def check_glut(conf):
conf.env['GLUT_FOUND'] = False
conf.env.INCLUDES_GLUT = []
conf.env.LIBPATH_GLUT = []
if conf.options.glut_include:
conf.env.INCLUDES_GLUT += [conf.options.glut_include, conf.options.glut_include + '/GL']
if conf.options.glut_lib:
conf.env.LIBPATH_GLUT += [conf.options.glut_lib]
if conf.options.glut:
conf.env.INCLUDES_GLUT += [conf.options.glut + '/include', conf.options.glut + '/include/GL']
conf.env.LIBPATH_GLUT += [conf.options.glut + '/lib']
if len(conf.env.INCLUDES_GLUT) == 0 or len(conf.env.LIBPATH_GLUT) == 0:
conf.env.INCLUDES_GLUT += ['/usr/include', '/usr/local/include', '/usr/include/GL', '/usr/local/include/GL']
conf.env.LIBPATH_GLUT += ['/usr/lib', '/usr/local/lib']
conf.start_msg('Checking for GLUT include')
if Logs.verbose:
Logs.pprint('CYAN', '\n looking in paths : %s' % conf.env.INCLUDES_GLUT )
# The location and name of the open gl header file in the old version of osx
try:
conf.find_file('glut.h', conf.env.INCLUDES_GLUT)
conf.end_msg('ok')
conf.env['GLUT_FOUND'] = True
conf.env.LIB_GLUT = ['glut']
except:
conf.end_msg('Not found', 'RED')
if Logs.verbose:
Logs.pprint('CYAN', ' looking in library paths : %s' % conf.env.LIBPATH_GLUT )
return 1
def check_opencv(conf):
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
incl = ''
try:
conf.start_msg('Checking for OpenCV2 C++ includes (optional)')
res = conf.find_file('opencv2/opencv.hpp', includes_check)
res = conf.find_file('opencv2/ml/ml.hpp', includes_check)
incl = res[:-len('opencv2/ml/ml.hpp') - 1]
conf.end_msg(incl)
except:
conf.end_msg('Not found in %s' % str(includes_check), 'YELLOW')
return 1
conf.start_msg('Checking for OpenCV2 C++ libs (optional)')
lib_path = ''
for lib in ['libopencv_core.so', 'libopencv_ml.so']:
try:
res = conf.find_file(lib, libs_check)
lib_path = res[:-len(lib) - 1]
except:
continue
if lib_path == '':
conf.end_msg('Not found in %s' % str(libs_check), 'YELLOW')
return 1
else:
conf.end_msg(lib_path)
conf.env.INCLUDES_OPENCV = [incl]
conf.env.LIBPATH_OPENCV = [lib_path]
conf.env.DEFINES_OPENCV = ['USE_OPENCV']
conf.env.LIB_OPENCV = ['opencv_core', 'opencv_ml']
return 1
def check_sdl(conf):
if conf.options.sdl:
includes_check = [conf.options.sdl + '/include']
libs_check = [conf.options.sdl + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
try:
conf.start_msg('Checking for SDL 2 C++ includes')
res = conf.find_file('SDL2/SDL.h', includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return 1
conf.start_msg('Checking for SDL 2 C++ libs')
found = False
for lib in ['libSDL2.so', 'libSDL2_image.so']:
try:
found = found or conf.find_file(lib, libs_check)
except:
continue
if not found:
conf.end_msg('Not found', 'RED')
return 1
else:
conf.end_msg('ok')
conf.env.INCLUDES_SDL = includes_check
conf.env.LIBPATH_SDL = libs_check
conf.env.DEFINES_SDL = ['USE_SDL']
conf.env.LIB_SDL = ['SDL2', 'SDL2_image']
return 1
def check_hexapod_controller(conf):
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.controller:
includes_check = [conf.options.controller + '/include']
libs_check = [conf.options.controller + '/lib']
try:
conf.start_msg('Checking for hexapod_controller includes')
res = conf.find_file('hexapod_controller/hexapod_controller_simple.hpp', includes_check)
conf.end_msg('ok')
conf.start_msg('Checking for hexapod_controller libs')
res = res and conf.find_file('libhexapod_controller_simple.a', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_HEXAPOD_CONTROLLER = includes_check
conf.env.STLIBPATH_HEXAPOD_CONTROLLER = libs_check
conf.env.STLIB_HEXAPOD_CONTROLLER = ['hexapod_controller_simple']
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_trac_ik(conf):
if conf.options.trac_ik:
includes_check = [conf.options.trac_ik + '/include']
libs_check = [conf.options.trac_ik + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib/', '/usr/lib']
try:
conf.start_msg('Checking for TRAC IK includes')
res = conf.find_file('trac_ik/trac_ik.hpp', includes_check)
incl = res[:-len('trac_ik/trac_ik.hpp')]
conf.end_msg('ok')
lib = 'trac_ik_no_ros'
conf.start_msg('Checking for TRAC IK lib')
res = conf.find_file('lib' + lib + '.so', libs_check)
lib_path = res[:-len('lib' + lib + '.so')]
conf.end_msg('ok')
conf.env.INCLUDES_TRAC_IK = [incl]
conf.env.LIBPATH_TRAC_IK = [lib_path]
conf.env.LIB_TRAC_IK = [lib]
except:
conf.end_msg('Not found', 'RED')
return 1
return 1
def check_libcmaes(conf):
if conf.options.libcmaes:
includes_check = [conf.options.libcmaes + '/include']
libs_check = [conf.options.libcmaes + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
incl = ''
try:
conf.start_msg('Checking for libcmaes includes (optional)')
res = conf.find_file('libcmaes/cmaes.h', includes_check)
incl = res[:-len('libcmaes/cmaes.h')-1]
conf.end_msg(incl)
except:
conf.end_msg('Not found in %s' % str(includes_check), 'YELLOW')
return 1
conf.start_msg('Checking for libcmaes libs (optional)')
lib_path = ''
for lib in ['libcmaes.so', 'libcmaes.a', 'libcmaes.dylib']:
try:
res = conf.find_file(lib, libs_check)
lib_path = res[:-len(lib)-1]
except:
continue
if lib_path == '':
conf.end_msg('Not found in %s' % str(libs_check), 'YELLOW')
return 1
else:
conf.end_msg(lib_path)
conf.env.INCLUDES_LIBCMAES = [incl]
conf.env.LIBPATH_LIBCMAES = [lib_path]
conf.env.DEFINES_LIBCMAES = ['USE_LIBCMAES']
conf.env.LIB_LIBCMAES= ['cmaes']
return 1
def check_hexa_control(conf):
if conf.options.hexa_control:
conf.env.INCLUDES_HEXACONTROL = [
conf.options.hexa_control + '/include'
]
else:
if 'ROS_PACKAGE_PATH' not in os.environ:
conf.start_msg('Checking for hexa_control')
conf.end_msg('Not found', 'RED')
return
path = os.environ['ROS_PACKAGE_PATH']
paths = re.split(":", path)
path = os.path.join(paths[0], 'hexapod_ros/hexapod_driver/include')
conf.env.INCLUDES_HEXACONTROL = [path]
conf.env.LIBPATH_HEXACONTROL = [os.path.join(paths[0], '../devel/lib')]
conf.env.LIB_HEXACONTROL = ['hexapod_control']
try:
conf.start_msg('Checking for hexa_control')
res = conf.find_file('hexapod_driver/hexapod.hpp',
conf.env.INCLUDES_HEXACONTROL)
res = res and conf.find_file('libhexapod_control.so',
conf.env.LIBPATH_HEXACONTROL)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_libcmaes(conf):
if conf.options.libcmaes:
includes_check = [conf.options.libcmaes + '/include']
libs_check = [conf.options.libcmaes + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
try:
conf.start_msg('Checking for libcmaes includes')
res = conf.find_file('libcmaes/cmaes.h', includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return 1
conf.start_msg('Checking for libcmaes libs')
found = False
for lib in ['libcmaes.so', 'libcmaes.a', 'libcmaes.dylib']:
try:
found = found or conf.find_file(lib, libs_check)
except:
continue
if not found:
conf.end_msg('Not found', 'RED')
return 1
else:
conf.end_msg('ok')
conf.env.INCLUDES_LIBCMAES = includes_check
conf.env.LIBPATH_LIBCMAES = libs_check
conf.env.DEFINES_LIBCMAES = ['USE_LIBCMAES']
conf.env.LIB_LIBCMAES= ['cmaes']
return 1
def check_robot_dart(conf):
conf.load('boost')
conf.load('eigen')
conf.load('dart')
# In boost you can use the uselib_store option to change the variable the libs will be loaded
boost_var = 'BOOST_DART'
conf.check_boost(lib='regex system', min_version='1.46', uselib_store=boost_var)
conf.check_eigen()
conf.check_dart()
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
# You can customize where you want to check
# e.g. here we search also in a folder defined by an environmental variable
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.robot_dart:
includes_check = [conf.options.robot_dart + '/include']
libs_check = [conf.options.robot_dart + '/lib']
try:
conf.start_msg('Checking for robot_dart includes')
res = conf.find_file('robot_dart/robot.hpp', includes_check)
res = res and conf.find_file('robot_dart/robot_control.hpp', includes_check)
res = res and conf.find_file('robot_dart/robot_dart_simu.hpp', includes_check)
res = res and conf.find_file('robot_dart/descriptors.hpp', includes_check)
conf.end_msg('ok')
conf.env.INCLUDES_ROBOT_DART = includes_check
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_nlopt(conf):
if conf.options.nlopt:
includes_check = [conf.options.nlopt + '/include']
libs_check = [conf.options.nlopt + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
try:
conf.start_msg('Checking for NLOpt includes')
res = conf.find_file('nlopt.hpp', includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return 1
conf.start_msg('Checking for NLOpt libs')
found = False
for lib in ['libnlopt_cxx.so', 'libnlopt_cxx.a', 'libnlopt_cxx.dylib']:
try:
found = found or conf.find_file(lib, libs_check)
except:
continue
if not found:
conf.end_msg('Not found', 'RED')
return 1
else:
conf.end_msg('ok')
conf.env.INCLUDES_NLOPT = includes_check
conf.env.LIBPATH_NLOPT = libs_check
conf.env.DEFINES_NLOPT = ['USE_NLOPT']
conf.env.LIB_NLOPT = ['nlopt_cxx']
return 1
def check_opencv(conf):
# possible path to find headers
includes_check = [
'/usr/local/include/opencv2', '/usr/local/include/opencv2/core'
]
libs_check = ['/usr/local/lib', '/usr/lib']
try:
conf.start_msg('Checking for opencv includes')
include_files = ['opencv.hpp', 'mat.hpp']
for file in include_files:
conf.find_file(file, includes_check)
conf.end_msg('got it!')
conf.env.INCLUDES_OPENCV = includes_check
conf.start_msg('Checking for opencv libs')
lib_files = [
'opencv_core', 'opencv_highgui', 'opencv_imgproc',
'opencv_calib3d', 'opencv_contrib', 'opencv_features2d',
'opencv_flann', 'opencv_gpu', 'opencv_legacy', 'opencv_objdetect',
'opencv_ocl', 'opencv_photo', 'opencv_stitching',
'opencv_superres', 'opencv_video', 'opencv_videostab'
]
for file in lib_files:
conf.find_file('lib' + file + '.so', libs_check)
#print "Found file {}".format(file)
conf.end_msg('got it!')
conf.env.LIBPATH_OPENCV = libs_check
conf.env.LIB_OPENCV = lib_files
except:
conf.fatal('opencv not found')
return
def check_ros(conf):
if conf.options.ros:
includes_check = [conf.options.ros + '/include']
libs_check = [conf.options.ros + '/lib']
else:
if 'ROS_DISTRO' not in os.environ:
conf.start_msg('Checking for ROS')
conf.end_msg('ROS_DISTRO not in environmental variables', 'RED')
return 1
includes_check = ['/opt/ros/' + os.environ['ROS_DISTRO'] + '/include']
libs_check = ['/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib/']
try:
conf.start_msg('Checking for ROS includes')
res = conf.find_file('ros/ros.h', includes_check)
conf.end_msg('ok')
libs = [
'roscpp', 'rosconsole', 'roscpp_serialization', 'rostime',
'xmlrpcpp', 'rosconsole_log4cxx', 'rosconsole_backend_interface'
]
conf.start_msg('Checking for ROS libs')
for lib in libs:
res = res and conf.find_file('lib' + lib + '.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_ROS = includes_check
conf.env.LIBPATH_ROS = libs_check
conf.env.LIB_ROS = libs
conf.env.DEFINES_ROS = ['USE_ROS']
except:
conf.end_msg('Not found', 'RED')
return 1
return 1
def check_robdyn(conf):
includes_check = ['/usr/local/include/robdyn', '/usr/include/robdyn']
libs_check = ['/usr/local/lib', '/usr/lib']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include/robdyn'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.robdyn:
includes_check = [conf.options.robdyn + '/include/robdyn']
libs_check = [conf.options.robdyn + '/lib']
try:
conf.start_msg('Checking for robdyn includes')
res = conf.find_file('ode/environment.hh', includes_check)
res = res and conf.find_file('ode/environment_hexa.hh', includes_check)
conf.end_msg('ok')
conf.start_msg('Checking for robdyn libs')
res = res and conf.find_file('librobdyn.a', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_ROBDYN = includes_check
conf.env.LIBPATH_ROBDYN = libs_check
conf.env.DEFINES_ROBDYN = ['USE_ROBDYN']
conf.env.LIB_ROBDYN = ['robdyn']
conf.start_msg('Checking for robdyn osg visitor libs')
res = res and conf.find_file('librobdyn_osgvisitor.a', libs_check)
conf.end_msg('ok')
conf.get_env()['BUILD_GRAPHIC'] = True
conf.env.LIB_ROBDYN.append('robdyn_osgvisitor');
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_ros(conf):
if conf.options.ros:
includes_check = [conf.options.ros + '/include']
libs_check = [conf.options.ros + '/lib']
else:
if 'ROS_DISTRO' not in os.environ:
conf.start_msg('Checking for ROS')
conf.end_msg('ROS_DISTRO not in environmental variables', 'RED')
return 1
includes_check = ['/opt/ros/' + os.environ['ROS_DISTRO'] + '/include']
libs_check = ['/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib/']
try:
conf.start_msg('Checking for ROS includes')
res = conf.find_file('ros/ros.h', includes_check)
conf.end_msg('ok')
libs = ['roscpp','rosconsole','roscpp_serialization','rostime', 'xmlrpcpp','rosconsole_log4cxx', 'rosconsole_backend_interface']
conf.start_msg('Checking for ROS libs')
for lib in libs:
res = res and conf.find_file('lib'+lib+'.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_ROS = includes_check
conf.env.LIBPATH_ROS = libs_check
conf.env.LIB_ROS = libs
conf.env.DEFINES_ROS = ['USE_ROS']
except:
conf.end_msg('Not found', 'RED')
return 1
return 1
def check_opengl(conf):
conf.env['OPENGL_FOUND'] = False
mac_framework = False
if conf.options.opengl:
conf.env.INCLUDES_OPENGL = [conf.options.opengl + '/include']
conf.env.LIBPATH_OPENGL = [conf.options.opengl + '/lib']
elif platform.system() == 'Darwin':
__check_bullet_osx(conf)
mac_framework = True
else:
conf.env.INCLUDES_OPENGL = ['/usr/include', '/usr/local/include', '/usr/local/include/GL', '/usr/include/GL']
conf.env.LIBPATH_OPENGL = ['/usr/lib', '/usr/local/lib']
conf.start_msg('Checking for OpenGL include')
if Logs.verbose: Logs.pprint('CYAN', '...')
if Logs.verbose: Logs.pprint('CYAN', ' Searching in: %s' % conf.env.INCLUDES_OPENGL)
# The location and name of the open gl header file in the old version of osx
try:
if Logs.verbose: Logs.pprint('CYAN', ' Searching for OpenGL/gl.h')
res = conf.find_file('OpenGL/gl.h', conf.env.INCLUDES_OPENGL)
if Logs.verbose: Logs.pprint('CYAN', ' Found at: %s' % res)
__bullet_header_found(conf, mac_framework)
return 1
except:
if Logs.verbose: Logs.pprint('CYAN', ' Not found')
pass
# The location an name of the open gl header file in more recent versions of osx
try:
if Logs.verbose: Logs.pprint('CYAN', ' Searching for gl.h')
res = conf.find_file('gl.h', conf.env.INCLUDES_OPENGL)
if Logs.verbose: Logs.pprint('CYAN', ' Found at: %s' % res)
__bullet_header_found(conf, mac_framework)
return 1
except:
if Logs.verbose: Logs.pprint('CYAN', ' Not found')
pass
# The location an name of the open gl header file on linux (I think)
# The location an name of the open gl header file on linux (I think)
try:
if Logs.verbose: Logs.pprint('CYAN', ' Searching for OpenGL.h')
res = conf.find_file('OpenGl.h', conf.env.INCLUDES_OPENGL)
if Logs.verbose: Logs.pprint('CYAN', ' Found at: %s' % res)
__bullet_header_found(conf, mac_framework)
return 1
except:
if Logs.verbose: Logs.pprint('CYAN', ' Not found')
pass
# The location of the open gl header file on titan
try:
if Logs.verbose: Logs.pprint('CYAN', ' Searching for GL/gl.h')
res = conf.find_file('GL/gl.h', conf.env.INCLUDES_OPENGL)
if Logs.verbose: Logs.pprint('CYAN', ' Found at: %s' % res)
__bullet_header_found(conf, mac_framework)
return 1
except:
conf.end_msg('Not found', 'RED')
return 1
def __find_file_in_list(conf, filename, pathlist):
for path in pathlist:
try:
conf.find_file(filename, path)
return [path]
except:
pass
return pathlist
def __find_file_in_list(conf, filename, pathlist):
for path in pathlist:
try:
if Logs.verbose:
Logs.pprint('CYAN', ' Looking for %s in %s' % filename,
path)
conf.find_file(filename, path)
return [path]
except:
pass
return pathlist
def check_robox2d(conf):
def get_directory(filename, dirs):
res = conf.find_file(filename, dirs)
return res[:-len(filename) - 1]
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
# OSX/Mac uses .dylib and GNU/Linux .so
suffix = 'dylib' if conf.env['DEST_OS'] == 'darwin' else 'so'
# You can customize where you want to check
# e.g. here we search also in a folder defined by an environmental variable
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.robox2d:
includes_check = [conf.options.robox2d + '/include']
libs_check = [conf.options.robox2d + '/lib']
try:
conf.start_msg('Checking for robox2d includes')
res = conf.find_file('robox2d/simu.hpp', includes_check)
res = res and conf.find_file('robox2d/robot.hpp', includes_check)
res = res and conf.find_file('robox2d/common.hpp', includes_check)
include_robox2d = get_directory('robox2d/simu.hpp', includes_check)
conf.env.INCLUDES_ROBOX2D = include_robox2d
conf.end_msg('ok: ' + include_robox2d)
except:
conf.fatal('Includes not found')
return
try:
conf.start_msg('Checking for robox2d libs')
res = conf.find_file('libRobox2d.' + suffix, libs_check)
res = conf.find_file('libRobox2dMagnum.' + suffix, libs_check)
conf.env.LIBPATH_ROBOX2D = get_directory('libRobox2d.' + suffix,
libs_check)
conf.env.LIB_ROBOX2D = ['Robox2d']
conf.env.LIB_ROBOX2D.append('Robox2dMagnum')
conf.end_msg('libs: ' + str(conf.env.LIB_ROBOX2D[:]))
except:
conf.fatal('Libs not found')
return
return 1
def check_mpi(conf):
opt = conf.options
conf.env['LIB_MPI'] = ''
conf.env['MPI_FOUND'] = False
if conf.options.no_mpi:
return
if conf.options.mpi:
conf.env.INCLUDES_MPI = conf.options.mpi + '/include'
conf.env.LIBPATH_MPI = conf.options.mpi + '/lib'
else:
conf.env.INCLUDES_MPI = [
'/usr/include/mpi', '/usr/local/include/mpi', '/usr/include',
'/usr/local/include'
]
conf.env.LIBPATH_MPI = [
'/usr/lib', '/usr/local/lib', '/usr/lib/openmpi'
]
try:
conf.start_msg('Checking for MPI include')
res = conf.find_file('mpi.h', conf.env.INCLUDES_MPI)
conf.end_msg('ok')
conf.env['MPI_FOUND'] = True
conf.env.LIB_MPI = ['mpi_cxx', 'mpi']
except:
conf.end_msg('Not found', 'RED')
return 1
def check_eigen(conf):
conf.env['EIGEN_FOUND'] = False
conf.start_msg('Checking for Eigen')
includes_check = [
'/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include',
'/usr/local/include'
]
if conf.options.eigen:
includes_check = [conf.options.eigen]
conf.env.INCLUDES_EIGEN = [conf.options.eigen]
else:
if 'CPPFLAGS' in os.environ:
includes_check += [
path[2:] for path in os.environ['CPPFLAGS'].split()
if path[0:2] == '-I'
]
try:
res = conf.find_file('Eigen/Core', includes_check)
index = includes_check.index(res[:-len('Eigen/Core') - 1])
conf.env.INCLUDES_EIGEN = [includes_check[index]]
conf.end_msg('ok')
if Logs.verbose:
Logs.pprint('CYAN', ' path : %s' % includes_check[index])
conf.env['EIGEN_FOUND'] = True
except:
conf.end_msg('Not found', 'RED')
return 1
def check_eigen(conf, **kw):
required = 'required' in kw and kw.get('required', False)
includes_check = ['/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include', '/usr/local/include']
resibots_dir = conf.options.resibots if hasattr(conf.options, 'resibots') and conf.options.resibots else None
if resibots_dir:
includes_check = [resibots_dir + '/include'] + includes_check
if conf.options.eigen:
includes_check = [conf.options.eigen + '/include'] + includes_check
conf.start_msg('Checking for Eigen includes')
try:
res = conf.find_file('Eigen/Core', includes_check)
except:
res = False
if res:
conf.env.INCLUDES_EIGEN = [os.path.expanduser(include) for include in includes_check]
conf.env.DEFINES_EIGEN = ['USE_EIGEN']
conf.end_msg('ok')
else:
if conf.options.eigen and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.eigen, resibots_dir)
elif conf.options.eigen or resibots_dir:
msg = 'not found in %s' % (conf.options.eigen if conf.options.eigen else resibots_dir)
else:
msg = 'not found, use --eigen=/path/to/eigen or --resibots=/path/to/resibots'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
def check_omni_vrep(conf, **kw):
required = 'required' in kw and kw.get('required', False)
includes_check = ['/usr/include', '/usr/local/include']
resibots_dir = conf.options.resibots if hasattr(conf.options, 'resibots') and conf.options.resibots else None
if resibots_dir:
includes_check = [resibots_dir + '/include'] + includes_check
if conf.options.omni_vrep:
includes_check = [conf.options.omni_vrep + '/include'] + includes_check
conf.start_msg('Checking for omni_vrep includes')
try:
res = conf.find_file('omni_vrep/omnipointer.hpp', includes_check)
except:
res = False
if res:
conf.env.INCLUDES_OMNI_VREP = [os.path.expanduser(include) for include in includes_check]
conf.env.DEFINES_OMNI_VREP = ['USE_OMNI_VREP']
conf.end_msg('ok')
else:
if conf.options.omni_vrep and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.omni_vrep, resibots_dir)
elif conf.options.omni_vrep or resibots_dir:
msg = 'not found in %s' % (conf.options.omni_vrep if conf.options.omni_vrep else resibots_dir)
else:
msg = 'not found, use --omni_vrep=/path/to/omni_vrep or --resibots=/path/to/resibots'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
def check_libdynamixel(conf, **kw):
required = 'required' in kw and kw.get('required', False)
includes_check = ['/usr/include', '/usr/local/include']
resibots_dir = conf.options.resibots if hasattr(conf.options, 'resibots') and conf.options.resibots else None
if resibots_dir:
includes_check = [resibots_dir + '/include'] + includes_check
if conf.options.libdynamixel:
includes_check = [conf.options.libdynamixel + '/include'] + includes_check
conf.start_msg('Checking for libdynamixel includes')
try:
res = conf.find_file('dynamixel/dynamixel.hpp', includes_check)
except:
res = False
if res:
conf.env.INCLUDES_LIBDYNAMIXEL = [os.path.expanduser(include) for include in includes_check]
conf.env.DEFINES_LIBDYNAMIXEL = ['USE_LIBDYNAMIXEL']
conf.end_msg('ok')
else:
if conf.options.libdynamixel and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.libdynamixel, resibots_dir)
elif conf.options.libdynamixel or resibots_dir:
msg = 'not found in %s' % (conf.options.libdynamixel if conf.options.libdynamixel else resibots_dir)
else:
msg = 'not found, use --libdynamixel=/path/to/libdynamixel or --resibots=/path/to/resibots'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
def check_eigen(conf):
if conf.options.eigen:
includes_check = [conf.options.eigen]
else:
includes_check = [
'/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include',
'/usr/local/include'
]
conf.start_msg('Checking for Eigen')
try:
res = conf.find_file('Eigen/Core', includes_check)
except:
res = False
if res:
conf.env.INCLUDES_EIGEN = includes_check
conf.end_msg('ok')
else:
if conf.options.eigen:
msg = 'Not found in %s' % conf.options.eigen
else:
msg = 'Not found, use --eigen=/path/to/eigen'
conf.end_msg(msg, 'RED')
return 1
def check_hexapod_robdyn_simu(conf):
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.simu:
includes_check = [conf.options.simu + '/include']
libs_check = [conf.options.simu + '/lib']
try:
conf.start_msg('Checking for hexapod_robdyn_simu includes')
res = conf.find_file('hexapod_robdyn/hexapod_robdyn_simu.hpp',
includes_check)
conf.end_msg('ok')
conf.env.INCLUDES_HEXAPOD_ROBDYN_SIMU = includes_check
conf.env.LIB_HEXAPOD_ROBDYN_SIMU = 'hexapod_robdyn'
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_nlopt(conf):
if conf.options.nlopt:
includes_check = [conf.options.nlopt + '/include']
libs_check = [conf.options.nlopt + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = [
'/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/'
]
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
incl = ''
try:
conf.start_msg('Checking for NLOpt C++ includes (optional)')
res = conf.find_file('nlopt.hpp', includes_check)
incl = res[:-len('nlopt.hpp') - 1]
conf.end_msg(incl)
except:
conf.end_msg('Not found in %s' % str(includes_check), 'YELLOW')
return 1
conf.start_msg('Checking for NLOpt C++ libs (optional)')
lib_path = ''
lib_name = ''
for lib in [
'libnlopt_cxx.so', 'libnlopt_cxx.a', 'libnlopt_cxx.dylib',
'libnlopt.so', 'libnlopt.a', 'libnlopt.dylib'
]:
try:
res = conf.find_file(lib, libs_check)
lib_path = res[:-len(lib) - 1]
lib_name = os.path.splitext(lib)[0][3:]
except:
continue
if lib_path == '':
conf.end_msg('Not found in %s' % str(libs_check), 'YELLOW')
return 1
else:
conf.end_msg(lib_path)
conf.env.INCLUDES_NLOPT = [incl]
conf.env.LIBPATH_NLOPT = [lib_path]
conf.env.DEFINES_NLOPT = ['USE_NLOPT']
conf.env.LIB_NLOPT = [lib_name]
return 1
def check_sferes(conf):
if conf.options.sferes:
conf.env.INCLUDES_SFERES = [conf.options.sferes]
conf.env.LIBPATH_SFERES = [conf.options.sferes + '/build/default/sferes']
try:
res = conf.find_file('sferes/ea/ea.hpp', conf.env.INCLUDES_SFERES)
conf.define("USE_SFERES", 1)
except:
print 'SFERES not found'
return 1
def check_eigen(conf):
#print "calling eigen config"
if conf.options.eigen:
conf.env.INCLUDES_EIGEN = [conf.options.eigen]
conf.env.LIBPATH_EIGEN = [conf.options.eigen]
else:
conf.env.INCLUDES_EIGEN = ['/home/hmengist/sferes/include/']
res = conf.find_file('Eigen/Core', conf.env.INCLUDES_EIGEN)
return 1
def check_eigen(conf):
if conf.options.eigen:
conf.env.INCLUDES_EIGEN = [conf.options.eigen]
conf.env.LIBPATH_EIGEN = [conf.options.eigen]
else:
conf.env.INCLUDES_EIGEN = ['/usr/include/eigen3',
'/usr/local/include/eigen3',
'/usr/include', '/usr/local/include']
res = conf.find_file('Eigen/Core', conf.env.INCLUDES_EIGEN)
return 1
def check_yamlcpp(conf):
# possible path to find headers
includes_check = ['/usr/local/include/']
libs_check = ['/usr/local/lib/']
try:
conf.start_msg('Checking for yaml-cpp includes\n')
conf.find_file('yaml-cpp/yaml.h', includes_check)
conf.find_file('libyaml-cpp.a', libs_check)
conf.env.INCLUDES_YAMLCPP = includes_check
conf.env.LIBPATH_YAMLCPP= libs_check
conf.env.LIB_YAMLCPP = 'yaml-cpp'
conf.env.DEFINES_YAMLCPP = ['USE_YAMLCPP']
print(conf.env.INCLUDES_YAMLCPP)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return
def check_rhex_dart(conf):
conf.load('rhex_controller')
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
# You can customize where you want to check
# e.g. here we search also in a folder defined by an environmental variable
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.rhex_dart:
includes_check = [conf.options.rhex_dart + '/include']
libs_check = [conf.options.rhex_dart + '/lib']
try:
conf.start_msg('Checking for rhex_dart includes')
res = conf.find_file('rhex_dart/rhex.hpp', includes_check)
res = res and conf.find_file('rhex_dart/rhex_control_hopf.hpp', includes_check)
res = res and conf.find_file('rhex_dart/rhex_dart_simu.hpp', includes_check)
res = res and conf.find_file('rhex_dart/descriptors.hpp', includes_check)
res = res and conf.find_file('rhex_dart/safety_measures.hpp', includes_check)
res = res and conf.find_file('rhex_dart/visualizations.hpp', includes_check)
conf.end_msg('ok')
conf.env.INCLUDES_RHEX_DART = includes_check
except:
conf.fatal('Not found')
return
return 1
def check_mkl(conf):
if conf.options.mkl:
includes_mkl = [conf.options.mkl + '/include']
libpath_mkl = [conf.options.mkl + '/lib/intel64']
else:
includes_mkl = ['/usr/local/include', '/usr/include', '/opt/intel/mkl/include']
libpath_mkl = ['/usr/local/lib/', '/usr/lib', '/opt/intel/mkl/lib/intel64']
conf.start_msg('Checking Intel MKL includes')
try:
res = conf.find_file('mkl.h', includes_mkl)
conf.end_msg('ok')
conf.start_msg('Checking Intel MKL libs')
res = res and conf.find_file('libmkl_core.so', libpath_mkl)
conf.end_msg('ok')
except:
print 'Intel MKL not found'
return
conf.env.LIB_MKL_SEQ = ["mkl_intel_lp64", "mkl_core", "mkl_sequential", "pthread", "m"]
conf.env.LIB_MKL_TBB = ["mkl_intel_lp64", "mkl_core", "mkl_tbb_thread", "tbb", "stdc++", "pthread", "m"]
if conf.env.CXX_NAME in ["icc", "icpc"]:
conf.env.LIB_MKL_OMP = ["mkl_intel_lp64", "mkl_core", "mkl_intel_thread", "pthread", "m"]
else:
conf.env.LIB_MKL_OMP = ["mkl_intel_lp64", "mkl_core", "mkl_gnu_thread", "dl", "pthread", "m"]
conf.env.INCLUDES_MKL_SEQ = includes_mkl
conf.env.INCLUDES_MKL_TBB = includes_mkl
conf.env.INCLUDES_MKL_OMP = includes_mkl
conf.env.LIBPATH_MKL_SEQ = libpath_mkl
conf.env.LIBPATH_MKL_TBB = libpath_mkl
conf.env.LIBPATH_MKL_OMP = libpath_mkl
conf.env.CXXFLAGS_MKL_SEQ = ["-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
conf.env.LINKFLAGS_MKL_SEQ = [ "-Wl,--no-as-needed" ]
conf.env.CXXFLAGS_MKL_TBB = ["-m64", "-DEIGEN_USE_MKL_ALL" , "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
conf.env.LINKFLAGS_MKL_TBB = [ "-Wl,--no-as-needed" ]
if conf.env.CXX_NAME in ["icc", "icpc"]:
conf.env.CXXFLAGS_MKL_OMP = ["-qopenmp", "-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS" ]
else:
conf.env.CXXFLAGS_MKL_OMP = ["-fopenmp", "-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
conf.end_msg('ok')
conf.env.LINKFLAGS_MKL_OMP = [ "-Wl,--no-as-needed" ]
def check_pngwriter(conf):
conf.env['PNGWRITER_FOUND'] = False
if conf.options.pngwriter:
conf.env.INCLUDES_PNGWRITER = [conf.options.pngwriter + '/include']
conf.env.LIBPATH_PNGWRITER = [conf.options.pngwriter + '/lib']
else:
conf.env.INCLUDES_PNGWRITER = ['/usr/include', '/usr/local/include']
conf.env.LIBPATH_PNGWRITER = ['/usr/lib', '/usr/local/lib']
try:
conf.start_msg('Checking for pngwriter include')
conf.env.INCLUDES_PNGWRITER = __find_file_in_list(
conf, PNGWRITER_HEADER_FILE, conf.env.INCLUDES_PNGWRITER)
conf.find_file(PNGWRITER_HEADER_FILE, conf.env.INCLUDES_PNGWRITER)
conf.end_msg('ok')
if Logs.verbose:
Logs.pprint('CYAN', ' Paths: %s' % conf.env.INCLUDES_PNGWRITER)
conf.env['PNGWRITER_FOUND'] = True
conf.env.LIB_PNGWRITER = ['pngwriter', 'png']
except:
conf.end_msg('Not found', 'RED')
if Logs.verbose: traceback.print_exc()
return 1
def check_pybind(conf):
# possible path to find headers
includes_check = ['/usr/local/include/', '/usr/include', '/usr/include/python3.6m']
libs_check = ['/usr/local/lib/']
try:
conf.start_msg('Checking for pyBind includes\n')
conf.find_file('pybind11/pybind11.h', includes_check)
conf.find_file('python3.6m/Python.h', includes_check)
#conf.find_file('libyaml-cpp.a', libs_check)
conf.env.INCLUDES_PYBIND = includes_check
conf.env.LIBPATH_PYBIND= libs_check
conf.env.LIB_PYTHON = 'python3.6m'
conf.env.DEFINES_PYBIND = ['USE_PYBIND']
print(conf.env.INCLUDES_PYBIND)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return
def check_mkl(conf):
if conf.options.mkl:
includes_mkl = [conf.options.mkl + "/include"]
libpath_mkl = [conf.options.mkl + "/lib/intel64"]
else:
includes_mkl = ["/usr/local/include", "/usr/include", "/opt/intel/mkl/include"]
libpath_mkl = ["/usr/local/lib/", "/usr/lib", "/opt/intel/mkl/lib/intel64", "/usr/lib/x86_64-linux-gnu/"]
conf.start_msg("Checking Intel MKL includes (optional)")
try:
res = conf.find_file("mkl.h", includes_mkl)
conf.end_msg("ok")
conf.start_msg("Checking Intel MKL libs (optional)")
res = res and conf.find_file("libmkl_core.so", libpath_mkl)
conf.end_msg("ok")
except:
conf.end_msg("Not found", "RED")
return
conf.env.LIB_MKL_SEQ = ["mkl_intel_lp64", "mkl_core", "mkl_sequential", "pthread", "m"]
conf.env.LIB_MKL_TBB = ["mkl_intel_lp64", "mkl_core", "mkl_tbb_thread", "tbb", "stdc++", "pthread", "m"]
if conf.env.CXX_NAME in ["icc", "icpc"]:
conf.env.LIB_MKL_OMP = ["mkl_intel_lp64", "mkl_core", "mkl_intel_thread", "pthread", "m"]
else:
conf.env.LIB_MKL_OMP = ["mkl_intel_lp64", "mkl_core", "mkl_gnu_thread", "dl", "pthread", "m"]
conf.env.INCLUDES_MKL_SEQ = includes_mkl
conf.env.INCLUDES_MKL_TBB = includes_mkl
conf.env.INCLUDES_MKL_OMP = includes_mkl
conf.env.LIBPATH_MKL_SEQ = libpath_mkl
conf.env.LIBPATH_MKL_TBB = libpath_mkl
conf.env.LIBPATH_MKL_OMP = libpath_mkl
conf.env.CXXFLAGS_MKL_SEQ = ["-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
conf.env.LINKFLAGS_MKL_SEQ = ["-Wl,--no-as-needed"]
conf.env.CXXFLAGS_MKL_TBB = ["-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
conf.env.LINKFLAGS_MKL_TBB = ["-Wl,--no-as-needed"]
if conf.env.CXX_NAME in ["icc", "icpc"]:
conf.env.CXXFLAGS_MKL_OMP = ["-qopenmp", "-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
else:
conf.env.CXXFLAGS_MKL_OMP = ["-fopenmp", "-m64", "-DEIGEN_USE_MKL_ALL", "-DMKL_BLAS=MKL_DOMAIN_BLAS"]
conf.env.LINKFLAGS_MKL_OMP = ["-Wl,--no-as-needed"]
def check_nlopt(conf):
if conf.options.nlopt:
includes_check = [conf.options.nlopt + '/include']
libs_check = [conf.options.nlopt + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = [
'/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/'
]
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
try:
conf.start_msg('Checking for NLOpt includes')
res = conf.find_file('nlopt.hpp', includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return 1
conf.start_msg('Checking for NLOpt libs')
found = False
for lib in ['libnlopt_cxx.so', 'libnlopt_cxx.a', 'libnlopt_cxx.dylib']:
try:
found = found or conf.find_file(lib, libs_check)
except:
continue
if not found:
conf.end_msg('Not found', 'RED')
return 1
else:
conf.end_msg('ok')
conf.env.INCLUDES_NLOPT = includes_check
conf.env.LIBPATH_NLOPT = libs_check
conf.env.DEFINES_NLOPT = ['USE_NLOPT']
conf.env.LIB_NLOPT = ['nlopt_cxx']
return 1
def check_nlopt(conf):
if conf.options.nlopt:
includes_check = [conf.options.nlopt + '/include']
libs_check = [conf.options.nlopt + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
incl = ''
try:
conf.start_msg('Checking for NLOpt C++ includes (optional)')
res = conf.find_file('nlopt.hpp', includes_check)
incl = res[:-len('nlopt.hpp')-1]
conf.end_msg(incl)
except:
conf.end_msg('Not found in %s' % str(includes_check), 'YELLOW')
return 1
conf.start_msg('Checking for NLOpt C++ libs (optional)')
lib_path = ''
for lib in ['libnlopt_cxx.so', 'libnlopt_cxx.a', 'libnlopt_cxx.dylib']:
try:
res = conf.find_file(lib, libs_check)
lib_path = res[:-len(lib)-1]
except:
continue
if lib_path == '':
conf.end_msg('Not found in %s' % str(libs_check), 'YELLOW')
return 1
else:
conf.end_msg(lib_path)
conf.env.INCLUDES_NLOPT = [incl]
conf.env.LIBPATH_NLOPT = [lib_path]
conf.env.DEFINES_NLOPT = ['USE_NLOPT']
conf.env.LIB_NLOPT = ['nlopt_cxx']
return 1
def check_freetype(conf):
conf.env['FREETYPE_FOUND'] = False
if conf.options.freetype:
conf.env.INCLUDES_FREETYPE = [
conf.options.freetype + '/include',
conf.options.freetype + '/include/freetype2'
]
conf.env.LIBPATH_FREETYPE = [conf.options.freetype + '/lib']
else:
conf.env.INCLUDES_FREETYPE = [
'/usr/include', '/usr/local/include', '/usr/include/freetype2',
'/usr/local/include/freetype2'
]
conf.env.LIBPATH_FREETYPE = ['/usr/lib', '/usr/local/lib']
try:
conf.start_msg('Checking for Freetype2 include')
conf.env.INCLUDES_FREETYPE = __find_file_in_list(
conf, FREETYPE_HEADER_FILE, conf.env.INCLUDES_FREETYPE)
conf.find_file('ft2build.h', conf.env.INCLUDES_FREETYPE)
# Freetype-config may provide additional paths that need to be added for freetype to work properly.
# For this, we trust freetype-config, we will not check whether certain files are actually in this path.
output = subprocess.check_output(["freetype-config", "--cflags"])
additional_includes = [
path[2:] for path in output.split() if path[0:2] == '-I'
]
for include in additional_includes:
if include not in conf.env.INCLUDES_FREETYPE:
conf.env.INCLUDES_FREETYPE.append(include)
conf.end_msg('ok')
if Logs.verbose:
Logs.pprint('CYAN', ' Paths: %s' % conf.env.INCLUDES_FREETYPE)
conf.env['FREETYPE_FOUND'] = True
conf.env.LIB_FREETYPE = ['freetype']
except:
conf.end_msg('Not found', 'RED')
return 1
def check_opencv(conf):
# possible path to find headers
includes_check = ['/usr/local/include/opencv2', '/usr/local/include/opencv2/core']
libs_check = ['/usr/local/lib', '/usr/lib']
try:
conf.start_msg('Checking for opencv includes')
include_files = ['opencv.hpp', 'mat.hpp']
for file in include_files:
conf.find_file(file, includes_check)
conf.end_msg('got it!')
conf.env.INCLUDES_OPENCV = includes_check
conf.start_msg('Checking for opencv libs')
lib_files = ['opencv_core','opencv_highgui','opencv_imgproc','opencv_calib3d','opencv_contrib','opencv_features2d','opencv_flann','opencv_gpu','opencv_legacy','opencv_objdetect','opencv_ocl','opencv_photo','opencv_stitching','opencv_superres','opencv_video','opencv_videostab']
for file in lib_files:
conf.find_file('lib'+file+'.so', libs_check)
#print "Found file {}".format(file)
conf.end_msg('got it!')
conf.env.LIBPATH_OPENCV = libs_check
conf.env.LIB_OPENCV = lib_files
except:
conf.fatal('opencv not found')
return
def check_eigen(conf):
if conf.options.eigen:
conf.env.INCLUDES_EIGEN = [conf.options.eigen]
conf.env.LIBPATH_EIGEN = [conf.options.eigen]
else:
conf.env.INCLUDES_EIGEN = [
"/usr/include/eigen2",
"/usr/local/include/eigen3",
"/usr/include",
"/usr/local/include",
]
res = conf.find_file("Eigen/Core", conf.env.INCLUDES_EIGEN)
return 1
def check_eigen(conf):
conf.start_msg('Checking for Eigen')
if conf.options.eigen:
conf.env.INCLUDES_EIGEN = [conf.options.eigen]
conf.env.LIBPATH_EIGEN = [conf.options.eigen]
else:
conf.env.INCLUDES_EIGEN = ['/usr/include/eigen3',
'/usr/local/include/eigen3',
'/usr/include', '/usr/local/include']
try:
res = conf.find_file('Eigen/Core', conf.env.INCLUDES_EIGEN)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
return 1
def check_tbb(conf):
conf.env.LIB_TBB = ['tbb']
if conf.options.tbb:
conf.env.INCLUDES_TBB = [conf.options.tbb + '/include']
conf.env.LIBPATH_TBB = [conf.options.tbb + '/lib']
else:
conf.env.INCLUDES_TBB = ['/usr/local/include',
'/usr/include']
conf.env.LIBPATH_TBB = ['/usr/local/lib/',
'/usr/lib']
try:
res = conf.find_file('tbb/parallel_for.h', conf.env.INCLUDES_TBB)
conf.define("USE_TBB", 1)
except:
print 'TBB not found'
def check_eigen(conf):
conf.env['EIGEN_FOUND'] = False
conf.start_msg('Checking for Eigen')
includes_check = ['/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include', '/usr/local/include']
if conf.options.eigen:
includes_check = [conf.options.eigen]
conf.env.INCLUDES_EIGEN = [conf.options.eigen]
else:
if 'CPPFLAGS' in os.environ:
includes_check += [path[2:] for path in os.environ['CPPFLAGS'].split() if path[0:2] == '-I']
try:
res = conf.find_file('Eigen/Core', includes_check)
index = includes_check.index(res[:-len('Eigen/Core')-1])
conf.env.INCLUDES_EIGEN = [includes_check[index]]
conf.end_msg('ok')
if Logs.verbose:
Logs.pprint('CYAN', ' path : %s' % includes_check[index])
conf.env['EIGEN_FOUND'] = True
except:
conf.end_msg('Not found', 'RED')
return 1
def check_eigen(conf):
if conf.options.eigen:
includes_check = [conf.options.eigen]
else:
includes_check = ['/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include', '/usr/local/include']
conf.start_msg('Checking for Eigen')
try:
res = conf.find_file('Eigen/Core', includes_check)
except:
res = False
if res:
conf.env.INCLUDES_EIGEN = includes_check
conf.end_msg('ok')
else:
if conf.options.eigen:
msg = 'Not found in %s' % conf.options.eigen
else:
msg = 'Not found, use --eigen=/path/to/eigen'
conf.end_msg(msg, 'RED')
return 1
def check_mpi(conf):
opt = conf.options
conf.env['LIB_MPI'] = ''
conf.env['MPI_FOUND'] = False
if conf.options.no_mpi :
return
if conf.options.mpi:
conf.env.INCLUDES_MPI = conf.options.mpi + '/include'
conf.env.LIBPATH_MPI = conf.options.mpi + '/lib'
else:
conf.env.INCLUDES_MPI = ['/usr/include/mpi', '/usr/local/include/mpi', '/usr/include', '/usr/local/include']
conf.env.LIBPATH_MPI = ['/usr/lib', '/usr/local/lib', '/usr/lib/openmpi']
try:
conf.start_msg('Checking for MPI include')
res = conf.find_file('mpi.h', conf.env.INCLUDES_MPI)
conf.end_msg('ok')
conf.env['MPI_FOUND'] = True
conf.env.LIB_MPI = ['mpi_cxx','mpi']
except:
conf.end_msg('Not found', 'RED')
return 1
def check_dart(conf, **kw):
required = 'required' in kw and kw.get('required', False)
require_graphics = 'require_graphics' in kw and kw.get('require_graphics', False)
includes_check = ['/usr/include', '/usr/local/include']
libs_check = ['/usr/local/lib', '/usr/lib']
resibots_dir = conf.options.resibots if hasattr(conf.options, 'resibots') and conf.options.resibots else None
if resibots_dir:
includes_check = [resibots_dir + '/include'] + includes_check
libs_check = [resibots_dir + '/lib'] + libs_check
if conf.options.dart:
includes_check = [conf.options.dart + '/include'] + includes_check
libs_check = [conf.options.dart + '/lib'] + libs_check
conf.start_msg('Checking for DART includes')
res = True
try:
for incl in ['dart', 'dart-core']:
res = res and conf.find_file('dart/' + incl + '.h', includes_check)
except:
res = False
if res:
conf.end_msg('ok')
else:
if conf.options.dart and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.dart, resibots_dir)
elif conf.options.dart or resibots_dir:
msg = 'not found in %s' % (conf.options.dart if conf.options.dart else resibots_dir)
else:
msg = 'not found, use --dart=/path/to/dart or --resibots=/path/to/resibots'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
return
conf.start_msg('Checking for DART libs')
try:
for lib in ['dart', 'dart-core']:
res = res and conf.find_file('lib' + lib + '.so', libs_check)
except:
res = False
if res:
conf.env.INCLUDES_DART = [os.path.expanduser(include) for include in includes_check] + ['/usr/local/include/bullet', '/usr/include/bullet']
conf.env.LIBPATH_DART = [os.path.expanduser(lib) for lib in libs_check]
conf.env.LIB_DART = ['dart', 'dart-core', 'assimp', 'LinearMath', 'BulletCollision']
conf.env.DEFINES_DART = ['USE_DART']
conf.end_msg('ok')
else:
if conf.options.dart and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.dart, resibots_dir)
elif conf.options.dart or resibots_dir:
msg = 'not found in %s' % (conf.options.dart if conf.options.dart else resibots_dir)
else:
msg = 'not found, use --dart=/path/to/dart or --resibots=/path/to/resibots'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
conf.start_msg('Checking for DART OSG includes')
try:
res = conf.find_file('osgDart/osgDart.h', includes_check)
except:
res = False
if res:
conf.end_msg('ok')
else:
if conf.options.dart and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.dart, resibots_dir)
elif conf.options.dart or resibots_dir:
msg = 'not found in %s' % (conf.options.dart if conf.options.dart else resibots_dir)
else:
msg = 'not found, use --dart=/path/to/dart or --resibots=/path/to/resibots'
if require_graphics:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
return
conf.start_msg('Checking for DART OSG libs')
try:
res = conf.find_file('libosgDart.so', libs_check)
except:
res = False
if res:
conf.env.INCLUDES_DART_GRAPHIC = [os.path.expanduser(include) for include in includes_check]
conf.env.LIBPATH_DART_GRAPHIC = [os.path.expanduser(lib) for lib in libs_check]
conf.env.LIB_DART_GRAPHIC = ['dart', 'dart-core', 'osgDart', 'osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB']
conf.env.DEFINES_DART_GRAPHIC = ['USE_DART_GRAPHIC']
conf.end_msg('ok')
else:
if conf.options.dart and resibots_dir:
msg = 'not found in %s nor in %s' % (conf.options.dart, resibots_dir)
elif conf.options.dart or resibots_dir:
msg = 'not found in %s' % (conf.options.dart if conf.options.dart else resibots_dir)
else:
msg = 'not found, use --dart=/path/to/dart or --resibots=/path/to/resibots'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
def check_dart(conf):
if conf.options.dart:
includes_check = [conf.options.dart + '/include']
libs_check = [conf.options.dart + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
# DART requires some of bullets includes (if installed with bullet enabled)
bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet']
bullet_found = False
try:
bullet_found = conf.find_file('btBulletCollisionCommon.h', bullet_check)
except:
bullet_found = False
# DART requires assimp library
assimp_check = ['/usr/local/include', '/usr/include']
assimp_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
assimp_found = False
try:
assimp_found = conf.find_file('assimp/scene.h', assimp_check)
assimp_found = assimp_found and conf.find_file('libassimp.so', assimp_libs)
except:
assimp_found = False
# DART requires OSG library for their graphic version
osg_check = ['/usr/local/include', '/usr/include']
osg_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu']
osg_found = False
osg_comp = ['osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB']
try:
osg_found = True
for f in osg_comp:
osg_found = osg_found and conf.find_file(f + '/Version', osg_check)
osg_found = osg_found and conf.find_file('lib' + f + '.so', osg_libs)
except:
osg_found = False
try:
conf.start_msg('Checking for DART includes (including utils/urdf)')
res = conf.find_file('dart/dart.hpp', includes_check)
res = res and conf.find_file('dart/utils/utils.hpp', includes_check)
res = res and conf.find_file('dart/utils/urdf/urdf.hpp', includes_check)
conf.end_msg('ok')
try:
conf.start_msg('Checking for DART gui includes')
res = res and conf.find_file('dart/gui/gui.hpp', includes_check)
res = res and conf.find_file('dart/gui/osg/osg.hpp', includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
conf.start_msg('DART: Checking for optional Bullet includes')
more_includes = []
if bullet_found:
more_includes += bullet_check
conf.end_msg('ok')
else:
conf.end_msg('Not found - be sure that your DART installation is without Bullet enabled', 'RED')
if assimp_found:
more_includes += assimp_check
conf.start_msg('Checking for DART libs (including utils/urdf)')
res = res and conf.find_file('libdart.so', libs_check)
res = res and conf.find_file('libdart-utils.so', libs_check)
res = res and conf.find_file('libdart-utils-urdf.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_DART = includes_check + more_includes
conf.env.LIBPATH_DART = libs_check
conf.env.LIB_DART = ['dart', 'dart-utils', 'dart-utils-urdf']
conf.start_msg('DART: Checking for Assimp')
if assimp_found:
conf.end_msg('ok')
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + assimp_libs
conf.env.LIB_DART.append('assimp')
else:
conf.end_msg('Not found - Your programs may not compile', 'RED')
if bullet_found:
conf.env.LIB_DART.append('BulletCollision')
conf.env.LIB_DART.append('LinearMath')
try:
conf.start_msg('Checking for DART gui libs')
res = res and conf.find_file('libdart-gui.so', libs_check)
res = res and conf.find_file('libdart-gui-osg.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_DART_GRAPHIC = conf.env.INCLUDES_DART
conf.env.LIBPATH_DART_GRAPHIC = conf.env.LIBPATH_DART
conf.env.LIB_DART_GRAPHIC = conf.env.LIB_DART + ['dart-gui', 'dart-gui-osg']
conf.start_msg('DART: Checking for OSG (optional)')
if osg_found:
conf.env.INCLUDES_DART_GRAPHIC += osg_check
conf.env.LIBPATH_DART_GRAPHIC += osg_libs
conf.env.LIB_DART_GRAPHIC += osg_comp
conf.end_msg('ok')
else:
conf.end_msg('Not found - Your graphical programs may not compile/link', 'RED')
conf.get_env()['BUILD_GRAPHIC'] = True
except:
conf.end_msg('Not found', 'RED')
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_vrep_ros(conf, **kw):
required = 'required' in kw and kw.get('required', False)
if conf.options.vrep_ros:
includes_check = [conf.options.vrep_ros + '/include']
libs_check = [conf.options.vrep_ros + '/lib']
else:
if 'ROS_PACKAGE_PATH' not in os.environ:
conf.start_msg('Checking for V-REP ROS plugin')
if required:
conf.fatal('ROS_PACKAGE_PATH not in environmental variables, use --vrep_ros=/path/to/vrep_ros')
else:
conf.end_msg('ROS_PACKAGE_PATH not in environmental variables, use --vrep_ros=/path/to/vrep_ros', 'YELLOW')
return
path = os.environ['ROS_PACKAGE_PATH']
paths = re.split(":", path)
path = os.path.join(paths[0], '../devel')
includes_check = [path + '/include']
libs_check = [path + '/lib']
conf.start_msg('Checking for V-REP ROS plugin includes')
try:
res = conf.find_file('vrep_common/VrepInfo.h', includes_check)
except:
res = False
if res:
conf.end_msg('ok')
else:
if conf.options.vrep_ros:
msg = 'not found in %s' % conf.options.vrep_ros
elif 'ROS_PACKAGE_PATH' in os.environ:
msg = 'not found in %s (from ROS_PACKAGE_PATH environmental variable)' % path
else:
msg = 'not found, use --vrep_ros=/path/to/vrep_ros'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
return
conf.start_msg('Checking for V-REP ROS plugin libs')
try:
res = conf.find_file('libv_repExtRos.so', libs_check)
except:
res = False
if res:
conf.env.INCLUDES_VREP_ROS = [os.path.expanduser(include) for include in includes_check]
conf.env.LIBPATH_VREP_ROS = [os.path.expanduser(lib) for lib in libs_check]
conf.env.LIB_VREP_ROS = ['v_repExtRos']
conf.env.DEFINES_VREP_ROS = ['USE_VREP_ROS']
conf.end_msg('ok')
else:
if conf.options.vrep_ros:
msg = 'not found in %s' % conf.options.vrep_ros
elif 'ROS_PACKAGE_PATH' in os.environ:
msg = 'not found in %s (from ROS_PACKAGE_PATH environmental variable)' % path
else:
msg = 'not found, use --vrep_ros=/path/to/vrep_ros'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
def check_eigen(conf):
conf.start_msg('Checking for Eigen')
includes_check = ['/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include', '/usr/local/include']
if conf.options.eigen:
includes_check = [conf.options.eigen]
try:
res = conf.find_file('Eigen/Core', includes_check)
incl = res[:-len('Eigen/Core')-1]
conf.env.INCLUDES_EIGEN = [incl]
conf.end_msg(incl)
if conf.options.lapacke_blas:
conf.start_msg('Checking for LAPACKE/BLAS (optional)')
p1 = subprocess.Popen(["cat", incl+"/Eigen/src/Core/util/Macros.h"], stdout=subprocess.PIPE, stderr=subprocess.PIPE)
p2 = subprocess.Popen(["grep", "#define EIGEN_WORLD_VERSION"], stdin=p1.stdout, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
p1.stdout.close()
out1, err = p2.communicate()
p1 = subprocess.Popen(["cat", incl+"/Eigen/src/Core/util/Macros.h"], stdout=subprocess.PIPE, stderr=subprocess.PIPE)
p2 = subprocess.Popen(["grep", "#define EIGEN_MAJOR_VERSION"], stdin=p1.stdout, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
p1.stdout.close()
out2, err = p2.communicate()
out1 = out1.decode('UTF-8')
out2 = out2.decode('UTF-8')
world_version = int(out1.strip()[-1])
major_version = int(out2.strip()[-1])
if world_version == 3 and major_version >= 3:
# Check for lapacke and blas
extra_libs = ['/usr/lib', '/usr/local/lib', '/usr/local/opt/openblas/lib']
blas_libs = ['blas', 'openblas']
blas_lib = ''
blas_path = ''
for b in blas_libs:
try:
if conf.env['DEST_OS']=='darwin':
res = conf.find_file('lib'+b+'.dylib', extra_libs)
blas_path = res[:-len('lib'+b+'.dylib')-1]
else:
res = conf.find_file('lib'+b+'.so', extra_libs)
blas_path = res[:-len('lib'+b+'.so')-1]
except:
continue
blas_lib = b
break
lapacke = False
lapacke_path = ''
try:
if conf.env['DEST_OS']=='darwin':
res = conf.find_file('liblapacke.dylib', extra_libs)
lapacke_path = res[:-len('liblapacke.dylib')-1]
else:
res = conf.find_file('liblapacke.so', extra_libs)
lapacke_path = res[:-len('liblapacke.so')-1]
lapacke = True
except:
lapacke = False
if lapacke or blas_lib != '':
conf.env.DEFINES_EIGEN = []
if lapacke_path != blas_path:
conf.env.LIBPATH_EIGEN = [lapacke_path, blas_path]
else:
conf.env.LIBPATH_EIGEN = [lapacke_path]
conf.env.LIB_EIGEN = []
conf.end_msg('LAPACKE: \'%s\', BLAS: \'%s\'' % (lapacke_path, blas_path))
elif lapacke:
conf.end_msg('Found only LAPACKE: %s' % lapacke_path, 'YELLOW')
elif blas_lib != '':
conf.end_msg('Found only BLAS: %s' % blas_path, 'YELLOW')
else:
conf.end_msg('Not found in %s' % str(extra_libs), 'RED')
if lapacke:
conf.env.DEFINES_EIGEN.append('EIGEN_USE_LAPACKE')
conf.env.LIB_EIGEN.append('lapacke')
if blas_lib != '':
conf.env.DEFINES_EIGEN.append('EIGEN_USE_BLAS')
conf.env.LIB_EIGEN.append(blas_lib)
else:
conf.end_msg('LAPACKE/BLAS can be used only with Eigen>=3.3', 'RED')
except:
conf.fatal('Not found in %s' % str(includes_check))
return 1
def configure( conf ):
conf.find_program( 'java' )
conf.env['htmlcompressor_abspath'] = os.path.abspath( conf.find_file( 'htmlcompressor-1.5.3.jar', ['.','./tools' ] ) )
def check_ros(conf, **kw):
required = 'required' in kw and kw.get('required', False)
if conf.options.ros:
includes_check = [conf.options.ros + '/include']
libs_check = [conf.options.ros + '/lib']
else:
if 'ROS_DISTRO' not in os.environ:
conf.start_msg('Checking for ROS')
if required:
conf.fatal('ROS_DISTRO not in environmental variables, use --ros=/path/to/ros')
else:
conf.end_msg('ROS_DISTRO not in environmental variables, use --ros=/path/to/ros', 'YELLOW')
return
includes_check = ['/opt/ros/' + os.environ['ROS_DISTRO'] + '/include']
libs_check = ['/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib']
conf.start_msg('Checking for ROS includes')
try:
res = conf.find_file('ros/ros.h', includes_check)
except:
res = False
if res:
conf.end_msg('ok')
else:
if conf.options.ros:
msg = 'not found in %s' % conf.options.ros
elif 'ROS_DISTRO' in os.environ:
msg = 'not found in %s (from ROS_DISTRO environmental variable)' % os.environ['ROS_DISTRO']
else:
msg = 'not found, use --ros=/path/to/ros'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
return
libs = Utils.to_list(kw.get('lib', []))
conf.start_msg('Checking for ROS libs')
try:
for lib in libs:
res = res and conf.find_file('lib'+lib+'.so', libs_check)
except:
res = False
if res:
conf.env.INCLUDES_ROS = [os.path.expanduser(include) for include in includes_check]
conf.env.LIBPATH_ROS = [os.path.expanduser(lib) for lib in libs_check]
conf.env.LIB_ROS = libs
conf.env.DEFINES_ROS = ['USE_ROS']
conf.end_msg('ok')
else:
if conf.options.ros:
msg = 'not found in %s' % conf.options.ros
elif 'ROS_DISTRO' in os.environ:
msg = 'not found in %s (from ROS_DISTRO environmental variable)' % os.environ['ROS_DISTRO']
else:
msg = 'not found, use --ros=/path/to/ros'
if required:
conf.fatal(msg)
else:
conf.end_msg(msg, 'YELLOW')
def check_mpi(conf):
opt = conf.options
conf.env['LIB_MPI'] = ''
conf.env['MPI_FOUND'] = False
includes_check = []
libs_check = []
if conf.options.no_mpi :
return
if conf.options.mpi:
includes_check = [conf.options.mpi + '/include']
libs_check = [conf.options.mpi + '/lib']
else:
includes_check = ['/usr/include/mpi', '/usr/local/include/mpi', '/usr/include', '/usr/local/include']
libs_check = ['/usr/lib', '/usr/local/lib', '/usr/lib/openmpi']
if 'MPI_ROOT' in os.environ:
includes_check += [os.environ['MPI_ROOT'] +"/include", os.environ['MPI_ROOT'] +"/include64"]
elif 'I_MPI_ROOT' in os.environ:
includes_check += [os.environ['I_MPI_ROOT'] +"/include", os.environ['I_MPI_ROOT'] +"/include64"]
elif 'CPPFLAGS' in os.environ:
includes_check += [path[2:] for path in os.environ['CPPFLAGS'].split() if path[0:2] == '-I']
if 'LD_LIBRARY_PATH' in os.environ:
libs_check += os.environ['LD_LIBRARY_PATH'].split(":")
try:
conf.start_msg('Checking for MPI include (optional)')
res = conf.find_file('mpi.h', includes_check)
i_index = includes_check.index(res[:-len('mpi.h')-1])
conf.end_msg('ok')
if Logs.verbose:
Logs.pprint('CYAN', ' path : %s' % includes_check[i_index])
conf.start_msg('Checking for MPI libs (optional)')
lib_paths = []
libs = ['libmpi.so']
for l in libs:
res = conf.find_file(l, libs_check)
index = libs_check.index(res[:-len(l)-1])
if libs_check[index] not in lib_paths:
lib_paths += [libs_check[index]]
anta_libs = ['mpi_cxx', 'mpicxx']
found = False
ii = -1
for i in range(len(anta_libs)):
l = 'lib'+anta_libs[i]+'.so'
try:
res = conf.find_file(l, libs_check)
index = libs_check.index(res[:-len(l)-1])
if libs_check[index] not in lib_paths:
lib_paths += [libs_check[index]]
found = True
ii = i
break
except:
continue
if not found:
conf.end_msg('Not found', 'RED')
return 1
conf.end_msg('ok')
if Logs.verbose:
Logs.pprint('CYAN', ' paths : %s' % lib_paths)
Logs.pprint('CYAN', ' libs : %s' % [anta_libs[ii],'mpi'])
conf.env.INCLUDES_MPI = includes_check[i_index]
conf.env.LIBPATH_MPI = lib_paths
conf.env['MPI_FOUND'] = True
conf.env.LIB_MPI = [anta_libs[ii],'mpi']
except:
conf.end_msg('Not found', 'RED')
return 1
