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CMakeLists.txt
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CMakeLists.txt
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# -*- mode: cmake -*-
# vi: set ft=cmake :
cmake_minimum_required(VERSION 3.16)
project(drake
DESCRIPTION "Model-based design and verification for robotics"
LANGUAGES C CXX
)
# The primary build system for Drake is Bazel (https://bazel.build/). For CMake,
# our objective is to accept configuration options using their standard spelling
# (e.g., `-DCMAKE_BUILD_TYPE=Release`) and install Drake using those settings.
#
# We'll do that by converting the settings to generated Bazel inputs:
# - a `WORKSPACE.bazel` file that specifies dependencies; and
# - a `.bazelrc` file that specifies configuration choices.
# and then running the `@drake//:install` program from that temporary workspace.
list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
include(CTest)
configure_file(CTestCustom.cmake.in CTestCustom.cmake @ONLY)
if(ANDROID OR CYGWIN OR IOS OR NOT UNIX)
message(FATAL_ERROR
"Android, Cygwin, iOS, and non-Unix platforms are NOT supported"
)
endif()
set(BAZELRC_IMPORTS "tools/bazel.rc")
set(UNIX_DISTRIBUTION_ID)
set(UNIX_DISTRIBUTION_CODENAME)
if(APPLE)
if(CMAKE_SYSTEM_VERSION VERSION_LESS 21)
message(WARNING
"Darwin ${CMAKE_SYSTEM_VERSION} is NOT supported. Please use "
"Darwin 21.x (macOS Monterey) or newer."
)
endif()
list(APPEND BAZELRC_IMPORTS "tools/macos.bazelrc")
execute_process(
COMMAND "/usr/bin/arch"
OUTPUT_STRIP_TRAILING_WHITESPACE
OUTPUT_VARIABLE MACOS_ARCH)
if(MACOS_ARCH STREQUAL "")
message(FATAL_ERROR "Could NOT query macOS arch")
endif()
list(APPEND BAZELRC_IMPORTS "tools/macos-arch-${MACOS_ARCH}.bazelrc")
else()
list(APPEND BAZELRC_IMPORTS "tools/ubuntu.bazelrc")
find_program(LSB_RELEASE_EXECUTABLE NAMES lsb_release)
mark_as_advanced(LSB_RELEASE_EXECUTABLE)
if(NOT LSB_RELEASE_EXECUTABLE)
message(WARNING "Could NOT find the lsb_release executable")
else()
execute_process(COMMAND "${LSB_RELEASE_EXECUTABLE}" --codename --short
RESULT_VARIABLE LSB_RELEASE_CODENAME_SHORT_RESULT_VARIABLE
OUTPUT_VARIABLE UNIX_DISTRIBUTION_CODENAME
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(NOT LSB_RELEASE_CODENAME_SHORT_RESULT_VARIABLE EQUAL 0)
message(WARNING "Could NOT run the lsb_release executable")
else()
set(MAYBE_RC "tools/ubuntu-${UNIX_DISTRIBUTION_CODENAME}.bazelrc")
if(NOT EXISTS "${PROJECT_SOURCE_DIR}/${MAYBE_RC}")
message(WARNING "Could NOT find config file ${MAYBE_RC}")
else()
list(APPEND BAZELRC_IMPORTS "${MAYBE_RC}")
endif()
endif()
endif()
endif()
# The version passed to find_package(Bazel) should match the
# minimum_bazel_version value in the call to versions.check() in WORKSPACE.
set(MINIMUM_BAZEL_VERSION 5.1)
find_package(Bazel ${MINIMUM_BAZEL_VERSION} MODULE)
if(NOT Bazel_FOUND)
set(Bazel_EXECUTABLE "${PROJECT_SOURCE_DIR}/third_party/com_github_bazelbuild_bazelisk/bazelisk.py")
message(STATUS "Using Bazelisk as Bazel_EXECUTABLE to fetch Bazel on demand")
endif()
get_filename_component(C_COMPILER_REALPATH "${CMAKE_C_COMPILER}" REALPATH)
get_filename_component(C_COMPILER_NAME "${C_COMPILER_REALPATH}" NAME)
get_filename_component(CXX_COMPILER_REALPATH "${CMAKE_CXX_COMPILER}" REALPATH)
get_filename_component(CXX_COMPILER_NAME "${CXX_COMPILER_REALPATH}" NAME)
if(C_COMPILER_NAME STREQUAL ccache OR CXX_COMPILER_NAME STREQUAL ccache)
message(FATAL_ERROR
"Compilation with ccache is NOT supported due to incompatibility with Bazel"
)
endif()
# The minimum compiler versions should match those listed in both
# doc/_pages/from_source.md and tools/workspace/cc/repository.bzl.
set(MINIMUM_APPLE_CLANG_VERSION 14)
set(MINIMUM_CLANG_VERSION 15)
set(MINIMUM_GNU_VERSION 11)
if(CMAKE_C_COMPILER_ID STREQUAL AppleClang)
if(CMAKE_C_COMPILER_VERSION VERSION_LESS ${MINIMUM_APPLE_CLANG_VERSION})
message(WARNING
"Compilation with clang ${CMAKE_C_COMPILER_VERSION} is NOT supported"
)
endif()
elseif(CMAKE_C_COMPILER_ID STREQUAL Clang)
if(CMAKE_C_COMPILER_VERSION VERSION_LESS ${MINIMUM_CLANG_VERSION})
message(WARNING
"Compilation with clang ${CMAKE_C_COMPILER_VERSION} is NOT supported"
)
endif()
elseif(CMAKE_C_COMPILER_ID STREQUAL GNU)
if(CMAKE_C_COMPILER_VERSION VERSION_LESS ${MINIMUM_GNU_VERSION})
message(WARNING
"Compilation with gcc ${CMAKE_C_COMPILER_VERSION} is NOT supported"
)
endif()
else()
message(WARNING
"Compilation with ${CMAKE_C_COMPILER_ID} is NOT supported. Compilation of "
"project drake_cxx_python may fail."
)
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL AppleClang)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS ${MINIMUM_APPLE_CLANG_VERSION})
message(WARNING
"Compilation with clang++ ${CMAKE_CXX_COMPILER_VERSION} is NOT supported"
)
endif()
elseif(CMAKE_CXX_COMPILER_ID STREQUAL Clang)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS ${MINIMUM_CLANG_VERSION})
message(WARNING
"Compilation with clang++ ${CMAKE_CXX_COMPILER_VERSION} is NOT supported"
)
endif()
elseif(CMAKE_CXX_COMPILER_ID STREQUAL GNU)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS ${MINIMUM_GNU_VERSION})
message(WARNING
"Compilation with g++ ${CMAKE_CXX_COMPILER_VERSION} is NOT supported"
)
endif()
else()
message(WARNING
"Compilation with ${CMAKE_CXX_COMPILER_ID} is NOT supported. Compilation "
"of project drake_cxx_python may fail."
)
endif()
# Determine the CMAKE_BUILD_TYPE. We'll store it as BUILD_TYPE_LOWER so that
# we can treat it as case-insensitive in our string comparisons.
get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
if(IS_MULTI_CONFIG)
message(FATAL_ERROR "Drake does not support multi-config generators")
endif()
set(SUPPORTED_BUILD_TYPES Release RelWithDebInfo Debug MinSizeRel)
string(REPLACE ";" " " SUPPORTED_BUILD_TYPES_STRING
"${SUPPORTED_BUILD_TYPES}"
)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
STRINGS "${SUPPORTED_BUILD_TYPES}"
)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: ${SUPPORTED_BUILD_TYPES_STRING}"
FORCE
)
endif()
string(TOLOWER "${CMAKE_BUILD_TYPE}" BUILD_TYPE_LOWER)
string(TOLOWER "${SUPPORTED_BUILD_TYPES}" SUPPORTED_BUILD_TYPES_LOWER)
if(NOT BUILD_TYPE_LOWER IN_LIST SUPPORTED_BUILD_TYPES_LOWER)
message(WARNING
"Configuration CMAKE_BUILD_TYPE='${CMAKE_BUILD_TYPE}' is NOT supported. "
"Defaulting to Release, options are: ${SUPPORTED_BUILD_TYPES_STRING}"
)
set(BUILD_TYPE_LOWER release)
set(CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: ${SUPPORTED_BUILD_TYPES_STRING}"
FORCE
)
endif()
# TODO(jwnimmer-tri) We don't currently pass along the user's selected C++
# standard nor CMAKE_CXX_FLAGS to Bazel, but we should.
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD 20)
# The supported Python major/minor versions should match those listed in
# doc/_pages/from_source.md.
if(APPLE)
# The macOS python version should match what's listed in both the
# tools/workspace/python/repository.bzl and doc/_pages/installation.md.
set(SUPPORTED_PYTHON_VERSION 3.12)
else()
if(UNIX_DISTRIBUTION_CODENAME STREQUAL noble)
set(SUPPORTED_PYTHON_VERSION 3.12)
else() # UNIX_DISTRIBUTION_CODENAME := jammy
set(SUPPORTED_PYTHON_VERSION 3.10)
endif()
endif()
# Next we'll very carefully choose which Python interpreter to use.
#
# - If the user provided the legacy spelling -DPYTHON_EXECUTABLE, shift that
# into -DPython_EXECUTABLE instead and continue (with a warning).
#
# - If the user provided -DPython_EXECUTABLE, take it at face value (and
# therefore error out if they gave us a broken definition).
#
# - Otherwise, try to find SUPPORTED_PYTHON_VERSION and use it if found.
#
# - Otherwise, try to find any Python 3 interpreter at all.
#
# In all cases, we'll warn in case the found Python is not supported.
if(PYTHON_EXECUTABLE AND NOT Python_EXECUTABLE)
set(Python_EXECUTABLE "${PYTHON_EXECUTABLE}" CACHE FILEPATH
"Path to the python3 executable" FORCE
)
message(WARNING
"To select a Python interpreter, you should define Python_EXECUTABLE "
"not PYTHON_EXECUTABLE. The uppercase spelling is used for backwards "
"compatibility only.")
unset(PYTHON_EXECUTABLE CACHE)
endif()
if(Python_EXECUTABLE)
find_package(Python 3 EXACT MODULE REQUIRED
COMPONENTS Development Interpreter
)
else()
find_package(Python ${SUPPORTED_PYTHON_VERSION} EXACT MODULE
COMPONENTS Development Interpreter
)
if(NOT Python_FOUND)
find_package(Python 3 EXACT MODULE REQUIRED
COMPONENTS Development Interpreter
)
endif()
endif()
if(NOT Python_INTERPRETER_ID STREQUAL Python)
message(WARNING
"Python interpreter ${Python_INTERPRETER_ID} is NOT supported. Python "
"code in project drake_cxx_python may fail at runtime."
)
endif()
set(PYTHON_VERSION_MAJOR_MINOR
"${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}"
)
if(NOT PYTHON_VERSION_MAJOR_MINOR VERSION_EQUAL SUPPORTED_PYTHON_VERSION)
message(WARNING
"The found Python version ${PYTHON_VERSION_MAJOR_MINOR} differs from "
"Drake's preferred version ${SUPPORTED_PYTHON_VERSION} on this platform. "
"You may experience compatibility problems that are outside the scope of "
"Drake's continuous integration test suites."
)
endif()
if(CMAKE_COLOR_MAKEFILE)
set(BAZEL_COLOR yes)
else()
set(BAZEL_COLOR no)
endif()
if(CMAKE_VERBOSE_MAKEFILE)
set(BAZEL_SUBCOMMANDS yes)
set(BAZEL_ANNOUNCE_RC yes)
else()
set(BAZEL_SUBCOMMANDS no)
set(BAZEL_ANNOUNCE_RC no)
endif()
set(BAZEL_REPO_ENV)
if(NOT APPLE)
string(APPEND BAZEL_REPO_ENV
" --repo_env=CC=${CMAKE_C_COMPILER}"
" --repo_env=CXX=${CMAKE_CXX_COMPILER}"
)
endif()
get_filename_component(PROJECT_BINARY_DIR_REALPATH
"${PROJECT_BINARY_DIR}" REALPATH
)
get_filename_component(PROJECT_SOURCE_DIR_REALPATH
"${PROJECT_SOURCE_DIR}" REALPATH
)
# Check whether the PROJECT_BINARY_DIR is a subdirectory of the
# PROJECT_SOURCE_DIR.
string(FIND "${PROJECT_BINARY_DIR_REALPATH}/" "${PROJECT_SOURCE_DIR_REALPATH}/"
STRING_FIND_RESULT_VARIABLE
)
if(STRING_FIND_RESULT_VARIABLE EQUAL 0)
# The --output_base cannot be within the WORKSPACE (a subdirectory of
# PROJECT_SOURCE_DIR), so fallback to the using the same parent directory
# that Bazel uses by default for its --output_base.
if(APPLE)
set(BAZEL_OUTPUT_BASE "/var/tmp")
else()
set(BAZEL_OUTPUT_BASE "$ENV{HOME}/.cache/bazel")
endif()
else()
set(BAZEL_OUTPUT_BASE "${PROJECT_BINARY_DIR}")
endif()
# Compute the MD5 hash of the PROJECT_BINARY_DIR rather than the WORKSPACE
# (PROJECT_SOURCE_DIR) to avoid colliding with the directory that Bazel uses by
# default.
string(MD5 PROJECT_BINARY_DIR_MD5 "${PROJECT_BINARY_DIR_REALPATH}")
set(BAZEL_OUTPUT_BASE
"${BAZEL_OUTPUT_BASE}/_bazel_$ENV{USER}/${PROJECT_BINARY_DIR_MD5}"
)
function(generate_external_repository_file OUTPUT)
set(out_path
${CMAKE_CURRENT_BINARY_DIR}/external/workspace/${OUTPUT})
if(ARGN)
file(GENERATE OUTPUT ${out_path}
INPUT ${CMAKE_CURRENT_SOURCE_DIR}/cmake/external/workspace/${ARGN})
else()
file(GENERATE OUTPUT ${out_path} CONTENT "")
endif()
endfunction()
# Symlinks the C++ include path for TARGET as workspace/NAME/include, e.g.
# workspace/eigen/include -> .../build/install/include/eigen3
function(symlink_external_repository_includes NAME TARGET)
get_target_property(include_dir ${TARGET} INTERFACE_INCLUDE_DIRECTORIES)
set(workspace ${CMAKE_CURRENT_BINARY_DIR}/external/workspace)
file(MAKE_DIRECTORY ${workspace}/${NAME})
file(CREATE_LINK ${include_dir} ${workspace}/${NAME}/include SYMBOLIC)
endfunction()
# Symlinks the C++ libraries for TARGET as workspace/NAME/lib/*, e.g.
# workspace/fmt/lib/libfmt.so.6.1.2 -> .../build/install/lib/fmt/libfmt.so.6.1.2
# workspace/fmt/lib/libfmt.so.6 -> .../build/install/lib/fmt/libfmt.so.6.1.2
function(symlink_external_repository_libs NAME TARGET)
set(workspace "${CMAKE_CURRENT_BINARY_DIR}/external/workspace")
file(MAKE_DIRECTORY "${workspace}/${NAME}/lib")
# Link the full library name (i.e., libfmt.so.6.1.2 in the case of shared).
get_target_property(location ${TARGET} LOCATION_${CMAKE_BUILD_TYPE})
if(NOT location)
message(FATAL_ERROR "Target ${TARGET} has no library in LOCATION_${CMAKE_BUILD_TYPE}")
endif()
get_filename_component(basename "${location}" NAME)
file(CREATE_LINK "${location}" "${workspace}/${NAME}/lib/${basename}" SYMBOLIC)
# Link the SONAME spelling in case of shared libraries.
# If the basename does not match this pattern, this part is all a no-op.
string(REGEX REPLACE "(\\.so\\.[0-9]+)\\.[0-9]+\\.[0-9]+$" "\\1"
other_basename "${basename}")
string(REGEX REPLACE "(\\.[0-9]+)\\.[0-9]+\\.[0-9]+\\.dylib$" "\\1.dylib"
other_basename "${other_basename}")
file(CREATE_LINK "${location}" "${workspace}/${NAME}/lib/${other_basename}" SYMBOLIC)
endfunction()
set(BAZEL_WORKSPACE_EXTRA)
set(BAZEL_WORKSPACE_EXCLUDES)
macro(override_repository NAME)
set(repo "${CMAKE_CURRENT_BINARY_DIR}/external/workspace/${NAME}")
string(APPEND BAZEL_WORKSPACE_EXTRA
"local_repository(name = '${NAME}', path = '${repo}')\n")
list(APPEND BAZEL_WORKSPACE_EXCLUDES "${NAME}")
endmacro()
option(WITH_USER_EIGEN "Use user-provided Eigen3" OFF)
if(WITH_USER_EIGEN)
find_package(Eigen3 CONFIG REQUIRED)
symlink_external_repository_includes(eigen Eigen3::Eigen)
generate_external_repository_file(eigen/WORKSPACE)
generate_external_repository_file(
eigen/BUILD.bazel
eigen/BUILD.bazel.in)
override_repository(eigen)
endif()
option(WITH_USER_FMT "Use user-provided fmt" OFF)
if(WITH_USER_FMT)
find_package(fmt CONFIG REQUIRED)
symlink_external_repository_includes(fmt fmt::fmt)
symlink_external_repository_libs(fmt fmt::fmt)
generate_external_repository_file(fmt/WORKSPACE)
generate_external_repository_file(
fmt/BUILD.bazel
fmt/BUILD.bazel.in)
override_repository(fmt)
endif()
option(WITH_USER_SPDLOG "Use user-provided spdlog" OFF)
if(WITH_USER_SPDLOG)
if(NOT WITH_USER_FMT)
message(FATAL_ERROR
"User-provided spdlog (WITH_USER_SPDLOG) "
"requires user-provided fmt (WITH_USER_FMT).")
endif()
find_package(spdlog CONFIG REQUIRED)
symlink_external_repository_includes(spdlog spdlog::spdlog)
symlink_external_repository_libs(spdlog spdlog::spdlog)
generate_external_repository_file(spdlog/WORKSPACE)
generate_external_repository_file(
spdlog/BUILD.bazel
spdlog/BUILD.bazel.in)
override_repository(spdlog)
endif()
set(BAZEL_CONFIG)
option(WITH_GUROBI "Build with support for Gurobi" OFF)
if(WITH_GUROBI)
find_package(Gurobi 10.0 EXACT MODULE REQUIRED)
string(APPEND BAZEL_CONFIG " --config=gurobi")
if(NOT APPLE)
get_filename_component(GUROBI_HOME "${Gurobi_INCLUDE_DIRS}" DIRECTORY)
string(APPEND BAZEL_REPO_ENV " --repo_env=GUROBI_HOME=${GUROBI_HOME}")
endif()
endif()
option(WITH_MOSEK "Build with support for MOSEK" OFF)
if(WITH_MOSEK)
string(APPEND BAZEL_CONFIG " --config=mosek")
endif()
option(WITH_OPENMP "Build with support for OpenMP" OFF)
if(WITH_OPENMP)
string(APPEND BAZEL_CONFIG " --config=omp")
endif()
set(WITH_ROBOTLOCOMOTION_SNOPT OFF CACHE BOOL
"Build with support for SNOPT using the RobotLocomotion/snopt private GitHub repository"
)
set(WITH_SNOPT OFF CACHE BOOL
"Build with support for SNOPT using a SNOPT source archive at SNOPT_PATH"
)
if(WITH_ROBOTLOCOMOTION_SNOPT AND WITH_SNOPT)
message(FATAL_ERROR
"WITH_ROBOTLOCOMOTION_SNOPT and WITH_SNOPT options are mutually exclusive"
)
endif()
if(WITH_ROBOTLOCOMOTION_SNOPT OR WITH_SNOPT)
enable_language(Fortran)
if(CMAKE_Fortran_COMPILER_ID STREQUAL GNU)
if(CMAKE_Fortran_COMPILER_VERSION VERSION_LESS ${MINIMUM_GNU_VERSION})
message(FATAL_ERROR
"Compilation with gfortran ${CMAKE_Fortran_COMPILER_VERSION} is NOT "
"supported"
)
endif()
else()
message(WARNING
"Compilation with ${CMAKE_Fortran_COMPILER_ID} is NOT supported. "
"Compilation of project drake_cxx_python may fail."
)
endif()
string(APPEND BAZEL_CONFIG " --config=snopt")
if(WITH_ROBOTLOCOMOTION_SNOPT)
string(APPEND BAZEL_REPO_ENV " --repo_env=SNOPT_PATH=git")
else()
set(SNOPT_PATH SNOPT_PATH-NOTFOUND CACHE FILEPATH
"Path to SNOPT source archive"
)
if(NOT EXISTS "${SNOPT_PATH}")
message(FATAL_ERROR
"SNOPT source archive was NOT found at '${SNOPT_PATH}'"
)
endif()
mark_as_advanced(SNOPT_PATH)
string(APPEND BAZEL_REPO_ENV " --repo_env=SNOPT_PATH=${SNOPT_PATH}")
endif()
endif()
if(BUILD_TYPE_LOWER STREQUAL debug)
string(APPEND BAZEL_CONFIG " --config=Debug")
elseif(BUILD_TYPE_LOWER STREQUAL minsizerel)
string(APPEND BAZEL_CONFIG " --config=MinSizeRel")
elseif(BUILD_TYPE_LOWER STREQUAL release)
string(APPEND BAZEL_CONFIG " --config=Release")
elseif(BUILD_TYPE_LOWER STREQUAL relwithdebinfo)
string(APPEND BAZEL_CONFIG " --config=RelWithDebInfo")
endif()
# N.B. If you are testing the CMake API and making changes to `installer.py`,
# you can change this target to something more lightweight, such as
# `//tools/install/dummy:install`.
set(BAZEL_INSTALL_TARGET //:install)
if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
set(CMAKE_INSTALL_PREFIX "${PROJECT_BINARY_DIR}/install" CACHE STRING
"Install path prefix, prepended onto install directories" FORCE
)
endif()
set(BAZEL_INSTALL_ARGS "\${CMAKE_INSTALL_PREFIX}")
if(CMAKE_COLOR_MAKEFILE)
list(INSERT BAZEL_INSTALL_ARGS 0 "--color")
endif()
if(CMAKE_INSTALL_NAME_TOOL)
list(INSERT BAZEL_INSTALL_ARGS 0
"--install_name_tool"
"${CMAKE_INSTALL_NAME_TOOL}"
)
endif()
if(CMAKE_STRIP)
list(INSERT BAZEL_INSTALL_ARGS 0 "--strip_tool" "${CMAKE_STRIP}")
endif()
# If CMAKE_BUILD_TYPE is Debug or RelWithDebInfo, do NOT strip symbols during
# install.
if(BUILD_TYPE_LOWER MATCHES "^(debug|relwithdebinfo)$")
# SNOPT has restrictions for redistribution given that we are statically
# linking it in.
if(WITH_SNOPT OR WITH_ROBOTLOCOMOTION_SNOPT)
message(WARNING
"Install configurations Debug and RelWithDebInfo will STILL strip "
"symbols because support for SNOPT is enabled"
)
else()
list(INSERT BAZEL_INSTALL_ARGS 0 --no_strip)
endif()
endif()
set(BAZELRC_IMPORT)
foreach(import IN LISTS BAZELRC_IMPORTS)
string(APPEND BAZELRC_IMPORT "import ${PROJECT_SOURCE_DIR}/${import}\n")
endforeach()
# We need to run Bazel in a dedicated temporary directory. The particular
# name `drake_build_cwd` isn't important, it just needs to be unique. Note,
# however, that the macOS wheel builds also need to know this path, so if it
# ever changes, tools/wheel/macos/build-wheel.sh will also need to be updated.
configure_file(cmake/bazel.rc.in drake_build_cwd/.bazelrc @ONLY)
configure_file(cmake/WORKSPACE.in drake_build_cwd/WORKSPACE.bazel @ONLY)
file(CREATE_LINK "${PROJECT_SOURCE_DIR}/.bazeliskrc" drake_build_cwd/.bazeliskrc SYMBOLIC)
find_package(Git)
set(GIT_DIR "${PROJECT_SOURCE_DIR}/.git")
execute_process(
COMMAND "${Bazel_EXECUTABLE}" info --announce_rc
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/drake_build_cwd"
)
set(GENERATE_DRAKE_VERSION_ARGS)
if(DEFINED DRAKE_VERSION_OVERRIDE)
list(APPEND GENERATE_DRAKE_VERSION_ARGS
"-DDRAKE_VERSION_OVERRIDE=${DRAKE_VERSION_OVERRIDE}")
endif()
if(DEFINED DRAKE_GIT_SHA_OVERRIDE)
list(APPEND GENERATE_DRAKE_VERSION_ARGS
"-DDRAKE_GIT_SHA_OVERRIDE=${DRAKE_GIT_SHA_OVERRIDE}")
endif()
add_custom_target(drake_version ALL
COMMAND "${CMAKE_COMMAND}"
${GENERATE_DRAKE_VERSION_ARGS}
"-DGIT_DIR=${GIT_DIR}"
"-DGIT_EXECUTABLE=${GIT_EXECUTABLE}"
"-DINPUT_FILE=${PROJECT_SOURCE_DIR}/tools/install/libdrake/VERSION.TXT.in"
"-DOUTPUT_FILE=${PROJECT_BINARY_DIR}/VERSION.TXT"
-P "${PROJECT_SOURCE_DIR}/tools/install/libdrake/generate_version.cmake"
)
add_custom_target(drake_cxx_python ALL
COMMAND "${Bazel_EXECUTABLE}" build ${BAZEL_INSTALL_TARGET}
DEPENDS "${PROJECT_BINARY_DIR}/VERSION.TXT"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/drake_build_cwd"
USES_TERMINAL
)
install(CODE
"execute_process(
COMMAND
\"${Bazel_EXECUTABLE}\" run ${BAZEL_INSTALL_TARGET}
-- ${BAZEL_INSTALL_ARGS}
WORKING_DIRECTORY \"${CMAKE_CURRENT_BINARY_DIR}/drake_build_cwd\"
)"
ALL_COMPONENTS
)
install(FILES "${PROJECT_BINARY_DIR}/VERSION.TXT" DESTINATION share/doc/drake)