXYGEN_HTML_INDEX})
  add_custom_target(
    docs_forced
    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
    COMMAND ${CMAKE_COMMAND} -E echo "Done."
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/docs/doxygen
  )

  # Add the "view_docs" target that opens the generated API documentation.
  if(APPLE)
    set(OPEN_COMMAND "open")
  else()
    set(OPEN_COMMAND "xdg-open")
  endif()

  add_custom_target(view_docs "${OPEN_COMMAND}" "${DOXYGEN_HTML_INDEX}"
    DEPENDS "${DOXYGEN_HTML_INDEX}"
    COMMENT "Opening documentation in a web browser.")

endif()

#===============================================================================
# Build Instructions
#===============================================================================
message(STATUS "")
message(STATUS "Run 'make' to build all the components")
if (BUILD_TESTING)
  message(STATUS "Run 'make tests' to build all the tests")
endif()
message(STATUS "Run 'make examples' to build all the examples")
message(STATUS "Run 'make tutorials' to build all the tutorials")
message(STATUS "Run 'make view_docs' to see the API documentation")
message(STATUS "Run 'make install' to install all the C++ components")
if(TARGET dartpy)
  message(STATUS "Run 'make dartpy' to build dartpy")
  message(STATUS "Run 'make install' to install dartpy")
endif()
if(TARGET coverage)
  message(STATUS "- 'coverage'     : generage coverage report")
  message(STATUS "- 'coverage_html': generage coverage report in html")
  message(STATUS "- 'coverage_view': view generaged coverage report in a browser")
endif()

#===============================================================================
# END
#===============================================================================
message(STATUS "")