symbolic static compilation

MBprojects/PendulumSpringC/symbolicR/CMakeLists.txt

+#
+# Author: Nicolas Van der Noot
+# September 2015
+#
+# Static library for the symbolic files 
+#
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBproj_symbolicR)
+
+# Variable for storing the path to Robotran common files (should be adapted depending on the location of those source)
+set( ROBOTRAN_DIR_COMMON ${PROJECT_SOURCE_DIR}/../../../MBsysC/ )
+set( ROBOTRAN_DIR_COPY   ${PROJECT_SOURCE_DIR}/../mbsysCopy/    )
+# change the following line with 'set( ROBOTRAN_SOURCE_DIR ${ROBOTRAN_DIR_COPY} )'' to use the Standalone version
+set( ROBOTRAN_SOURCE_DIR ${ROBOTRAN_DIR_COMMON} )
+
+# listing CMake functions
+add_subdirectory (${ROBOTRAN_SOURCE_DIR}/cmake_aux/listing/ ${PROJECT_BINARY_DIR}/cmake_aux/listing/)
+
+# list source files to compile
+init_src()
+increment_src(./)
+
+# list include directories (to find headers)
+init_include()
+increment_include(${ROBOTRAN_SOURCE_DIR})
+
+add_library(MBproj_symbolicR STATIC ${SOURCE_FILES} ${INCLUDE_DIR})
+
+## include directories
+include_directories (${INCLUDE_DIR})

MBprojects/PendulumSpringC/workR/CMakeLists.txt

@@ -92,7 +92,10 @@ init_src()
 
 increment_src( ${PROJECT_SOURCE_DIR}/src )
 increment_src( ${PROJECT_SOURCE_DIR}/../userfctR )
-increment_src( ${PROJECT_SOURCE_DIR}/../symbolicR )
+
+if (NOT FLAG_SEPARATE_SYMBOLIC)
+    increment_src( ${PROJECT_SOURCE_DIR}/../symbolicR )
+endif ( )
 
 increment_void_symbolic(symbolicR)
 
@@ -128,6 +131,8 @@ endif ( )
 set(CMAKE_MODULE_PATH ${ROBOTRAN_SOURCE_DIR}/conf)
 
 
+
+
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 #                         EXECUTABLE COMPILATION
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
@@ -146,6 +151,8 @@ add_executable ( ${Executable} ${SOURCE_FILES} )
 #                         EXECUTABLE LINKING
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 
+
+
 if (FLAG_SEPARATE_BUILD) # find MBSysC dynamic libraries
 
     find_package( LibRobotranC REQUIRED )
@@ -177,7 +184,17 @@ else ( )
 
 endif ( )
 
+# separate symbolic files compilation
+if ( FLAG_SEPARATE_SYMBOLIC )
+    find_package( LibSymbolicR REQUIRED )
+    target_link_libraries( ${Executable} ${LIB_PROJ_SYMB} )
+endif ( )
+
+
+
 # math external library (for Unix)
 if (UNIX)
     target_link_libraries ( ${Executable} m )
 endif ( )
+
+

MBprojects/PendulumSpringC/workR/src/main.c

@@ -69,8 +69,6 @@ int main(int argc, char const *argv[])
     mbs_dirdyn->options->save2file = 1;
     mbs_dirdyn->options->respath = PROJECT_SOURCE_DIR"/../resultsR";
     
-    mbs_dirdyn->options->realtime = 1;
-
     mbs_run_dirdyn(mbs_dirdyn, mbs_data);
     
     mbs_delete_dirdyn(mbs_dirdyn, mbs_data);

MBsysC/cmake_aux/flags/CMakeLists.txt

@@ -9,10 +9,15 @@
 #                                   FLAGS
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 
+## -- Release or debug -- ##
+
 # use Release version (otherwise: Debug)
 option (FLAG_RELEASE 
         "Release" ON)
 
+
+## -- Real-time features related -- ##
+
 # run the simulation in real-time
 option (FLAG_REAL_TIME 
         "Real time" OFF)
@@ -25,6 +30,9 @@ option (FLAG_PLOT
 option (FLAG_VISU
         "Java visualization" ON)
 
+
+## -- Static, dynamic libraries -- ##
+
 # Compile Robotran MBSysC as shared lib (.so / .dll)
 option (FLAG_SHARED_LIB
         "Compile as dynamic lib" OFF)
@@ -33,6 +41,10 @@ option (FLAG_SHARED_LIB
 option (FLAG_SEPARATE_BUILD
         "Link to MBSysC lib already compiled" OFF)
 
+# Link to symbolic files already compiled
+option (FLAG_SEPARATE_SYMBOLIC
+        "Link to symbolic files already compiled" OFF)
+
 
 
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

MBsysC/cmake_aux/listing/CMakeLists.txt

@@ -8,12 +8,21 @@
 ## -- SRC FILES -- ##
 
 # function to list all files whose form equals arg1,
-# recursing into the folder arg2
+# recursing into the folder arg2 (excluding source files inside a 'build folder' 
+# to prevent CMake incompatibilities)
 # -> arg0 contains the list at the end
 function(list_files arg0 arg1 arg2)
     file(GLOB_RECURSE SOURCE_FILES_TMP  
             "${arg2}/${arg1}")
-    set(${arg0} ${SOURCE_FILES_TMP} PARENT_SCOPE)
+    set(CUR_DIR_LIST "")
+    foreach(FILE_PATH ${SOURCE_FILES_TMP})
+        string(REPLACE ${arg2} "" END_FILE ${FILE_PATH})
+        string(FIND ${END_FILE} "build" BUILD_PLACE)
+        if (${BUILD_PLACE} LESS 0)
+        	set(CUR_DIR_LIST ${CUR_DIR_LIST} ${FILE_PATH})
+        endif ()
+    endforeach(FILE_PATH)
+    set(${arg0} ${CUR_DIR_LIST} PARENT_SCOPE)
 endfunction()
 
 # list all source files (.c, .cc, .cpp) 
@@ -47,6 +56,44 @@ function(increment_src_file arg0)
 endfunction()
 
 
+
+## -- INCLUDE DIRECTORIES -- ##
+
+# function to list all directories containing ".h", ".hh" and ".hpp" files,
+# recursing into the folder arg1
+# -> arg0 contains the list at the end
+function(list_include_directories arg0 arg1)
+    file(GLOB_RECURSE SOURCE_FILES_TMP RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+            "${arg1}/*.h"
+            "${arg1}/*.hh"
+            "${arg1}/*.hpp")
+    set(CUR_DIR_LIST "")
+    foreach(FILE_PATH ${SOURCE_FILES_TMP})
+        get_filename_component(CUR_PATH ${FILE_PATH} PATH)
+        set(CUR_DIR_LIST ${CUR_DIR_LIST} ${CUR_PATH})
+    endforeach(FILE_PATH)
+    list(REMOVE_DUPLICATES CUR_DIR_LIST) 
+    set(${arg0} ${CUR_DIR_LIST} PARENT_SCOPE)
+endfunction()
+
+# reset INCLUDE_DIR
+function(init_include)
+    set(INCLUDE_DIR "" PARENT_SCOPE)
+endfunction()
+
+# increment INCLUDE_DIR with the files in the arg0 folder (recursively)
+function(increment_include arg0)
+    list_include_directories(CUR_INCLUDE_DIR ${arg0})
+    set(INCLUDE_DIR ${INCLUDE_DIR} ${CUR_INCLUDE_DIR} PARENT_SCOPE)
+endfunction()
+
+# increment INCLUDE_DIR with the arg0 file (specific header file)
+function(increment_include_file arg0)
+    set(INCLUDE_DIR ${INCLUDE_DIR} ${arg0} PARENT_SCOPE)
+endfunction()
+
+
+
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 #                         CHECKING SYMBOLIC FILES
 #
@@ -125,39 +172,3 @@ function(increment_void_symbolic arg0)
 	set(SOURCE_FILES ${SOURCE_FILES} ${VOID_SYMBOLIC} PARENT_SCOPE)
 
 endfunction()
-
-
-## -- INCLUDE DIRECTORIES -- ##
-
-# function to list all directories containing ".h", ".hh" and ".hpp" files,
-# recursing into the folder arg1
-# -> arg0 contains the list at the end
-function(list_include_directories arg0 arg1)
-    file(GLOB_RECURSE SOURCE_FILES_TMP RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-            "${arg1}/*.h"
-            "${arg1}/*.hh"
-            "${arg1}/*.hpp")
-    set(CUR_DIR_LIST "")
-    foreach(FILE_PATH ${SOURCE_FILES_TMP})
-        get_filename_component(CUR_PATH ${FILE_PATH} PATH)
-        set(CUR_DIR_LIST ${CUR_DIR_LIST} ${CUR_PATH})
-    endforeach(FILE_PATH)
-    list(REMOVE_DUPLICATES CUR_DIR_LIST) 
-    set(${arg0} ${CUR_DIR_LIST} PARENT_SCOPE)
-endfunction()
-
-# reset INCLUDE_DIR
-function(init_include)
-    set(INCLUDE_DIR "" PARENT_SCOPE)
-endfunction()
-
-# increment INCLUDE_DIR with the files in the arg0 folder (recursively)
-function(increment_include arg0)
-    list_include_directories(CUR_INCLUDE_DIR ${arg0})
-    set(INCLUDE_DIR ${INCLUDE_DIR} ${CUR_INCLUDE_DIR} PARENT_SCOPE)
-endfunction()
-
-# increment INCLUDE_DIR with the arg0 file (specific header file)
-function(increment_include_file arg0)
-    set(INCLUDE_DIR ${INCLUDE_DIR} ${arg0} PARENT_SCOPE)
-endfunction()

MBsysC/cmake_aux/make_opt/CMakeLists.txt

@@ -14,6 +14,7 @@ function(make_options)
 
         # scripts executable
         execute_process(COMMAND chmod +x ${SCRIPTS_PATH}/dyn_build)
+        execute_process(COMMAND chmod +x ${SCRIPTS_PATH}/stat_symbolic)
 
         # dyn_options (options listing with an example of cmake script)
         add_custom_target(dyn_options COMMAND ${CMAKE_COMMAND} -P ${SCRIPTS_PATH}/dyn_options )
@@ -31,9 +32,14 @@ function(make_options)
         add_custom_target(dyn_realtime COMMAND ${CMAKE_COMMAND} -E chdir ${SCRIPTS_PATH} ./dyn_build ${ROBOTRAN_SOURCE_DIR} ON ON ON ON ON ON)
 
         # dyn_clean (SHARED_LIB, SEPARATE_BUILD, RELEASE, REAL_TIME, PLOT, VISU)
-        add_custom_target(dyn_clean COMMAND ${CMAKE_COMMAND} -E chdir ${SCRIPTS_PATH} ./dyn_build ${ROBOTRAN_SOURCE_DIR})
+        add_custom_target(dyn_clean COMMAND ${CMAKE_COMMAND} -E chdir ${SCRIPTS_PATH} ./dyn_build ${ROBOTRAN_SOURCE_DIR} "clean")
+
+        # symb_stat
+        add_custom_target(symb_stat COMMAND ${CMAKE_COMMAND} -E chdir ${SCRIPTS_PATH} ./stat_symbolic ${PROJECT_SOURCE_DIR}/../symbolicR)
+
+        # symb_clean
+        add_custom_target(symb_clean COMMAND ${CMAKE_COMMAND} -E chdir ${SCRIPTS_PATH} ./stat_symbolic ${PROJECT_SOURCE_DIR}/../symbolicR "clean")
 
     endif ( )
 
 endfunction()
-

MBsysC/cmake_aux/scripts/dyn_build

@@ -9,8 +9,11 @@ if [ $# = 7 ]
 then
     echo "\n Dynamic libraries creation \n"
 else
-    echo "\n Dynamic libraries cleaning \n"
-    rm -r $1/build/
+    if [ -d $1/build/ ]
+    then
+        echo "\n Dynamic libraries cleaning \n"
+        rm -r $1/build/
+    fi
     exit
 fi
 
@@ -22,7 +25,6 @@ mkdir $1/build/
 cd $1/build/
 cmake $1/mbs_common -DFLAG_SHARED_LIB=$2 -DFLAG_SEPARATE_BUILD=$3 -DFLAG_RELEASE=$4 -DFLAG_REAL_TIME=$5 -DFLAG_PLOT=$6 -DFLAG_VISU=$7
 
-# messages
 echo "\n Dynamic libraries configured in: "
 echo "     $1build"
 
@@ -34,6 +36,7 @@ echo "     FLAG_REAL_TIME      : $5"
 echo "     FLAG_PLOT           : $6"
 echo "     FLAG_VISU           : $7\n"
 
+# compilation
 make
 
 echo "\n Dynamic libraries created in: "

MBsysC/cmake_aux/scripts/stat_symbolic

+#
+# Author: Nicolas Van der Noot
+# September 2015
+#
+# Static symbolic library build: configuration and compilation
+#
+
+if [ $# = 1 ]
+then
+    echo "\n Static symbolic library creation \n"
+else
+    if [ -d $1/build/ ]
+    then
+        echo "\n Static symbolic library cleaning \n"
+        rm -r $1/build/
+    fi
+    exit
+fi
+
+
+
+
+# create empty directory
+rm -r $1/build/
+mkdir $1/build/
+
+# generate CMake project
+cd $1/build/
+cmake $1
+
+echo ""
+
+# compilation
+make -j4
+
+echo "\n Static symbolic library created in: "
+echo "     $1/build \n"

MBsysC/conf/FindLibRobotranC.cmake

@@ -10,7 +10,6 @@
 # SDL2_LIBRARIES :    libraries -> for linkage
 #
 
-
 IF (UNIX)
 
 IF (APPLE)
@@ -60,11 +59,8 @@ ELSE (UNIX)
 
 ## ---- WINDOWS ---- ##
 
-
-
 ENDIF (UNIX)
 
-
 # flag put to 1 if all required files are found
 IF(LIB_MBSYSC_MODULES AND LIB_MBSYSC_LOAD AND LIB_MBSYSC_UTILITIES)
   SET(ROBOTRAN_C_FOUND 1)

MBsysC/conf/FindLibSymbolicR.cmake

+#
+# author: Nicolas Van der Noot
+# September 2015
+#
+# This file finds the static libraries
+# related to the project symbolic files
+#
+# PROJ_SYMB_FOUND :  1 if all required files found (0 otherwise)
+# LIB_PROJ_SYMB   :  static library -> for linkage
+#
+
+IF (UNIX)
+
+IF (APPLE)
+    
+
+## ---- MAC OS ---- ##
+
+
+
+## ---------------- ##
+
+
+ELSE (APPLE)
+    
+
+## ---- LINUX ---- ##   
+
+# possible paths for: 'libMBproj_symbolicR.a'
+SET(TRIAL_PATHS_LIB_PROJ_SYMB
+    "${PROJECT_SOURCE_DIR}/../symbolicR/build"
+)
+
+find_library (LIB_PROJ_SYMB libMBproj_symbolicR.a ${TRIAL_PATHS_LIB_PROJ_SYMB})
+
+
+## --------------- ##
+
+
+ENDIF (APPLE)
+
+ELSE (UNIX)
+
+
+## ---- WINDOWS ---- ##
+
+ENDIF (UNIX)
+
+# flag put to 1 if all required files are found
+if ( LIB_PROJ_SYMB )
+    SET(PROJ_SYMB_FOUND 1)
+else ( )
+    SET(PROJ_SYMB_FOUND 0)
+endif ( )
+
+# outputs
+MARK_AS_ADVANCED(
+    PROJ_SYMB_FOUND
+)