[issue #879] moved all installations to /opt/jderobot

CMakeLists.txt

@@ -8,6 +8,8 @@ else()
   project (jderobot-only-ice)
 endif()
 
+set(CMAKE_INSTALL_PREFIX /opt/jderobot)
+
 cmake_minimum_required(VERSION 2.8)
 
 # build presents
@@ -138,6 +140,12 @@ STRING(REGEX REPLACE ";" ", " DEPS_DEV "${DEPS_DEV}")
 # START RECURSIVE
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/src)
 
+configure_file(
+      setup.bash.in
+      setup.bash
+      @ONLY
+  )
+
 
 
 ###################
@@ -157,6 +165,9 @@ INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/Deps DESTINATION ${CMAKE_INSTALL_P
 # Install ROS Launch files
 INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/scripts/launch DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot)
 
+# Install setup.bash
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.bash DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot)
+
 
 
 
@@ -204,7 +215,7 @@ SET (CPACK_SOURCE_GENERATOR TGZ)
 SET (CPACK_SET_DESTDIR ON)
 SET (CPACK_DEB_COMPONENT_INSTALL OFF)
 SET (CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
-SET (CPACK_PACKAGING_INSTALL_PREFIX "/usr/local")
+SET (CPACK_PACKAGING_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
 
 
 # CPack version numbers for release tarball name.

Deps/python/CMakeLists.txt

@@ -1,6 +1,20 @@
 find_package(Python3Interp)
 find_package(Python2Interp)
 
-message(${PYTHON3_MODULE_PATH})
+if (${PYTHON3INTERP_FOUND})
+	string(REPLACE "/" ";" PY3_LIST ${PYTHON3_MODULE_PATH})
+	list(LENGTH PY3_LIST len)
+	math(EXPR pos ${len}-1)
+	list(GET PY3_LIST ${pos} py3)
+	set (JDEROBOT_PYTHON3_MODULE_PATH ${CMAKE_INSTALL_PREFIX}/lib/${py3})
+	message("${PYTHON3_MODULE_PATH}:${JDEROBOT_PYTHON3_MODULE_PATH}")
+endif()
 
-message(${PYTHON2_MODULE_PATH})
+if (${PYTHON2INTERP_FOUND})
+	string(REPLACE "/" ";" PY2_LIST ${PYTHON2_MODULE_PATH})
+	list(LENGTH PY2_LIST len)
+	math(EXPR pos ${len}-1)
+	list(GET PY2_LIST ${pos} py2)
+	set (JDEROBOT_PYTHON2_MODULE_PATH ${CMAKE_INSTALL_PREFIX}/lib/${py2})
+	message("${PYTHON2_MODULE_PATH}:${JDEROBOT_PYTHON2_MODULE_PATH}")
+endif()

cmake/pythonAux.cmake

@@ -7,6 +7,7 @@ macro(usePython ver)
     set(PYTHON_VERSION_MINOR ${PYTHON2_VERSION_MINOR})
     set(PYTHON_VERSION_PATCH ${PYTHON2_VERSION_PATCH})
     set(PYTHON_MODULE_PATH ${PYTHON2_MODULE_PATH})
+    set(JDEROBOT_PYTHON_MODULE_PATH ${JDEROBOT_PYTHON2_MODULE_PATH})
     set(PYTHONINTERP_FOUND TRUE)
   elseif(${ver} EQUAL 3 AND ${PYTHON3INTERP_FOUND})
     set(PYTHON_EXECUTABLE ${PYTHON3_EXECUTABLE})
@@ -15,6 +16,7 @@ macro(usePython ver)
     set(PYTHON_VERSION_MINOR ${PYTHON3_VERSION_MINOR})
     set(PYTHON_VERSION_PATCH ${PYTHON3_VERSION_PATCH})
     set(PYTHON_MODULE_PATH ${PYTHON3_MODULE_PATH})
+    set(JDEROBOT_PYTHON_MODULE_PATH ${JDEROBOT_PYTHON3_MODULE_PATH})
     set(PYTHONINTERP_FOUND TRUE)
   else(${ver} EQUAL 2 AND ${PYTHON2INTERP_FOUND})
     unset(PYTHON_EXECUTABLE)
@@ -23,6 +25,7 @@ macro(usePython ver)
     unset(PYTHON_VERSION_MINOR)
     unset(PYTHON_VERSION_PATCH)
     unset(PYTHON_MODULE_PATH)
+    unset(JDEROBOT_PYTHON_MODULE_PATH)
     set(PYTHONINTERP_FOUND FALSE)
   endif(${ver} EQUAL 2 AND ${PYTHON2INTERP_FOUND})
 endmacro()
@@ -91,15 +94,15 @@ endmacro()
 macro (install_python module component)
   install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/py2/${module}
 
-    DESTINATION ${PYTHON2_MODULE_PATH}
+    DESTINATION ${JDEROBOT_PYTHON2_MODULE_PATH}
 
     COMPONENT ${component}
 
   )
 
   install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/py3/${module}
 
-    DESTINATION ${PYTHON3_MODULE_PATH}
+    DESTINATION ${JDEROBOT_PYTHON3_MODULE_PATH}
 
     COMPONENT ${component}
 

scripts/cmake/postinst

@@ -4,8 +4,8 @@
 pip2 install --upgrade pip
 pip2 install zeroc-ice
 
-echo "/usr/local/lib/jderobot/" > /etc/ld.so.conf.d/jderobot.conf
-cat /usr/local/share/jderobot/gazebo/gazebo-setup.sh >> ~/.bashrc
+echo "/opt/jderobot/lib/jderobot/" > /etc/ld.so.conf.d/jderobot.conf
+echo "source /opt/jderobot/setup.bash" >> ~/.bashrc
 echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
 source ~/.bashrc 
 ldconfig

setup.bash.in

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+export PATH=$PATH:@CMAKE_INSTALL_PREFIX@/bin
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:@CMAKE_INSTALL_PREFIX@/lib
+export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:@CMAKE_INSTALL_PREFIX@
+export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:@CMAKE_INSTALL_PREFIX@/lib/pkgconfig
+export PYTHONPATH=$PYTHONPATH:@CMAKE_INSTALL_PREFIX@/lib/python2.7
+
+
+FILE=@CMAKE_INSTALL_PREFIX@/share/jderobot/gazebo/gazebo-setup.sh
+if [ -f $FILE ]; then
+   source $FILE
+fi
+

src/drivers/ardrone_server/CMakeLists.txt

@@ -13,6 +13,12 @@ if(ARDRONE_ALL_DEPS)
 
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w -lIce -lIceUtil")
 
+	configure_file(
+    include/ardrone_server/ardrone_driver.h.in
+    include/ardrone_server/ardrone_driver.h
+    @ONLY
+)
+
 	include_directories(
 		${INTERFACES_CPP_DIR}
 		${OpenCV_INCLUDE_DIR}
@@ -28,7 +34,9 @@ if(ARDRONE_ALL_DEPS)
 		${ardronelib_LIBRARY_DIRS}
 		${easyiceconfig_LIBRARY_DIRS})
 
-	include_directories(include)
+	include_directories(include
+	${CMAKE_CURRENT_BINARY_DIR}/include
+	)
 
 
 	add_executable(ardrone_server src/ardrone_driver.cpp 

src/drivers/ardrone_server/include/ardrone_server/ardrone_driver.h → src/drivers/ardrone_server/include/ardrone_server/ardrone_driver.h.in

@@ -23,15 +23,15 @@
 class ARDroneDriver;
 
 
-#include "ardrone_sdk.h"
-#include "ardrone_parser.h"
+#include <ardrone_server/ardrone_sdk.h>
+#include <ardrone_server/ardrone_parser.h>
 #include <iostream>
 #include <vector>
 #include <eigen3/Eigen/Dense>
 #include <eigen3/Eigen/Geometry>
 #include <Ice/Ice.h>
 
-#include "boost/date_time/posix_time/posix_time.hpp" 
+#include <boost/date_time/posix_time/posix_time.hpp> 
 
 #define _DEG2RAD 0.01745331111
 #define _RAD2DEG 57.2957184819
@@ -40,7 +40,7 @@ class ARDroneDriver;
 #define DRIVER_APPNAME "ardrone_server"
 #define CAMERA_QUEUE_SIZE (10)
 #define NAVDATA_QUEUE_SIZE (25)
-#define CONFIG_FILE_PATH "/usr/local/share/jderobot/conf/config/config.xml"
+#define CONFIG_FILE_PATH "@CMAKE_INSTALL_PREFIX@/share/jderobot/conf/config/config.xml"
 #define CONFIG_FILE_TMP "/tmp"
 #define LOOPRATE 30
 

src/drivers/ardrone_server/include/ardrone_server/ardrone_sdk.h

@@ -67,7 +67,7 @@ extern "C" {
 	extern video_decoder_config_t vec;
 }
 
-#include "ardrone_driver.h"
+#include <ardrone_server/ardrone_driver.h>
 
 #define NB_DRIVER_POST_STAGES   10
 

src/drivers/ardrone_server/include/ardrone_server/video.h

@@ -26,7 +26,7 @@ modified by: Alberto Martín Florido <almartinflorido@gmail.com>
 #define _VIDEO_H_
 
 #include "ardrone_sdk.h"
-#include "ardrone_driver.h"
+#include <ardrone_server/ardrone_driver.h>
 
 // The maximum memory allocation
 #define MAX_STREAM_WIDTH 640

src/interfaces/CMakeLists.txt

@@ -137,10 +137,10 @@ INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/libJderobotInterfaces.so DESTINATION $
 # Install python files
 FILE(GLOB_RECURSE HEADERS_FILES ${CMAKE_CURRENT_BINARY_DIR}/python/*py)
 FOREACH(header ${HEADERS_FILES})
-    INSTALL(FILES ${header} DESTINATION ${PYTHON_MODULE_PATH}/ COMPONENT core)
+    INSTALL(FILES ${header} DESTINATION ${JDEROBOT_PYTHON_MODULE_PATH}/ COMPONENT core)
 ENDFOREACH(header)
 
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/python/jderobot/__init__.py DESTINATION ${PYTHON_MODULE_PATH}/jderobot/ COMPONENT core)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/python/jderobot/__init__.py DESTINATION ${JDEROBOT_PYTHON_MODULE_PATH}/jderobot/ COMPONENT core)
 
 # Install interfaces headers
 INSTALL(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/cpp/jderobot/

src/tools/navigatorCamera/CMakeLists.txt

@@ -47,6 +47,6 @@ install(TARGETS navigatorCamera
     COMPONENT tools
     )
 
-INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/myimage.png DESTINATION /usr/local/share/jderobot/glade/ )
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/myimage.png DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/glade/ )
 INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/navigatorCamera.glade DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/glade )
 INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/navigatorCamera.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)

src/tools/visualStates/CMakeLists.txt

@@ -1,5 +1,7 @@
 IF (goocanvasmm_INCLUDE_DIRS)
 
+message("-----------------VisualStates---------------------")
+
 SET( SOURCE_FILES_VISUALSTATES
 	iceinterface.cpp
 	point.cpp
@@ -98,11 +100,31 @@ add_custom_command(TARGET visualStates POST_BUILD
 
     # Install Glade
 	FILE(GLOB_RECURSE GLADE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gui/*.glade)
-	INSTALL (FILES ${GLADE_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/glade)
+	INSTALL (FILES ${GLADE_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/glade/visualStates)
 
 	# install resources (jderobot logo)
 	INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/resources/jderobot.png DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/resources)
 
+
+	# Install C++ Headers
+	FILE(GLOB h_files "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
+	INSTALL(FILES ${h_files} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/visualStates)
+
+	FILE(GLOB h_files "${CMAKE_CURRENT_SOURCE_DIR}/popups/*.h")
+	INSTALL(FILES ${h_files} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/visualStates/popups)
+
+
+	# Install Python Files
+	FILE(GLOB p_files "${CMAKE_CURRENT_SOURCE_DIR}/*.py")
+	INSTALL(FILES ${p_files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/python/visualStates_py)
+
+
+    install(FILES getinterfaces.sh
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+    )
+
+
+
 ENDIF()
 
 

src/tools/visualStates/generate.cpp

@@ -637,9 +637,10 @@ void Generate::generateCmake () {
 	this->fs << std::endl;
 	this->fs << "pkg_check_modules(GTKMM REQUIRED gtkmm-3.0)" << std::endl;
 	this->fs << std::endl;
-	this->fs << "SET( INTERFACES_CPP_DIR /usr/local/include )" << std::endl;
+	this->fs << "SET( INTERFACES_CPP_DIR /opt/jderobot/include )" << std::endl;
 	this->fs << "SET( LIBS_DIR /usr/local/lib )" << std::endl;
-	this->fs << "SET( easyiceconfig_LIBRARIES ${LIBS_DIR}/jderobot/libeasyiceconfig.so)" << std::endl;
+	this->fs << "SET( JDEROBOT_LIBS_DIR /opt/jderobot/lib )" << std::endl;
+	this->fs << "SET( easyiceconfig_LIBRARIES ${JDEROBOT_LIBS_DIR}/jderobot/libeasyiceconfig.so)" << std::endl;
 	this->fs << std::endl;
 	this->fs << "SET( CMAKE_CXX_FLAGS \"-pthread\" ) # Opciones para el compilador" << std::endl;
 	this->fs << std::endl;
@@ -652,10 +653,11 @@ void Generate::generateCmake () {
 	this->fs << ")" << std::endl;
 	this->fs << std::endl;
 	this->fs << "include_directories (" << std::endl;
-	this->fs << "\t/usr/local/include/jderobot" << std::endl;
+	this->fs << "\t/opt/jderobot/include/jderobot" << std::endl;
 	this->fs << "\t${INTERFACES_CPP_DIR}" << std::endl;
 	this->fs << "\t${easyiceconfig_INCLUDE_DIRS}" << std::endl;
 	this->fs << "\t${LIBS_DIR}" << std::endl;
+	this->fs << "\t${JDEROBOT_LIBS_DIR}" << std::endl;
 	this->fs << "\t${CMAKE_CURRENT_SOURCE_DIR}" << std::endl;
 	this->fs << "\t${GTKMM_INCLUDE_DIRS}" << std::endl;
 	this->fs << "\t${goocanvasmm_INCLUDE_DIRS}" << std::endl;
@@ -673,9 +675,9 @@ void Generate::generateCmake () {
 	this->fs << "\t${GTKMM_LIBRARIES}" << std::endl;
 	this->fs << "\t${easyiceconfig_LIBRARIES}" << std::endl;
 	this->fs << "\t${goocanvasmm_LIBRARIES}" <<std::endl;
-    this->fs << "\t${LIBS_DIR}/jderobot/libvisualStateslib.so" << std::endl;
-	this->fs << "\t${LIBS_DIR}/jderobot/libJderobotInterfaces.so" << std::endl;
-	this->fs << "\t${LIBS_DIR}/jderobot/libjderobotutil.so" << std::endl;
+    this->fs << "\t${JDEROBOT_LIBS_DIR}/jderobot/libvisualStateslib.so" << std::endl;
+	this->fs << "\t${JDEROBOT_LIBS_DIR}/jderobot/libJderobotInterfaces.so" << std::endl;
+	this->fs << "\t${JDEROBOT_LIBS_DIR}/jderobot/libjderobotutil.so" << std::endl;
 	this->fs << "\tIce" << std::endl;
 	this->fs << "\tIceUtil" << std::endl;
 	this->fs << ")" << std::endl;
@@ -703,7 +705,7 @@ void Generate::generateGenericHeaders_py(){
 import Ice\n\
 import easyiceconfig as EasyIce\n\
 import sys, signal\n\
-sys.path.append('/usr/local/share/jderobot/python/visualStates_py')\n\
+sys.path.append('/opt/jderobot/share/jderobot/python/visualStates_py')\n\
 import traceback, threading, time\n\
 from automatagui import AutomataGui, QtGui, GuiSubautomata\n\n";
 

src/tools/visualStates/visualStates.cpp

@@ -58,7 +58,7 @@ VisualStates::VisualStates ( BaseObjectType* cobject, const Glib::RefPtr<Gtk::Bu
     // get the logo image
     refBuilder->get_widget("jderobotlogo", this->logo);
     //TODO: we assume a fixed installation path, we should get the installation path from CMAKE maybe
-    this->logo->set("/usr/local/share/jderobot/resources/jderobot.png");
+    this->logo->set("/opt/jderobot/share/jderobot/resources/jderobot.png");
 
     // ASSIGNING SIGNALS
     // Of the menu items