Split controller into webstack

CMakeLists.txt

@@ -12,29 +12,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 cmake_minimum_required (VERSION 2.8.0)
-project(mujincontrollerclient)
+project(mujinwebstackclient)
 set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 # make sure to change the version in docs/Makefile
-set (MUJINCLIENT_VERSION_MAJOR 0)
-set (MUJINCLIENT_VERSION_MINOR 65)
-set (MUJINCLIENT_VERSION_PATCH 0)
-set (MUJINCLIENT_VERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR}.${MUJINCLIENT_VERSION_PATCH})
-set (MUJINCLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
-set (CLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
-message(STATUS "Compiling MUJIN Controller Client C++ Version ${MUJINCLIENT_VERSION}, soversion=${CLIENT_SOVERSION}")
+set (MUJINWEBSTACKCLIENT_VERSION_MAJOR 0)
+set (MUJINWEBSTACKCLIENT_VERSION_MINOR 65)
+set (MUJINWEBSTACKCLIENT_VERSION_PATCH 0)
+set (MUJINWEBSTACKCLIENT_VERSION ${MUJINWEBSTACKCLIENT_VERSION_MAJOR}.${MUJINWEBSTACKCLIENT_VERSION_MINOR}.${MUJINWEBSTACKCLIENT_VERSION_PATCH})
+set (MUJINWEBSTACKCLIENT_SOVERSION ${MUJINWEBSTACKCLIENT_VERSION_MAJOR}.${MUJINWEBSTACKCLIENT_VERSION_MINOR})
+set (CLIENT_SOVERSION ${MUJINWEBSTACKCLIENT_VERSION_MAJOR}.${MUJINWEBSTACKCLIENT_VERSION_MINOR})
+message(STATUS "Compiling MUJIN Controller Client C++ Version ${MUJINWEBSTACKCLIENT_VERSION}, soversion=${CLIENT_SOVERSION}")
 
-set(MUJINCLIENT_CMAKE_INSTALL_DIR "mujincontrollerclient-${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR}" CACHE STRING "Directory to install the cmake config files.")
-set(MUJINCLIENT_TARGET_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE STRING "The target processor architecture to build for, this is combined with the generator toolchain")
+set(MUJINWEBSTACKCLIENT_CMAKE_INSTALL_DIR "mujinwebstackclient-${MUJINWEBSTACKCLIENT_VERSION_MAJOR}.${MUJINWEBSTACKCLIENT_VERSION_MINOR}" CACHE STRING "Directory to install the cmake config files.")
+set(MUJINWEBSTACKCLIENT_TARGET_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE STRING "The target processor architecture to build for, this is combined with the generator toolchain")
 
 message(STATUS "Using cmake version ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}" )
 # http://www.cmake.org/cmake/help/cmake-2.6.html#policy:CMP0002
 cmake_policy(SET CMP0002 NEW)
 # http://www.cmake.org/cmake/help/cmake-2.6.html#policy:CMP0003
 cmake_policy(SET CMP0003 NEW)
 
-option(OPT_SAMPLES "Build the samples" ON)
+option(OPT_SAMPLES "Build the samples" OFF)
 option(OPT_BUILD_TESTS "Build the tests" OFF)
 option(OPT_BUILD_STATIC "Build static libraries for the client" ON)
 option(OPT_LOG4CXX "Use log4cxx for logging" ON)
@@ -66,9 +66,12 @@ include(CheckCXXCompilerFlag)
 add_definitions("-DBOOST_SPIRIT_THREADSAFE") # for json parsing
 
 # have to include before boost since the boost headers can be located in a previous installed version of this library
-set(MUJINCLIENT_INCLUDE_LOCAL_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include)
-include_directories(${CMAKE_CURRENT_BINARY_DIR}/include)
-include_directories(${MUJINCLIENT_INCLUDE_LOCAL_DIRS})
+set(MUJINWEBSTACKCLIENT_INCLUDE_LOCAL_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src/include)
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/include
+  ${CMAKE_CURRENT_BINARY_DIR}/include
+) # have to do this before every other include!
+include_directories(${MUJINWEBSTACKCLIENT_INCLUDE_LOCAL_DIRS})
 
 if( MSVC )
   add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
@@ -102,7 +105,7 @@ if( MSVC )
 
   check_include_file(stdint.h HAVE_STDINT_H)
   if( NOT HAVE_STDINT_H )
-    #install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/msvc_include/stdint.h DESTINATION include/mujinclient-${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR} COMPONENT ${COMPONENT_PREFIX}dev)
+    #install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/msvc_include/stdint.h DESTINATION include/mujinwebstackclient-${MUJINWEBSTACKCLIENT_VERSION_MAJOR}.${MUJINWEBSTACKCLIENT_VERSION_MINOR} COMPONENT ${COMPONENT_PREFIX}dev)
     #include_directories(${CMAKE_CURRENT_SOURCE_DIR}/msvc_include)
   endif()
 
@@ -120,38 +123,38 @@ if( MSVC )
     set(MSVC_PREFIX "vc100")
     set(MSVC_PREFIX2 "v100")
   endif()
-  set(MUJINCLIENT_LIBRARY_SUFFIX "${MUJINCLIENT_SOVERSION}-${MSVC_PREFIX}-mt" CACHE STRING "Suffix to append to library names")
+  set(MUJINWEBSTACKCLIENT_LIBRARY_SUFFIX "${MUJINWEBSTACKCLIENT_SOVERSION}-${MSVC_PREFIX}-mt" CACHE STRING "Suffix to append to library names")
 
   # install all DLLs
-  install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/bin/" DESTINATION bin FILES_MATCHING PATTERN "*.dll")
+  install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/bin/" DESTINATION bin FILES_MATCHING PATTERN "*.dll")
 
   # force multi-threaded DLL boost
   set(Boost_USE_MULTITHREAD ON)
   set(Boost_USE_STATIC_LIBS OFF)
   set(Boost_USE_STATIC_RUNTIME OFF)
   set(Boost_CFLAGS "-DBOOST_ALL_DYN_LINK -DBOOST_ALL_NO_LIB")
 else()
-  set(MUJINCLIENT_LIBRARY_SUFFIX "${MUJINCLIENT_SOVERSION}" CACHE STRING "Suffix to append to library names")
+  set(MUJINWEBSTACKCLIENT_LIBRARY_SUFFIX "${MUJINWEBSTACKCLIENT_SOVERSION}" CACHE STRING "Suffix to append to library names")
 endif()
 
-set(MUJINCLIENT_LINK_DIRS)
+set(MUJINWEBSTACKCLIENT_LINK_DIRS)
 
 find_package(PkgConfig)
-set(MUJINCLIENT_LOG4CXX 0)
+set(MUJINWEBSTACKCLIENT_LOG4CXX 0)
 if (OPT_LOG4CXX)
   pkg_check_modules(LOG4CXX liblog4cxx)
   if (LOG4CXX_FOUND)
     if( MSVC )
-      set(MUJINCLIENT_LOG4CXX_INCLUDE_DIRS "/I\"${LOG4CXX_INCLUDEDIR}\"")
-      set(MUJINCLIENT_LOG4CXX_LIB_DIRS "/LIBPATH:\"${LOG4CXX_LIBDIR}\"")
+      set(MUJINWEBSTACKCLIENT_LOG4CXX_INCLUDE_DIRS "/I\"${LOG4CXX_INCLUDEDIR}\"")
+      set(MUJINWEBSTACKCLIENT_LOG4CXX_LIB_DIRS "/LIBPATH:\"${LOG4CXX_LIBDIR}\"")
     else()
-      set(MUJINCLIENT_LOG4CXX_INCLUDE_DIRS "-I${LOG4CXX_INCLUDEDIR}")
-      set(MUJINCLIENT_LOG4CXX_LIB_DIRS "-L${LOG4CXX_LIBDIR}")
+      set(MUJINWEBSTACKCLIENT_LOG4CXX_INCLUDE_DIRS "-I${LOG4CXX_INCLUDEDIR}")
+      set(MUJINWEBSTACKCLIENT_LOG4CXX_LIB_DIRS "-L${LOG4CXX_LIBDIR}")
     endif()
-    set(MUJINCLIENT_LOG4CXX_LIBRARY "-l${LOG4CXX_LIBRARIES}")
+    set(MUJINWEBSTACKCLIENT_LOG4CXX_LIBRARY "-l${LOG4CXX_LIBRARIES}")
 
-    set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${LOG4CXX_LIBDIR})
-    set(MUJINCLIENT_LOG4CXX 1)
+    set(MUJINWEBSTACKCLIENT_LINK_DIRS ${MUJINWEBSTACKCLIENT_LINK_DIRS} ${LOG4CXX_LIBDIR})
+    set(MUJINWEBSTACKCLIENT_LOG4CXX 1)
   endif()
 endif()
 
@@ -182,11 +185,11 @@ endif()
 
 if( Boost_FOUND )
   include_directories(${Boost_INCLUDE_DIRS})
-  set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
+  set(MUJINWEBSTACKCLIENT_LINK_DIRS ${MUJINWEBSTACKCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
   set(EXTRA_MSVC_DEPEND) # reset extra depend
 elseif(Boost_VERSION AND NOT "${Boost_VERSION}" STREQUAL "0")
   include_directories(${Boost_INCLUDE_DIRS})
-  set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
+  set(MUJINWEBSTACKCLIENT_LINK_DIRS ${MUJINWEBSTACKCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
   set(EXTRA_MSVC_DEPEND msvc_boost) # reset extra depend
 elseif( MSVC )
   # to facilitate compilation, visual studio libraries are included locally
@@ -195,7 +198,7 @@ elseif( MSVC )
   set(Boost_FOUND 1)
   set(Boost_INCLUDE_DIRS "${BOOST_ROOT}")
   set(Boost_INCLUDE_DIR "${BOOST_ROOT}")
-  set(Boost_LIBRARY_DIRS "${BOOST_ROOT}/${MUJINCLIENT_TARGET_PROCESSOR}/lib")
+  set(Boost_LIBRARY_DIRS "${BOOST_ROOT}/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/lib")
   set(Boost_REGEX_FOUND 0)
   set(Boost_FILESYSTEM_FOUND 1)
   set(Boost_IOSTREAMS_FOUND 1)
@@ -227,7 +230,7 @@ elseif( MSVC )
   install(FILES ${Boost_DATE_TIME_LIBRARY_DLL} ${Boost_THREAD_LIBRARY_DLL} ${Boost_SYSTEM_LIBRARY_DLL} ${Boost_FILESYSTEM_LIBRARY_DLL} ${Boost_PROGRAM_OPTIONS_LIBRARY_DLL} DESTINATION bin COMPONENT ${COMPONENT_PREFIX}dev)
   install(DIRECTORY "${Boost_INCLUDE_DIR}/boost" DESTINATION include COMPONENT ${COMPONENT_PREFIX}dev)
   include_directories(${Boost_INCLUDE_DIRS})
-  set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
+  set(MUJINWEBSTACKCLIENT_LINK_DIRS ${MUJINWEBSTACKCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
 else()
   message(FATAL_ERROR "Could not find boost libraries!")
 endif()
@@ -256,14 +259,14 @@ if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX )
   add_definitions("-fno-strict-aliasing -Wall -Werror=shadow")
 endif( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX )
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/include/mujincontrollerclient/config.h IMMEDIATE @ONLY)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/include/mujinwebstackclientcpp/config.h IMMEDIATE @ONLY)
 
 find_package(CURL)
 if( NOT CURL_FOUND )
   if( MSVC )
-    message(STATUS "setting local curl library from msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}")
-    set(CURL_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/include")
-    set(CURL_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/lib/libcurl-${MSVC_PREFIX}-mt_imp.lib")
+    message(STATUS "setting local curl library from msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}")
+    set(CURL_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/include")
+    set(CURL_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/lib/libcurl-${MSVC_PREFIX}-mt_imp.lib")
   else()
     message(FATAL_ERROR "could not find CURL library")
   endif()
@@ -297,10 +300,10 @@ else()
   endif()
   if (NOT libzmq_FOUND)
     if( MSVC )
-      set(libzmq_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/include")
-      set(libzmq_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/lib/libzmq-${MSVC_PREFIX2}-mt-4_0_4.lib")
+      set(libzmq_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/include")
+      set(libzmq_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}/lib/libzmq-${MSVC_PREFIX2}-mt-4_0_4.lib")
       if(EXISTS ${libzmq_LIBRARIES} )
-        message(STATUS "setting local zmq library from msvc_binaries/${MUJINCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}")
+        message(STATUS "setting local zmq library from msvc_binaries/${MUJINWEBSTACKCLIENT_TARGET_PROCESSOR}/${MSVC_PREFIX}")
         set(libzmq_FOUND 1)
       else()
         message(STATUS "could not find msvc zmq library ${libzmq_LIBRARIES}")
@@ -311,21 +314,22 @@ endif()
 
 if (libzmq_FOUND)
   include_directories(${libzmq_INCLUDE_DIRS})
-  set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${libzmq_LIBRARY_DIRS})
+  set(MUJINWEBSTACKCLIENT_LINK_DIRS ${MUJINWEBSTACKCLIENT_LINK_DIRS} ${libzmq_LIBRARY_DIRS})
 else()
   message(WARNING "compiling without libzmq library")
 endif()
 
-file(GLOB mujin_header_files ${CMAKE_CURRENT_SOURCE_DIR}/include/mujincontrollerclient/*.h ${CMAKE_CURRENT_SOURCE_DIR}/include/mujincontrollerclient/*.hpp)
-install(FILES ${mujin_header_files} ${CMAKE_CURRENT_BINARY_DIR}/include/mujincontrollerclient/config.h DESTINATION include/mujincontrollerclient)
+file(GLOB mujin_header_files ${CMAKE_CURRENT_SOURCE_DIR}/src/include/mujinwebstackclientcpp/*.h ${CMAKE_CURRENT_SOURCE_DIR}/src/include/mujinwebstackclientcpp/*.hpp)
+install(FILES ${mujin_header_files} DESTINATION include/mujinwebstackclientcpp)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/include/mujinwebstackclientcpp/config.h DESTINATION include/mujinwebstackclientcpp)
 
 macro(build_sample name)
   include_directories(${LOG4CXX_INCLUDEDIR} ${libzmq_INCLUDE_DIRS})
   link_directories(${LOG4CXX_LIBDIR})
   add_executable(${name} ${name}.cpp)
   set_target_properties(${name} PROPERTIES COMPILE_FLAGS "${Boost_CFLAGS}" LINK_FLAGS "")
-  add_dependencies(${name} libmujincontrollerclient)
-  target_link_libraries (${name} libmujincontrollerclient ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${EXTRA_LIBRARIES} ${LOG4CXX_LIBRARIES})
+  add_dependencies(${name} libmujinwebstackclient)
+  target_link_libraries (${name} libmujinwebstackclient ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${EXTRA_LIBRARIES} ${LOG4CXX_LIBRARIES})
   install(TARGETS ${name} DESTINATION bin)
 endmacro(build_sample)
 
@@ -337,15 +341,13 @@ if( OPT_BUILD_TESTS )
   add_subdirectory(test)
 endif()
 
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/share/mujincontrollerclient DESTINATION share)
-
 # add make uninstall capability
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
 add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
 
-set(MujinControllerClient_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include")
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/mujincontrollerclient-config.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/mujincontrollerclient-config.cmake" IMMEDIATE @ONLY)
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/mujincontrollerclient-config-version.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/mujincontrollerclient-config-version.cmake" IMMEDIATE @ONLY)
+set(Mujinwebstackclient_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include")
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/mujinwebstackclient-config.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/mujinwebstackclient-config.cmake" IMMEDIATE @ONLY)
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/mujinwebstackclient-config-version.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/mujinwebstackclient-config-version.cmake" IMMEDIATE @ONLY)
 
-install(FILES "${CMAKE_CURRENT_BINARY_DIR}/mujincontrollerclient-config.cmake" "${CMAKE_CURRENT_BINARY_DIR}/mujincontrollerclient-config-version.cmake" DESTINATION "lib${LIB_SUFFIX}/cmake/${MUJINCLIENT_CMAKE_INSTALL_DIR}")
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/mujinwebstackclient-config.cmake" "${CMAKE_CURRENT_BINARY_DIR}/mujinwebstackclient-config-version.cmake" DESTINATION "lib${LIB_SUFFIX}/cmake/${MUJINWEBSTACKCLIENT_CMAKE_INSTALL_DIR}")
 

README.md

@@ -0,0 +1,9 @@
+# Mujin Webstack Client Cpp
+
+This is the client for webstack, in C++.
+
+We also have a [python version](https://github.com/mujin/mujinwebstackclientpy).
+
+## Building?
+
+Assuming you have rapid json and curl, you can simply `cmake . && make` in this directory.