Restore Spot C++ SDK builds

Signed-off-by: Michel Hidalgo <[email protected]>

cpp/CMakeLists.txt

@@ -9,15 +9,16 @@
 cmake_minimum_required (VERSION 3.10.2)
 project (bosdyn VERSION 4.1.0)
 
-# Add cmake modules
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
-
 # Dependencies:
 find_package(Protobuf REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(gRPC REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GRPC REQUIRED grpc)
+pkg_check_modules(GRPCPP REQUIRED grpc++)
+find_program(GRPC_CPP_PLUGIN_LOCATION grpc_cpp_plugin REQUIRED)
+
 find_package(Threads REQUIRED)
-get_target_property(grpc_cpp_plugin_location gRPC::grpc_cpp_plugin LOCATION)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS true)
 
@@ -33,30 +34,27 @@ ENDIF (NOT UNIX)
 
 include(GNUInstallDirs)
 
-
 ### API protos LIBRARY ###
-set(API_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/protos/)
-# Copy protos folders to build folder so they are in a subdirectory from the cpp folder (necessary for the proto cpp files generation).
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/../protos/ DESTINATION ${API_protos_PATH})
+get_filename_component(API_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../protos/ ABSOLUTE)
+file(GLOB_RECURSE bosdyn_protos_files CONFIGURE_DEPENDS "${API_protos_PATH}/*.proto")
 set(protos_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/protos)
 file(MAKE_DIRECTORY ${protos_OUTPUT_DIR})
-file(GLOB_RECURSE bosdyn_protos_files CONFIGURE_DEPENDS
-    RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${API_protos_PATH}/*.proto")
-
 if (bosdyn_protos_files)
   add_library(bosdyn_api_obj OBJECT ${bosdyn_protos_files})
   set_property(TARGET bosdyn_api_obj PROPERTY POSITION_INDEPENDENT_CODE 1)
-  target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf gRPC::grpc gRPC::grpc++)
+  target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf ${GRPC_LINK_LIBRARIES} ${GRPCPP_LINK_LIBRARIES})
   target_include_directories(bosdyn_api_obj PUBLIC
+    ${GRPC_INCLUDE_DIRS} ${GRPCPP_INCLUDE_DIRS}
     $<BUILD_INTERFACE:${protos_OUTPUT_DIR}>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
   )
   protobuf_generate(TARGET bosdyn_api_obj LANGUAGE cpp
-  IMPORT_DIRS ${API_protos_PATH}
-  PROTOC_OUT_DIR ${protos_OUTPUT_DIR})
+    IMPORT_DIRS ${API_protos_PATH}
+    PROTOC_OUT_DIR ${protos_OUTPUT_DIR}
+  )
   protobuf_generate(TARGET bosdyn_api_obj
     LANGUAGE grpc GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
-    PLUGIN "protoc-gen-grpc=${grpc_cpp_plugin_location}"
+    PLUGIN "protoc-gen-grpc=${GRPC_CPP_PLUGIN_LOCATION}"
     IMPORT_DIRS ${API_protos_PATH}
     PROTOC_OUT_DIR ${protos_OUTPUT_DIR}
   )
@@ -95,13 +93,11 @@ endif()
 if (BUILD_CHOREOGRAPHY_LIBS)
 
 ### API choreography_protos LIBRARY ###
-set(API_choreography_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/choreography_protos/)
-# Copy choreography_protos folders to build folder so they are in a subdirectory from the cpp folder (necessary for the proto cpp files generation).
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/../choreography_protos/ DESTINATION ${API_choreography_protos_PATH})
+get_filename_component(API_choreography_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../choreography_protos/ ABSOLUTE)
+file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS "${API_choreography_protos_PATH}/*.proto")
 set(choreography_protos_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/choreography_protos)
 file(MAKE_DIRECTORY ${choreography_protos_OUTPUT_DIR})
-file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS
-    RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${API_choreography_protos_PATH}/*.proto")
+file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS "${API_choreography_protos_PATH}/*.proto")
 
 if (bosdyn_choreography_protos_files)
   add_library(bosdyn_choreography_protos_obj OBJECT ${bosdyn_choreography_protos_files})
@@ -116,7 +112,7 @@ if (bosdyn_choreography_protos_files)
   PROTOC_OUT_DIR ${choreography_protos_OUTPUT_DIR})
   protobuf_generate(TARGET bosdyn_choreography_protos_obj
     LANGUAGE grpc GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
-    PLUGIN "protoc-gen-grpc=${grpc_cpp_plugin_location}"
+    PLUGIN "protoc-gen-grpc=${GRPC_CPP_PLUGIN_LOCATION}"
     IMPORT_DIRS ${API_choreography_protos_PATH}
     PROTOC_OUT_DIR ${choreography_protos_OUTPUT_DIR}
   )

cpp/cmake/ProjectConfig.cmake.in

@@ -7,8 +7,9 @@ list(APPEND CMAKE_PREFIX_PATH @DEP_INSTALL_PATH@)
 include(CMakeFindDependencyMacro)
 find_dependency(Protobuf CONFIG REQUIRED)
 find_dependency(Eigen3 CONFIG REQUIRED)
-find_dependency(gRPC CONFIG REQUIRED)
-find_dependency(CLI11 CONFIG REQUIRED)
+find_dependency(PkgConfig CONFIG REQUIRED)
+pkg_check_modules(GRPC REQUIRED grpc)
+pkg_check_modules(GRPCPP REQUIRED grpc++)
 find_dependency(Threads REQUIRED)
 # Pick up the auto-generated file which knows how to add the library targets
 # This will mean that we do not have to supply full paths for the libraries