Feature/cleanup cmake deps

config_utilities/CMakeLists.txt

@@ -9,19 +9,13 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-include(OptionalPackage)
-
 option(BUILD_SHARED_LIBS "Build shared libs" ON)
-option(CONFIG_UTILS_ENABLE_EIGEN "Export Eigen and build related code" ON)
-option(CONFIG_UTILS_ENABLE_GLOG "Export glog and build related code" ON)
-option(CONFIG_UTILS_BUILD_TESTS "Build unit tests" ON)
 option(CONFIG_UTILS_BUILD_DEMOS "Build demo executables" ON)
 
 find_package(yaml-cpp REQUIRED)
 find_package(Boost CONFIG REQUIRED COMPONENTS filesystem system)
-find_optional(Eigen3 CONFIG_UTILS_ENABLE_EIGEN)
-find_optional_pkgcfg(libglog CONFIG_UTILS_ENABLE_GLOG)
+find_package(Eigen3 QUIET)
+find_package(glog QUIET)
 
 add_library(
   ${PROJECT_NAME}
@@ -36,6 +30,7 @@ add_library(
   src/formatter.cpp
   src/field_input_info.cpp
   src/log_to_stdout.cpp
+  src/log_to_glog.cpp
   src/logger.cpp
   src/meta_data.cpp
   src/namespacing.cpp
@@ -49,39 +44,69 @@ add_library(
   src/yaml_parser.cpp
   src/yaml_utils.cpp
 )
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>
+                         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+
+# Set up main library linkage
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC yaml-cpp
   PRIVATE Boost::filesystem Boost::system Boost::boost ${CMAKE_DL_LIBS})
-target_include_directories(
-  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>
-                         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
-target_compile_options(${PROJECT_NAME} PRIVATE -Wall)
 set_property(TARGET ${PROJECT_NAME} PROPERTY POSITION_INDEPENDENT_CODE 1)
 add_library(config_utilities::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
-
-add_executable(composite-configs app/composite_configs.cpp)
-target_link_libraries(composite-configs ${PROJECT_NAME})
-
-if(ENABLE_Eigen3)
+if(Eigen3_FOUND)
   target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
 endif()
-
-if(ENABLE_libglog)
-  target_link_libraries(${PROJECT_NAME} PUBLIC PkgConfig::libglog)
+if(glog_FOUND)
+  target_link_libraries(${PROJECT_NAME} PUBLIC glog::glog)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE CONFIG_UTILS_ENABLE_GLOG_LOGGING)
 endif()
 
-message(STATUS "Eigen features enabled: ${ENABLE_Eigen3}")
-message(STATUS "glog features enabled:  ${ENABLE_libglog}")
+add_executable(composite-configs app/composite_configs.cpp)
+target_link_libraries(composite-configs ${PROJECT_NAME})
 
 if(CONFIG_UTILS_BUILD_DEMOS)
   add_subdirectory(demos)
 endif()
 
-if(CONFIG_UTILS_BUILD_TESTS)
-  include(CTest)
+include(CTest)
+if(BUILD_TESTING)
   enable_testing()
   add_subdirectory(test)
 endif()
 
-include(HandleInstall)
+# Install targets and headers
+include(GNUInstallDirs)
+install(
+  TARGETS ${PROJECT_NAME} composite-configs
+  EXPORT config_utilities-targets
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(
+  EXPORT config_utilities-targets
+  FILE config_utilitiesTargets.cmake
+  NAMESPACE config_utilities::
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/config_utilities)
+
+# Install packaging
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  ${CMAKE_CURRENT_LIST_DIR}/cmake/config_utilitiesConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/config_utilitiesConfig.cmake
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/config_utilities)
+write_basic_package_version_file(
+  config_utilitiesConfigVersion.cmake
+  VERSION ${PACKAGE_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/config_utilitiesConfig.cmake
+              ${CMAKE_CURRENT_BINARY_DIR}/config_utilitiesConfigVersion.cmake
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/config_utilities)
+
+# Exposes this package to ament for ros2 run and other utilities to work
+find_package(ament_cmake_core QUIET)
+if (${ament_cmake_core_FOUND})
+  ament_package()
+endif()

config_utilities/cmake/config_utilitiesConfig.cmake.in

@@ -5,24 +5,8 @@ get_filename_component(config_utilities_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}"
 include(CMakeFindDependencyMacro)
 
 find_dependency(yaml-cpp REQUIRED)
-
-if(@ENABLE_Eigen3@)
-  find_dependency(Eigen3 REQUIRED)
-endif()
-
-if(@ENABLE_roscpp@)
-  find_dependency(roscpp REQUIRED)
-  set(config_utilities_FOUND_CATKIN_PROJECT TRUE)
-endif()
-
-if(@ENABLE_rclcpp@)
-  find_dependency(rclcpp REQUIRED)
-endif()
-
-if(@ENABLE_libglog@)
-  find_dependency(PkgConfig REQUIRED)
-  pkg_check_modules(libglog IMPORTED_TARGET libglog)
-endif()
+find_dependency(Eigen3 QUIET)
+find_dependency(glog QUIET)
 
 if(NOT TARGET config_utilities::config_utilities)
   include("${config_utilities_CMAKE_DIR}/config_utilitiesTargets.cmake")

config_utilities/demos/CMakeLists.txt

@@ -1,4 +1,4 @@
-if(ENABLE_Eigen3)
+if(Eigen3_FOUND)
   add_executable(demo_config demo_config.cpp)
   target_link_libraries(demo_config ${PROJECT_NAME})
 endif()

config_utilities/include/config_utilities/formatting/asl.h

@@ -39,20 +39,19 @@
 #include <string>
 #include <vector>
 
-#include "config_utilities/factory.h"
 #include "config_utilities/internal/formatter.h"
 #include "config_utilities/internal/meta_data.h"
 
 namespace config::internal {
 
 /**
  * @brief Implements formatting of text in the style of https://github.com/ethz-asl/config_utilities, emphasizing
- * readability wenn printed to the console.
+ * readability when printed to the console.
  */
 class AslFormatter : public Formatter {
  public:
   AslFormatter() = default;
-  ~AslFormatter() override = default;
+  virtual ~AslFormatter() = default;
 
  protected:
   std::string formatErrorsImpl(const MetaData& data,
@@ -64,12 +63,9 @@ class AslFormatter : public Formatter {
   std::string formatConfigsImpl(const std::vector<MetaData>& data) override;
 
  private:
-  // Factory registration to allow setting of formatters via Settings::setFormatter().
-  inline static const auto registration_ = Registration<Formatter, AslFormatter>("asl");
-
   // Initialize the asl formatter to be used if included.
   inline static const struct Initializer {
-    Initializer() { Formatter::setFormatter(std::make_unique<AslFormatter>()); }
+    Initializer();
   } initializer_;
 
   // Helper functions.

config_utilities/include/config_utilities/logging/log_to_glog.h

@@ -35,9 +35,6 @@
 
 #pragma once
 
-#include <glog/logging.h>
-
-#include "config_utilities/factory.h"
 #include "config_utilities/internal/logger.h"
 
 namespace config::internal {
@@ -48,33 +45,11 @@ namespace config::internal {
  */
 class GlogLogger : public Logger {
  public:
-  GlogLogger() = default;
+  GlogLogger();
   virtual ~GlogLogger() = default;
 
  protected:
-  void logImpl(const Severity severity, const std::string& message) override {
-    switch (severity) {
-      case Severity::kInfo:
-        LOG(INFO) << message;
-        break;
-
-      case Severity::kWarning:
-        LOG(WARNING) << message;
-
-        break;
-
-      case Severity::kError:
-        LOG(ERROR) << message;
-        break;
-
-      case Severity::kFatal:
-        LOG(FATAL) << message;
-    }
-  }
-
- private:
-  // Factory registration to allow setting of formatters via Settings::setLogger().
-  inline static const auto registration_ = Registration<Logger, GlogLogger>("glog");
+  void logImpl(const Severity severity, const std::string& message) override;
 };
 
 }  // namespace config::internal

config_utilities/include/config_utilities/logging/log_to_stdout.h

@@ -35,7 +35,6 @@
 
 #pragma once
 
-#include "config_utilities/factory.h"
 #include "config_utilities/internal/logger.h"
 
 namespace config::internal {
@@ -60,11 +59,11 @@ class StdoutLogger : public Logger {
  private:
   const Severity min_severity_;
   const Severity stderr_severity_;
-  // Factory registration to allow setting of formatters via Settings::setLogger().
-  inline static const auto registration_ = Registration<Logger, StdoutLogger>("stdout");
 
   // Initialize the stdout logger to be used if included.
-  inline static const struct Initializer { Initializer(); } initializer_ = Initializer();
+  inline static const struct Initializer {
+    Initializer();
+  } initializer_ = Initializer();
 };
 
 }  // namespace config::internal

config_utilities/src/asl_formatter.cpp

@@ -33,11 +33,20 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * -------------------------------------------------------------------------- */
 
+#include "config_utilities/factory.h"
 #include "config_utilities/formatting/asl.h"
 #include "config_utilities/internal/string_utils.h"
 #include "config_utilities/settings.h"
 
 namespace config::internal {
+namespace {
+
+// Factory registration to allow setting of formatters via Settings::setFormatter().
+static const auto registration = Registration<Formatter, AslFormatter>("asl");
+
+}  // namespace
+
+AslFormatter::Initializer::Initializer() { Formatter::setFormatter(std::make_unique<AslFormatter>()); }
 
 std::string AslFormatter::formatErrorsImpl(const MetaData& data,
                                            const std::string& what,