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cmake: Reorganize options, renaming some.

Browse source 
Rename XRT_HAVE_SLAM to XRT_FEATURE_SLAM,
moving it from xrt_config_have.h to xrt_config_build.h
accordingly.
This commit is contained in:
Ryan Pavlik 2022-05-04 10:19:15 -05:00
parent 097eeb4f29
commit 3287c984aa
11 changed files with 112 additions and 101 deletions
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131
CMakeLists.txt
View file

@ -170,10 +170,10 @@ foreach(slam_system IN LISTS EXTERNAL_SLAM_SYSTEMS)
pkg_check_modules(${slam_system} ${slam_system}) pkg_check_modules(${slam_system} ${slam_system})
endif() endif()
if(${slam_system}_FOUND) if(${slam_system}_FOUND)
set(SLAM ON)
set(SLAM_NAME ${slam_system}) set(SLAM_NAME ${slam_system})
set(SLAM_LIBRARIES ${${slam_system}_LIBRARIES}) set(SLAM_LIBRARIES ${${slam_system}_LIBRARIES})
set(SLAM_INCLUDE_DIRS ${${slam_system}_INCLUDE_DIRS}) set(SLAM_INCLUDE_DIRS ${${slam_system}_INCLUDE_DIRS})
# Exit after the first we find.
break() break()
endif() endif()
endforeach() endforeach()
@ -188,91 +188,102 @@ set(ILLIXR_PATH
option(BUILD_TESTING "Enable building of the test suite?" ON) option(BUILD_TESTING "Enable building of the test suite?" ON)
if(CMAKE_SYSTEM_NAME STREQUAL "Linux") if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
set(XRT_HAVE_LIBUDEV ON)
set(XRT_HAVE_INTERNAL_HID ON) set(XRT_HAVE_INTERNAL_HID ON)
else()
option_with_deps(
XRT_HAVE_LIBUDEV
"Enable libudev (used for device probing on Linux)"
ON
"UDEV_FOUND"
OFF
)
endif() endif()
# cmake-format: off # cmake-format: off
option(XRT_FEATURE_COLOR_LOG "Enable logging in color on supported platforms" ON)
option_with_deps(CMAKE_INTERPROCEDURAL_OPTIMIZATION "Enable inter-procedural (link-time) optimization" DEFAULT OFF DEPENDS HAS_IPO) option_with_deps(CMAKE_INTERPROCEDURAL_OPTIMIZATION "Enable inter-procedural (link-time) optimization" DEFAULT OFF DEPENDS HAS_IPO)
option_with_deps(XRT_HAVE_PERCETTO "Enable percetto support" DEPENDS PERCETTO_FOUND) # Graphics deps to use (sorted in each group, groups thematic and ordered to handle internal deps: e.g. EGL and SDL2 need OpenGL/GLES)
option_with_deps(XRT_HAVE_WAYLAND "Enable Wayland support" DEPENDS WAYLAND_FOUND WAYLAND_SCANNER_FOUND WAYLAND_PROTOCOLS_FOUND LIBDRM_FOUND)
option_with_deps(XRT_HAVE_WAYLAND_DIRECT "Enable Wayland direct support" DEPENDS XRT_HAVE_WAYLAND LIBDRM_FOUND "WAYLAND_PROTOCOLS_VERSION VERSION_GREATER_EQUAL 1.22")
option_with_deps(XRT_HAVE_XLIB "Enable xlib support" DEPENDS X11_FOUND)
option_with_deps(XRT_HAVE_XRANDR "Enable xlib-xrandr support" DEPENDS XRANDR_FOUND)
option_with_deps(XRT_HAVE_XCB "Enable xcb support" DEPENDS XCB_FOUND)
option_with_deps(XRT_HAVE_VULKAN "Enable Vulkan Graphics API support (also needed for compositor)" DEPENDS VULKAN_FOUND)
option_with_deps(XRT_HAVE_OPENGL "Enable OpenGL Graphics API support" DEPENDS OPENGL_WITHOUT_GLX_FOUND) option_with_deps(XRT_HAVE_OPENGL "Enable OpenGL Graphics API support" DEPENDS OPENGL_WITHOUT_GLX_FOUND)
option_with_deps(XRT_HAVE_OPENGL_GLX "Enable OpenGL Graphics API support on X11 (GLX)" DEPENDS XRT_HAVE_OPENGL OpenGL_GLX_FOUND) option_with_deps(XRT_HAVE_OPENGL_GLX "Enable OpenGL Graphics API support on X11 (GLX)" DEPENDS XRT_HAVE_OPENGL OpenGL_GLX_FOUND)
option_with_deps(XRT_HAVE_OPENGLES "Enable OpenGL-ES Graphics API support" DEPENDS OpenGLES_FOUND) option_with_deps(XRT_HAVE_OPENGLES "Enable OpenGL-ES Graphics API support" DEPENDS OpenGLES_FOUND)
option_with_deps(XRT_HAVE_EGL "Enable OpenGL(-ES) on EGL Graphics API support" DEPENDS EGL_FOUND "XRT_HAVE_OPENGL OR XRT_HAVE_OPENGLES") option_with_deps(XRT_HAVE_EGL "Enable OpenGL(-ES) on EGL Graphics API support" DEPENDS EGL_FOUND "XRT_HAVE_OPENGL OR XRT_HAVE_OPENGLES")
option_with_deps(XRT_HAVE_SDL2 "Enable use of SDL2" DEPENDS SDL2_FOUND XRT_HAVE_OPENGL)
option_with_deps(XRT_HAVE_VULKAN "Enable Vulkan Graphics API support (also needed for compositor)" DEPENDS VULKAN_FOUND)
option_with_deps(XRT_HAVE_WAYLAND "Enable Wayland support" DEPENDS WAYLAND_FOUND WAYLAND_SCANNER_FOUND WAYLAND_PROTOCOLS_FOUND LIBDRM_FOUND)
option_with_deps(XRT_HAVE_WAYLAND_DIRECT "Enable Wayland direct support" DEPENDS XRT_HAVE_WAYLAND LIBDRM_FOUND "WAYLAND_PROTOCOLS_VERSION VERSION_GREATER_EQUAL 1.22")
option_with_deps(XRT_HAVE_XCB "Enable xcb support" DEPENDS XCB_FOUND)
option_with_deps(XRT_HAVE_XLIB "Enable xlib support" DEPENDS X11_FOUND)
option_with_deps(XRT_HAVE_XRANDR "Enable xlib-xrandr support" DEPENDS XRANDR_FOUND)
# System deps to use (sorted)
option_with_deps(XRT_HAVE_DBUS "Enable dbus support (for BLE support)" DEPENDS DBUS_FOUND) option_with_deps(XRT_HAVE_DBUS "Enable dbus support (for BLE support)" DEPENDS DBUS_FOUND)
option_with_deps(XRT_HAVE_LIBBSD "Enable libbsd support" DEPENDS LIBBSD_FOUND) option_with_deps(XRT_HAVE_LIBBSD "Enable libbsd support" DEPENDS LIBBSD_FOUND)
option_with_deps(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" DEFAULT OFF DEPENDS XRT_HAVE_PERCETTO) option_with_deps(XRT_HAVE_LIBUDEV "Enable libudev (used for device probing on Linux)" DEPENDS UDEV_FOUND)
option_with_deps(XRT_FEATURE_COMPOSITOR_MAIN "Build main compositor host functionality" DEPENDS XRT_HAVE_VULKAN "XRT_HAVE_WAYLAND OR XRT_HAVE_XCB OR ANDROID OR WIN32") option_with_deps(XRT_HAVE_PERCETTO "Enable percetto support" DEPENDS PERCETTO_FOUND)
option_with_deps(XRT_FEATURE_OPENXR "Build OpenXR runtime target" DEPENDS XRT_FEATURE_COMPOSITOR_MAIN) option_with_deps(XRT_HAVE_SYSTEMD "Enable systemd support" DEPENDS Systemd_FOUND)
option_with_deps(XRT_FEATURE_IPC "Enable the build of the IPC layer" DEPENDS "NOT WIN32") option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" DEPENDS CJSON_FOUND)
option_with_deps(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" DEPENDS XRT_FEATURE_IPC XRT_FEATURE_OPENXR)
option_with_deps(XRT_HAVE_SYSTEMD "Enable systemd support (for socket activation of service)" DEPENDS Systemd_FOUND XRT_FEATURE_SERVICE) # SLAM backends (sorted)
option_with_deps(XRT_INSTALL_SYSTEMD_UNIT_FILES "Install user unit files for systemd socket activation on installation" DEPENDS XRT_HAVE_SYSTEMD) option_with_deps(XRT_HAVE_BASALT_SLAM "Enable Basalt support" DEPENDS basalt_FOUND)
option_with_deps(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" DEPENDS kimera_vio_FOUND)
if(XRT_HAVE_BASALT_SLAM OR XRT_HAVE_KIMERA_SLAM)
set(SLAM_FOUND ON)
endif()
# Feature configuration (sorted)
option(XRT_FEATURE_COLOR_LOG "Enable logging in color on supported platforms" ON)
option_with_deps(XRT_FEATURE_COMPOSITOR_MAIN "Build main compositor host functionality" DEPENDS XRT_HAVE_VULKAN "XRT_HAVE_WAYLAND OR XRT_HAVE_XCB OR ANDROID OR WIN32")
option_with_deps(XRT_FEATURE_IPC "Enable the build of the IPC layer" DEPENDS "NOT WIN32")
option_with_deps(XRT_FEATURE_OPENXR "Build OpenXR runtime target" DEPENDS XRT_FEATURE_COMPOSITOR_MAIN)
option_with_deps(XRT_FEATURE_RENDERDOC "Enable RenderDoc API" DEPENDS "RT_LIBRARY OR WIN32")
option_with_deps(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" DEPENDS XRT_FEATURE_IPC XRT_FEATURE_OPENXR)
option_with_deps(XRT_FEATURE_SERVICE_SYSTEMD "Enable systemd socket activation of the service" DEPENDS XRT_HAVE_SYSTEMD XRT_FEATURE_SERVICE)
option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV SLAM_FOUND)
option_with_deps(XRT_FEATURE_STEAMVR_PLUGIN "Build SteamVR plugin" DEPENDS "NOT ANDROID")
option_with_deps(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" DEFAULT OFF DEPENDS XRT_HAVE_PERCETTO)
# systemd detailed config
option_with_deps(XRT_INSTALL_SYSTEMD_UNIT_FILES "Install user unit files for systemd socket activation on installation" DEPENDS XRT_FEATURE_SERVICE_SYSTEMD)
option_with_deps(XRT_INSTALL_ABSOLUTE_SYSTEMD_UNIT_FILES "Use an absolute path to monado-system in installed user unit files for systemd socket activation" DEPENDS XRT_INSTALL_SYSTEMD_UNIT_FILES) option_with_deps(XRT_INSTALL_ABSOLUTE_SYSTEMD_UNIT_FILES "Use an absolute path to monado-system in installed user unit files for systemd socket activation" DEPENDS XRT_INSTALL_SYSTEMD_UNIT_FILES)
option_with_deps(XRT_FEATURE_STEAMVR_PLUGIN "Build SteamVR plugin" DEPENDS "NOT ANDROID") # Driver deps to use (sorted, though there are some internal dependencies)
option_with_deps(XRT_FEATURE_RENDERDOC "Enable RenderDoc API" DEPENDS "RT_LIBRARY OR WIN32") option_with_deps(XRT_HAVE_FFMPEG "Enable ffmpeg testing video driver" DEPENDS FFMPEG_FOUND)
option_with_deps(XRT_HAVE_GST "Enable gstreamer" DEPENDS GST_FOUND)
option_with_deps(XRT_HAVE_LIBUSB "Enable libusb (used for most drivers)" DEPENDS LIBUSB1_FOUND)
option_with_deps(XRT_HAVE_HIDAPI "Enable libhidapi (used for PSVR)" DEPENDS HIDAPI_FOUND) option_with_deps(XRT_HAVE_HIDAPI "Enable libhidapi (used for PSVR)" DEPENDS HIDAPI_FOUND)
option_with_deps(XRT_HAVE_JPEG "Enable jpeg code (used for some video drivers)" DEPENDS JPEG_FOUND) option_with_deps(XRT_HAVE_JPEG "Enable jpeg code (used for some video drivers)" DEPENDS JPEG_FOUND)
option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND) option_with_deps(XRT_HAVE_LIBUSB "Enable libusb (used for most drivers)" DEPENDS LIBUSB1_FOUND)
option_with_deps(XRT_HAVE_LIBUVC "Enable libuvc video driver" DEPENDS LIBUVC_FOUND XRT_HAVE_LIBUSB) option_with_deps(XRT_HAVE_LIBUVC "Enable libuvc video driver" DEPENDS LIBUVC_FOUND XRT_HAVE_LIBUSB)
option_with_deps(XRT_HAVE_FFMPEG "Enable ffmpeg testing video driver" DEPENDS FFMPEG_FOUND)
option_with_deps(XRT_HAVE_SDL2 "Enable use of SDL2" DEPENDS SDL2_FOUND XRT_HAVE_OPENGL)
option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" DEPENDS CJSON_FOUND)
option_with_deps(XRT_HAVE_GST "Enable gstreamer" DEPENDS GST_FOUND)
option_with_deps(XRT_HAVE_REALSENSE "Enable RealSense support" DEPENDS realsense2_FOUND)
option_with_deps(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" DEPENDS ONNXRUNTIME_FOUND) option_with_deps(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" DEPENDS ONNXRUNTIME_FOUND)
option_with_deps(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" DEPENDS kimera_vio_FOUND) option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND)
option_with_deps(XRT_HAVE_BASALT_SLAM "Enable Basalt support" DEPENDS basalt_FOUND) option_with_deps(XRT_HAVE_REALSENSE "Enable RealSense support" DEPENDS realsense2_FOUND)
option_with_deps(XRT_HAVE_SLAM "Enable SLAM tracking support" DEPENDS SLAM XRT_HAVE_OPENCV)
option_with_deps(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" DEPENDS XRT_HAVE_HIDAPI) # Drivers to build (sorted)
option_with_deps(XRT_BUILD_DRIVER_REALSENSE "Enable RealSense device driver" DEPENDS XRT_HAVE_REALSENSE) option_with_deps(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" DEPENDS ANDROID)
option_with_deps(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" DEPENDS ZLIB_FOUND XRT_HAVE_LINUX)
option_with_deps(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" DEPENDS OPENHMD_FOUND)
option_with_deps(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" DEPENDS XRT_HAVE_ONNXRUNTIME XRT_HAVE_OPENCV XRT_HAVE_V4L2)
option_with_deps(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" DEPENDS XRT_HAVE_DBUS)
option_with_deps(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" DEPENDS XRT_HAVE_DBUS) option_with_deps(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" DEPENDS XRT_HAVE_DBUS)
option_with_deps(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" DEPENDS XRT_HAVE_DBUS)
option_with_deps(XRT_BUILD_DRIVER_DEPTHAI "DepthAI" DEPENDS depthai_FOUND)
option_with_deps(XRT_BUILD_DRIVER_EUROC "Enable EuRoC dataset driver for SLAM evaluation" DEPENDS XRT_HAVE_OPENCV)
option_with_deps(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" DEPENDS XRT_HAVE_ONNXRUNTIME XRT_HAVE_OPENCV XRT_HAVE_V4L2)
option_with_deps(XRT_BUILD_DRIVER_HDK "Enable HDK driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_HYDRA "Enable Hydra driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" DEPENDS ILLIXR_PATH) option_with_deps(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" DEPENDS ILLIXR_PATH)
option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON) option_with_deps(XRT_BUILD_DRIVER_NS "Enable North Star driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" DEPENDS LeapV2_FOUND) option_with_deps(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" DEPENDS OPENHMD_FOUND)
option_with_deps(XRT_BUILD_DRIVER_PSMV "Enable Playstation Move driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" DEPENDS XRT_HAVE_HIDAPI)
option_with_deps(XRT_BUILD_DRIVER_QWERTY "Enable Qwerty driver" DEPENDS XRT_HAVE_SDL2)
option_with_deps(XRT_BUILD_DRIVER_REALSENSE "Enable RealSense device driver" DEPENDS XRT_HAVE_REALSENSE)
option_with_deps(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" DEPENDS "XRT_HAVE_LINUX OR ANDROID") option_with_deps(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" DEPENDS "XRT_HAVE_LINUX OR ANDROID")
option_with_deps(XRT_BUILD_DRIVER_SURVIVE "Enable libsurvive driver" DEPENDS SURVIVE_FOUND)
option_with_deps(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" DEPENDS LeapV2_FOUND)
option_with_deps(XRT_BUILD_DRIVER_VF "Build video frame driver (for video file support, uses gstreamer)" DEPENDS XRT_HAVE_GST)
option_with_deps(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" DEPENDS ZLIB_FOUND XRT_HAVE_LINUX)
option_with_deps(XRT_BUILD_DRIVER_WMR "Enable Windows Mixed Reality driver" DEPENDS "NOT WIN32") option_with_deps(XRT_BUILD_DRIVER_WMR "Enable Windows Mixed Reality driver" DEPENDS "NOT WIN32")
option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
option(XRT_BUILD_SAMPLES "Enable compiling sample code implementations that will not be linked into any final targets" ON) option(XRT_BUILD_SAMPLES "Enable compiling sample code implementations that will not be linked into any final targets" ON)
option_with_deps(XRT_BUILD_DRIVER_HDK "Enable HDK driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_PSMV "Enable Playstation Move driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_HYDRA "Enable Hydra driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_NS "Enable North Star driver" DEPENDS XRT_HAVE_INTERNAL_HID)
option_with_deps(XRT_BUILD_DRIVER_VF "Build video frame driver (for video file support, uses gstreamer)" DEPENDS XRT_HAVE_GST)
option_with_deps(XRT_BUILD_DRIVER_DEPTHAI "DepthAI" DEPENDS depthai_FOUND)
option_with_deps(XRT_BUILD_DRIVER_SURVIVE "Enable libsurvive driver" DEPENDS SURVIVE_FOUND)
option_with_deps(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" DEPENDS ANDROID)
option_with_deps(XRT_BUILD_DRIVER_QWERTY "Enable Qwerty driver" DEPENDS XRT_HAVE_SDL2)
option_with_deps(XRT_BUILD_DRIVER_EUROC "Enable EuRoC dataset driver for SLAM evaluation" DEPENDS XRT_HAVE_OPENCV)
# cmake-format: on # cmake-format: on
# Most users won't touch these.
mark_as_advanced(XRT_FEATURE_COMPOSITOR_MAIN XRT_FEATURE_OPENXR)
# Defaults for OpenXR layer support
if(NOT DEFINED XRT_FEATURE_OPENXR_LAYER_DEPTH) if(NOT DEFINED XRT_FEATURE_OPENXR_LAYER_DEPTH)
set(XRT_FEATURE_OPENXR_LAYER_DEPTH ON) set(XRT_FEATURE_OPENXR_LAYER_DEPTH ON)
endif() endif()
@ -289,8 +300,6 @@ if(NOT DEFINED XRT_FEATURE_OPENXR_LAYER_EQUIRECT1)
set(XRT_FEATURE_OPENXR_LAYER_EQUIRECT1 ON) set(XRT_FEATURE_OPENXR_LAYER_EQUIRECT1 ON)
endif() endif()
# Most users won't touch these.
mark_as_advanced(XRT_FEATURE_COMPOSITOR_MAIN XRT_FEATURE_OPENXR)
# You can set this from a superproject to add a driver # You can set this from a superproject to add a driver
# All drivers must be listed in here to be included in the generated header! # All drivers must be listed in here to be included in the generated header!
list( list(
@ -439,7 +448,7 @@ message(STATUS "# ONNXRUNTIME: ${XRT_HAVE_ONNXRUNTIME}")
message(STATUS "# SYSTEM_CJSON: ${XRT_HAVE_SYSTEM_CJSON}") message(STATUS "# SYSTEM_CJSON: ${XRT_HAVE_SYSTEM_CJSON}")
message(STATUS "# KIMERA: ${XRT_HAVE_KIMERA_SLAM}") message(STATUS "# KIMERA: ${XRT_HAVE_KIMERA_SLAM}")
message(STATUS "# BASALT: ${XRT_HAVE_BASALT_SLAM}") message(STATUS "# BASALT: ${XRT_HAVE_BASALT_SLAM}")
message(STATUS "# SLAM: ${XRT_HAVE_SLAM}") message(STATUS "# SLAM: ${XRT_FEATURE_SLAM}")
message(STATUS "#") message(STATUS "#")
message(STATUS "# FEATURE_IPC: ${XRT_FEATURE_IPC}") message(STATUS "# FEATURE_IPC: ${XRT_FEATURE_IPC}")
message(STATUS "# FEATURE_COMPOSITOR_MAIN: ${XRT_FEATURE_COMPOSITOR_MAIN}") message(STATUS "# FEATURE_COMPOSITOR_MAIN: ${XRT_FEATURE_COMPOSITOR_MAIN}")

2
doc/changes/misc_fixes/mr.1262.md Normal file
View file

@ -0,0 +1,2 @@
- Build system will now error out, rather than silently disable the option, if you specifically enable an option whose dependencies are unavailable.
- Build system option: `XRT_HAVE_SLAM` has been renamed to `XRT_FEATURE_SLAM` to more accurately describe it, with corresponding move from `xrt_config_have.h` to `xrt_config_build.h`.

2
src/external/CMakeLists.txt vendored
View file

@ -50,7 +50,7 @@ target_include_directories(
) )
# External SLAM tracking # External SLAM tracking
if(SLAM) if(XRT_FEATURE_SLAM)
add_library(xrt-external-slam STATIC slam_tracker/slam_tracker.hpp) add_library(xrt-external-slam STATIC slam_tracker/slam_tracker.hpp)
set_target_properties(xrt-external-slam PROPERTIES LINKER_LANGUAGE CXX) set_target_properties(xrt-external-slam PROPERTIES LINKER_LANGUAGE CXX)
target_include_directories( target_include_directories(

2
src/xrt/auxiliary/CMakeLists.txt
View file

@ -144,7 +144,7 @@ if(XRT_HAVE_OPENCV)
target_include_directories(aux_tracking SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS}) target_include_directories(aux_tracking SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS})
target_link_libraries(aux_tracking PUBLIC ${OpenCV_LIBRARIES}) target_link_libraries(aux_tracking PUBLIC ${OpenCV_LIBRARIES})
endif() endif()
if(XRT_HAVE_SLAM) if(XRT_FEATURE_SLAM)
target_sources(aux_tracking PRIVATE tracking/t_tracker_slam.cpp) target_sources(aux_tracking PRIVATE tracking/t_tracker_slam.cpp)
target_link_libraries(aux_tracking PRIVATE xrt-external-slam) target_link_libraries(aux_tracking PRIVATE xrt-external-slam)
endif() endif()

4
src/xrt/drivers/euroc/euroc_runner.c
View file

@ -13,13 +13,15 @@
#include "tracking/t_tracking.h" #include "tracking/t_tracking.h"
#include "util/u_logging.h" #include "util/u_logging.h"
#include "util/u_misc.h" #include "util/u_misc.h"
#include "xrt/xrt_config_have.h" #include "xrt/xrt_config_have.h"
#include "xrt/xrt_config_build.h"
#include "xrt/xrt_defines.h" #include "xrt/xrt_defines.h"
#include "xrt/xrt_frame.h" #include "xrt/xrt_frame.h"
#include "xrt/xrt_frameserver.h" #include "xrt/xrt_frameserver.h"
#include "xrt/xrt_tracking.h" #include "xrt/xrt_tracking.h"
#if !defined(XRT_HAVE_SLAM) #if !defined(XRT_FEATURE_SLAM)
void void
euroc_run_dataset(const char *euroc_path, euroc_run_dataset(const char *euroc_path,

3
src/xrt/drivers/realsense/rs_prober.c
View file

@ -11,6 +11,7 @@
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include "xrt/xrt_config_build.h"
#include "xrt/xrt_config_have.h" #include "xrt/xrt_config_have.h"
#include "xrt/xrt_prober.h" #include "xrt/xrt_prober.h"
@ -164,7 +165,7 @@ create_tracked_rs_device(struct xrt_prober *xp)
rs2_error *e = NULL; rs2_error *e = NULL;
struct rs_container rsc = {0}; struct rs_container rsc = {0};
int expected_tracking = debug_get_num_option_rs_tracking(); int expected_tracking = debug_get_num_option_rs_tracking();
#ifdef XRT_HAVE_SLAM #ifdef XRT_FEATURE_SLAM
bool external_slam_supported = true; bool external_slam_supported = true;
#else #else
bool external_slam_supported = false; bool external_slam_supported = false;

5
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -12,6 +12,7 @@
*/ */
#include "xrt/xrt_config_have.h" #include "xrt/xrt_config_have.h"
#include "xrt/xrt_config_build.h"
#include "xrt/xrt_config_os.h" #include "xrt/xrt_config_os.h"
#include "xrt/xrt_device.h" #include "xrt/xrt_device.h"
@ -1218,7 +1219,7 @@ wmr_hmd_slam_track(struct wmr_hmd *wh)
struct xrt_slam_sinks *sinks = NULL; struct xrt_slam_sinks *sinks = NULL;
#ifdef XRT_HAVE_SLAM #ifdef XRT_FEATURE_SLAM
int create_status = t_slam_create(&wh->slam.xfctx, NULL, &wh->slam.tracker, &sinks); int create_status = t_slam_create(&wh->slam.xfctx, NULL, &wh->slam.tracker, &sinks);
if (create_status != 0) { if (create_status != 0) {
return NULL; return NULL;
@ -1266,7 +1267,7 @@ wmr_hmd_create(enum wmr_headset_type hmd_type,
// Decide whether to initialize the SLAM tracker // Decide whether to initialize the SLAM tracker
bool slam_wanted = debug_get_bool_option_wmr_slam(); bool slam_wanted = debug_get_bool_option_wmr_slam();
#ifdef XRT_HAVE_SLAM #ifdef XRT_FEATURE_SLAM
bool slam_supported = true; bool slam_supported = true;
#else #else
bool slam_supported = false; bool slam_supported = false;

34
src/xrt/include/xrt/xrt_config_build.h.cmake_in
View file

@ -1,4 +1,4 @@
// Copyright 2020-2021, Collabora, Ltd. // Copyright 2020-2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0 // SPDX-License-Identifier: BSL-1.0
/*! /*!
* @file * @file
@ -9,26 +9,18 @@
#pragma once #pragma once
#cmakedefine XRT_FEATURE_IPC /* keep sorted */
#cmakedefine XRT_FEATURE_COMPOSITOR_MAIN
#cmakedefine XRT_FEATURE_SERVICE
#cmakedefine XRT_FEATURE_OPENXR
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CUBE
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CYLINDER
#cmakedefine XRT_FEATURE_OPENXR_LAYER_DEPTH
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT2
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT1
#cmakedefine XRT_FEATURE_COLOR_LOG #cmakedefine XRT_FEATURE_COLOR_LOG
#cmakedefine XRT_FEATURE_COMPOSITOR_MAIN
#cmakedefine XRT_FEATURE_TRACING #cmakedefine XRT_FEATURE_IPC
#cmakedefine XRT_FEATURE_OPENXR
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CUBE
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CYLINDER
#cmakedefine XRT_FEATURE_OPENXR_LAYER_DEPTH
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT1
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT2
#cmakedefine XRT_FEATURE_RENDERDOC #cmakedefine XRT_FEATURE_RENDERDOC
#cmakedefine XRT_FEATURE_SERVICE
#cmakedefine XRT_FEATURE_SLAM
#cmakedefine XRT_FEATURE_TRACING

15
src/xrt/include/xrt/xrt_config_have.h.cmake_in
View file

@ -1,4 +1,4 @@
// Copyright 2019-2020, Collabora, Ltd. // Copyright 2019-2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0 // SPDX-License-Identifier: BSL-1.0
/*! /*!
* @file * @file
@ -9,26 +9,27 @@
#pragma once #pragma once
/* keep sorted */
#cmakedefine XRT_HAVE_BASALT_SLAM
#cmakedefine XRT_HAVE_DBUS #cmakedefine XRT_HAVE_DBUS
#cmakedefine XRT_HAVE_LIBBSD
#cmakedefine XRT_HAVE_EGL #cmakedefine XRT_HAVE_EGL
#cmakedefine XRT_HAVE_FFMPEG #cmakedefine XRT_HAVE_FFMPEG
#cmakedefine XRT_HAVE_GST #cmakedefine XRT_HAVE_GST
#cmakedefine XRT_HAVE_HIDAPI
#cmakedefine XRT_HAVE_JPEG #cmakedefine XRT_HAVE_JPEG
#cmakedefine XRT_HAVE_KIMERA_SLAM
#cmakedefine XRT_HAVE_LIBBSD
#cmakedefine XRT_HAVE_LIBUDEV #cmakedefine XRT_HAVE_LIBUDEV
#cmakedefine XRT_HAVE_LIBUSB #cmakedefine XRT_HAVE_LIBUSB
#cmakedefine XRT_HAVE_HIDAPI
#cmakedefine XRT_HAVE_LIBUVC #cmakedefine XRT_HAVE_LIBUVC
#cmakedefine XRT_HAVE_OPENCV #cmakedefine XRT_HAVE_OPENCV
#cmakedefine XRT_HAVE_OPENGL #cmakedefine XRT_HAVE_OPENGL
#cmakedefine XRT_HAVE_OPENGLES #cmakedefine XRT_HAVE_OPENGLES
#cmakedefine XRT_HAVE_PERCETTO
#cmakedefine XRT_HAVE_SDL2 #cmakedefine XRT_HAVE_SDL2
#cmakedefine XRT_HAVE_SYSTEMD #cmakedefine XRT_HAVE_SYSTEMD
#cmakedefine XRT_HAVE_V4L2 #cmakedefine XRT_HAVE_V4L2
#cmakedefine XRT_HAVE_VULKAN #cmakedefine XRT_HAVE_VULKAN
#cmakedefine XRT_HAVE_PERCETTO
#cmakedefine XRT_HAVE_KIMERA_SLAM
#cmakedefine XRT_HAVE_BASALT_SLAM
#cmakedefine XRT_HAVE_SLAM
#cmakedefine XRT_HAVE_WAYLAND #cmakedefine XRT_HAVE_WAYLAND
#cmakedefine XRT_HAVE_WAYLAND_DIRECT #cmakedefine XRT_HAVE_WAYLAND_DIRECT

10
src/xrt/state_trackers/prober/p_tracking.c
View file

@ -13,6 +13,8 @@
#include "xrt/xrt_config_have.h" #include "xrt/xrt_config_have.h"
#include "xrt/xrt_config_drivers.h" #include "xrt/xrt_config_drivers.h"
#include "xrt/xrt_config_build.h"
#ifdef XRT_HAVE_OPENCV #ifdef XRT_HAVE_OPENCV
#include "tracking/t_tracking.h" #include "tracking/t_tracking.h"
#endif #endif
@ -243,7 +245,7 @@ p_factory_ensure_frameserver(struct p_factory *fact)
XRT_MAYBE_UNUSED static bool XRT_MAYBE_UNUSED static bool
p_factory_ensure_slam_frameserver(struct p_factory *fact) p_factory_ensure_slam_frameserver(struct p_factory *fact)
{ {
//! @todo The check for (XRT_HAVE_SLAM && XRT_BUILD_DRIVER_* && //! @todo The check for (XRT_FEATURE_SLAM && XRT_BUILD_DRIVER_* &&
//! debug_flag_is_correct) is getting duplicated in: p_open_video_device, //! debug_flag_is_correct) is getting duplicated in: p_open_video_device,
//! p_list_video_devices, and p_factory_ensure_slam_frameserver (here) with //! p_list_video_devices, and p_factory_ensure_slam_frameserver (here) with
//! small differences. Incorrectly modifying one will mess the others. //! small differences. Incorrectly modifying one will mess the others.
@ -263,7 +265,7 @@ p_factory_ensure_slam_frameserver(struct p_factory *fact)
xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs); xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
assert(fact->xfs->source_id == 0xECD0FEED && "xfs is not Euroc, unsynced open_video_device?"); assert(fact->xfs->source_id == 0xECD0FEED && "xfs is not Euroc, unsynced open_video_device?");
#ifdef XRT_HAVE_SLAM #ifdef XRT_FEATURE_SLAM
int ret = t_slam_create(&fact->xfctx, NULL, &fact->xts, &sinks); int ret = t_slam_create(&fact->xfctx, NULL, &fact->xts, &sinks);
if (ret != 0) { if (ret != 0) {
U_LOG_W("Unable to initialize SLAM tracking, the Euroc driver will not be tracked"); U_LOG_W("Unable to initialize SLAM tracking, the Euroc driver will not be tracked");
@ -288,7 +290,7 @@ p_factory_ensure_slam_frameserver(struct p_factory *fact)
xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs); xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
assert(fact->xfs->source_id == 0x2EA15E115E && "xfs is not RealSense, unsynced open_video_device?"); assert(fact->xfs->source_id == 0x2EA15E115E && "xfs is not RealSense, unsynced open_video_device?");
#ifdef XRT_HAVE_SLAM #ifdef XRT_FEATURE_SLAM
int ret = t_slam_create(&fact->xfctx, NULL, &fact->xts, &sinks); int ret = t_slam_create(&fact->xfctx, NULL, &fact->xts, &sinks);
if (ret != 0) { if (ret != 0) {
U_LOG_W("Unable to initialize SLAM tracking, the RealSense driver will not be tracked"); U_LOG_W("Unable to initialize SLAM tracking, the RealSense driver will not be tracked");
@ -412,7 +414,7 @@ p_factory_create_tracked_slam(struct xrt_tracking_factory *xfact,
struct xrt_device *xdev, struct xrt_device *xdev,
struct xrt_tracked_slam **out_xts) struct xrt_tracked_slam **out_xts)
{ {
#ifdef XRT_HAVE_SLAM #ifdef XRT_FEATURE_SLAM
struct p_factory *fact = p_factory(xfact); struct p_factory *fact = p_factory(xfact);
struct xrt_tracked_slam *xts = NULL; struct xrt_tracked_slam *xts = NULL;

5
src/xrt/targets/cli/cli_cmd_slambatch.c
View file

@ -9,6 +9,7 @@
#include "euroc/euroc_interface.h" #include "euroc/euroc_interface.h"
#include "os/os_threading.h" #include "os/os_threading.h"
#include "util/u_logging.h" #include "util/u_logging.h"
#include "xrt/xrt_config_build.h"
#include "xrt/xrt_config_have.h" #include "xrt/xrt_config_have.h"
#include "xrt/xrt_config_drivers.h" #include "xrt/xrt_config_drivers.h"
@ -17,7 +18,7 @@
#define P(...) fprintf(stderr, __VA_ARGS__) #define P(...) fprintf(stderr, __VA_ARGS__)
#define I(...) U_LOG(U_LOGGING_INFO, __VA_ARGS__) #define I(...) U_LOG(U_LOGGING_INFO, __VA_ARGS__)
#if defined(XRT_HAVE_SLAM) && defined(XRT_BUILD_DRIVER_EUROC) #if defined(XRT_FEATURE_SLAM) && defined(XRT_BUILD_DRIVER_EUROC)
static bool should_exit = false; static bool should_exit = false;
@ -34,7 +35,7 @@ int
cli_cmd_slambatch(int argc, const char **argv) cli_cmd_slambatch(int argc, const char **argv)
{ {
#if !defined(XRT_HAVE_SLAM) #if !defined(XRT_FEATURE_SLAM)
P("No SLAM system built.\n"); P("No SLAM system built.\n");
return EXIT_FAILURE; return EXIT_FAILURE;
#elif !defined(XRT_BUILD_DRIVER_EUROC) #elif !defined(XRT_BUILD_DRIVER_EUROC)