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liboncilla/sim/webots/controller/template/CMakeLists.txt
12d58578151fdebian-lucid

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CMakeLists.txt
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# Adjust Webots Project template to include CCA Controller
SET(OLDCONTROLLER "basic")
SET(OLDWORLD "Amarsi-Quadrupedal")
SET(NEWWORLD "AMARSiOncilla")
# Alter Makefile from default controller
FILE(READ ${WEBOTS_TEMPLATE_DIR}/project/controllers/${OLDCONTROLLER}/Makefile OLDMAKEFILE)
# Change source files
SET(SOURCE_FILES "WebotsSynchronizer.cpp CCAController.cpp")
STRING(REGEX REPLACE "CPP_SOURCES=" "CPP_SOURCES=${SOURCE_FILES} #" NEWMAKEFILE ${OLDMAKEFILE})
# Add libraries and libraries path
SET(ADDITIONAL_LIBRARIES "-L${CMAKE_INSTALL_PREFIX}/lib")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} -l${RST_LIBRARIES}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} -l${LIBNAME}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${RSC_LIBRARIES}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${RSB_LIBRARIES}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${SPREAD_LIBRARIES}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${CCA_LIBRARIES}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${RCI_LIBRARIES}")
SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${PROTOBUF_LIBRARY}")
STRING(REGEX REPLACE "LIBRARIES=" "LIBRARIES=${ADDITIONAL_LIBRARIES} " NEWMAKEFILE ${NEWMAKEFILE})
# Add includes
SET(ADDITIONAL_FLAGS "-I${CMAKE_INSTALL_PREFIX}/include/rcioncilla")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} ${RST_CFLAGS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RST_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${CMAKE_CURRENT_BINARY_DIR}/src")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RSC_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RSB_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${SPREAD_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${CCA_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RCI_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${NemoMath_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${Boost_INCLUDE_DIRS}")
SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${BOOSTUUID_INCLUDE_DIRS}")
STRING(REGEX REPLACE "CFLAGS=" "CFLAGS=${ADDITIONAL_FLAGS} " NEWMAKEFILE ${NEWMAKEFILE})
FILE(WRITE ${WEBOTS_TEMPLATE_DIR}/project/controllers/${CONTROLLERNAME}/Makefile ${NEWMAKEFILE})
# Alter world file to use CCA controller by default
FILE(READ ${WEBOTS_TEMPLATE_DIR}/project/worlds/${OLDWORLD}.wbt OLDWORLDFILE)
STRING(REGEX REPLACE "\"${OLDCONTROLLER}\"" "\"${CONTROLLERNAME}\"" NEWWORLDFILE ${OLDWORLDFILE})
FILE(WRITE ${WEBOTS_TEMPLATE_DIR}/project/worlds/${NEWWORLD}.wbt ${NEWWORLDFILE})
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