Merge pull request #4 from KIT-MRT/cmake_docker_setup

Convert to pure CMake and add Docker image

.dockerignore

@@ -0,0 +1,4 @@
+build
+thirdparty/util_caching/build
+Dockerfile
+docker-compose*

.gitignore

@@ -2,4 +2,4 @@
 setup.py
 *.pyc
 CMakeLists.txt.user
-
+build

CMakeLists.txt

@@ -1,69 +1,107 @@
-set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(arbitration_graphs)
 
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+
 ###################
 ## Find packages ##
 ###################
-find_package(mrt_cmake_modules REQUIRED)
-include(UseMrtStdCompilerFlags)
-include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-endif()
 
-find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
-mrt_parse_package_xml()
+find_package(Glog)
 
-########################
-## Add python modules ##
-########################
-# This adds a python module if located under src/{PROJECT_NAME)
-mrt_python_module_setup()
+find_package(util_caching REQUIRED)
+
+find_package(Yaml-cpp REQUIRED)
 
-mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-    mrt_add_python_api( ${PROJECT_NAME}
-        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-        )
-endif()
 
 ############################
 ## Read source code files ##
 ############################
-mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
+file(GLOB_RECURSE PROJECT_HEADER_FILES_INC "include/${PROJECT_NAME}/*.h" "include/${PROJECT_NAME}/*.hpp")
+
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-mrt_add_library(${PROJECT_NAME}
-    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-    )
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(${PROJECT_NAME} INTERFACE
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+target_link_libraries(${PROJECT_NAME} INTERFACE
+  glog::glog
+  util_caching
+  ${YAML_CPP_LIBRARIES}
+)
+
+
+###################
+## Cmake Package ##
+###################
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+    "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+    VERSION 0.1
+    COMPATIBILITY AnyNewerVersion
+)
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+    "${PROJECT_SOURCE_DIR}/cmake/${PROJECT_NAME}Config.cmake.in"
+    "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+    INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+)
+
 
 #############
 ## Install ##
 #############
-# Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+
+
+install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}Targets
+    LIBRARY DESTINATION lib COMPONENT Runtime
+    ARCHIVE DESTINATION lib COMPONENT Development
+    RUNTIME DESTINATION bin COMPONENT Runtime
+    PUBLIC_HEADER DESTINATION include COMPONENT Development
+    BUNDLE DESTINATION bin COMPONENT Runtime
+)
+install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
+install(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+              "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+        DESTINATION lib/cmake/${PROJECT_NAME})
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION include)
+
 
 #############
 ## Testing ##
 #############
-# Add test targets for cpp and python tests
-if (CATKIN_ENABLE_TESTING)
-    mrt_add_tests(test)
-    mrt_add_nosetests(test)
+find_package(GTest)
+
+if(GTEST_FOUND)
+  if(BUILD_TESTS)
+    file(GLOB_RECURSE _tests "test/*.cpp" "test/*.cc")
+
+    foreach(_test ${_tests})
+      get_filename_component(_test_name ${_test} NAME_WE)
+      # make sure we add only one -test to the target
+      string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
+      set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})
+
+      message(STATUS
+        "Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
+      )
+
+      add_executable(${TEST_TARGET_NAME} ${_test})
+
+      target_link_libraries(${TEST_TARGET_NAME} PUBLIC
+          ${GTEST_BOTH_LIBRARIES} pthread
+          ${PROJECT_NAME}
+      )
+    endforeach()
+  endif()
 endif()

Dockerfile

@@ -0,0 +1,39 @@
+FROM ubuntu:22.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y \
+      build-essential \
+      cmake \
+      git \
+      libgoogle-glog-dev \
+      libgtest-dev \
+      libyaml-cpp-dev && \
+    apt-get clean
+
+# Install util_caching
+RUN git clone https://github.com/KIT-MRT/util_caching.git /tmp/util_caching && \
+    mkdir /tmp/util_caching/build && \
+    cd /tmp/util_caching/build && \
+    cmake .. && \
+    cmake --build . && \
+    cmake --install . && \
+    rm -rf /tmp/util_caching
+
+
+# Install arbitration_graphs
+COPY . /tmp/arbitration_graphs
+RUN mkdir /tmp/arbitration_graphs/build && \
+    cd /tmp/arbitration_graphs/build && \
+    cmake .. && \
+    cmake --build . && \
+    cmake --install . && \
+    rm -rf /tmp/arbitration_graphs
+
+RUN useradd --create-home --uid 1000 blinky
+USER blinky
+
+WORKDIR /home/blinky/
+

README.md

@@ -1,3 +1,87 @@
 # ARBITRATION GRAPHS
 
 Arbitration graphs combine simple atomic behavior blocks to more complex behaviors for decision making and behavior generation
+
+
+## Installation
+
+First, clone this repository, including its submodules:
+
+```bash
+git clone https://github.com/KIT-MRT/arbitration_graphs.git
+cd arbitration_graphs
+git submodule update --init --recursive
+```
+
+
+### Using Docker image
+
+We provide a [`Dockerfile`](./Dockerfile) with the library already installed globally.
+
+In the source directory, build and run the docker image with `docker compose`:
+
+```bash
+docker compose build
+docker compose run --rm arbitration_graphs
+```
+
+The library is installed in the Docker image under `/usr/local/include/arbitration_graphs/` and `/usr/local/lib/cmake/arbitration_graphs/`.
+So, it can be easily loaded with CMake:
+
+```cmake
+find_package(arbitration_graphs REQUIRED)
+```
+
+
+### Building from source using CMake
+
+First make sure all dependencies are installed:
+- [glog](https://github.com/google/glog)
+- [Googletest](https://github.com/google/googletest) (only if you want to build unit tests)
+- [yaml-cpp](https://github.com/jbeder/yaml-cpp)
+- [util_caching](https://github.com/KIT-MRT/util_caching)
+
+See also the [`Dockerfile`](./Dockerfile) for how to install these packages under Debian or Ubuntu.
+
+Compile and install the project with CMake:
+
+```bash
+mkdir -p arbitration_graphs/build
+cd arbitration_graphs/build
+cmake ..
+cmake --build .
+sudo cmake --install .
+```
+
+
+## Development
+
+### Using Docker image
+
+Follow the steps above to setup the Docker image.
+Then, run the development image.
+
+```bash
+docker compose -f docker-compose.devel.yaml build
+docker compose -f docker-compose.devel.yaml run --rm arbitration_graphs_devel
+```
+
+This mounts the source into the container's `/home/blinky/arbitration_graphs` folder.
+There, you can edit the source code, compile and run the tests etc.
+
+
+### Compiling unit tests
+
+In order to compile with tests define `BUILD_TESTS=true`
+```bash
+mkdir -p arbitration_graphs/build
+cd arbitration_graphs/build
+cmake -DBUILD_TESTS=true ..
+cmake --build .
+```
+
+Run all unit tests:
+
+```bash
+find -executable -type f -name '*-gtest-*' -exec {} \;
+```