[cmake] removing the "make api" step: now only one cmake command is n…

…ecessary

.github/workflows/tests.yml

@@ -76,9 +76,6 @@ jobs:
 
         # Building lib + tests
         cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=ON -DTEST_EXAMPLES=ON ..
-        make api
-        # Again for doxygen2docstring
-        cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=ON -DTEST_EXAMPLES=ON ..
         ##-DPYTHON_EXECUTABLE=/usr/bin/python3.5 ..
         make
         #make doc # todo
@@ -116,9 +113,6 @@ jobs:
 
         # Building lib + tests
         cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=ON -DWITH_CAPD=ON -DTEST_EXAMPLES=ON ..
-        make api
-        # Again for doxygen2docstring
-        cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=ON -DWITH_CAPD=ON -DTEST_EXAMPLES=ON ..
         ##-DPYTHON_EXECUTABLE=/usr/bin/python3.5 ..
         make
         #make doc

doc/CMakeLists.txt

@@ -9,35 +9,42 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js
 
 # Technical API documentation (Doxygen)
 
-  find_package(Doxygen)
+  if(WITH_PYTHON)
 
-  if(NOT DOXYGEN_FOUND)
+    find_package(Doxygen)
 
-    message(STATUS "Doxygen not found, not able to generate/install the API documentation.")
+    if(NOT DOXYGEN_FOUND)
 
-  else()
+      message(STATUS "Doxygen not found, not able to generate/install the API documentation.")
 
-    # Includes CMake commands in config file:
-    configure_file(api/Doxyfile.in api/Doxyfile)
+    else()
 
-    set(DOXYGEN_INPUT ${CMAKE_CURRENT_BINARY_DIR}/api/Doxyfile)
-    set(DOXYGEN_OUTPUT ${APIDOC_DIR}/html/index.html)
+      # Includes CMake commands in config file:
+      configure_file(api/Doxyfile.in api/Doxyfile)
 
-    if(WIN32)
-      set(NULL_DEST NUL 2>&1)
-    else()
-      set(NULL_DEST "/dev/null")
-    endif()
+      set(DOXYGEN_INPUT ${CMAKE_CURRENT_BINARY_DIR}/api/Doxyfile)
+      set(DOXYGEN_OUTPUT ${APIDOC_DIR}/html/index.html)
 
-    add_custom_target(api
-                      COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation... "
-                      COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_INPUT} > ${NULL_DEST}
-                      COMMAND ${CMAKE_COMMAND} -E echo "done."
-                      )
+      if(WIN32)
+        set(NULL_DEST NUL 2>&1)
+      else()
+        set(NULL_DEST "/dev/null")
+      endif()
 
-    install(DIRECTORY ${CMAKE_BINARY_DIR}/doc/api/html 
-            DESTINATION share/doc/${CMAKE_PROJECT_NAME}/api
-            OPTIONAL)
+      #add_custom_target(api
+      #                  COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation... "
+      #                  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_INPUT} > ${NULL_DEST}
+      #                  COMMAND ${CMAKE_COMMAND} -E echo "done."
+      #                  )
+
+      message(STATUS "Building API Documentation (mandatory for Python binding)")
+      execute_process(COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_INPUT} OUTPUT_QUIET)
+
+      install(DIRECTORY ${CMAKE_BINARY_DIR}/doc/api/html 
+              DESTINATION share/doc/${CMAKE_PROJECT_NAME}/api
+              OPTIONAL)
+
+    endif()
 
   endif()
 

doc/api/Doxyfile.in

@@ -872,7 +872,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = ../../src/core/graphics/vibes/
+EXCLUDE                = ../src/core/graphics/vibes/
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded

doc/doc/dev/info_dev.rst

@@ -50,19 +50,7 @@ In case you are willing to contribute to Codac, here are some information that m
 
                             cmake <other_cmake_options> -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" ..
 
-                          You will then have to generate the Doxygen documentation (XML files):
-
-                          .. code-block:: bash
-
-                            make api
-
-                          And finally run again the ``cmake`` command:
-
-                          .. code-block:: bash
-
-                            cmake <other_cmake_options> -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" ..
-
-                          This last step will generate header files containing docstrings for Python, based on
+                          This configuration generates header files containing docstrings for Python, based on
                           the content of XML files made by Doxygen. The documentation of any C++/Python function
                           is then located in the C++ header files of the :file:`/src` directory.
 
@@ -111,17 +99,13 @@ The website will be generated in :file:`build/doc/`.
 
 .. rubric:: API technical documentation
 
-Build the API technical documentation using Doxygen:
+For building the API technical documentation using Doxygen:
 
 .. code-block:: bash
 
   # Install Doxygen with
   sudo apt install doxygen graphviz
 
-  # Build the doc
-  cd build
-  make api
-
 The API pages will be generated in :file:`build/doc/api/html/`.
 
 
@@ -187,19 +171,7 @@ Then, configure ``cmake`` with custom options and ``-DWITH_PYTHON=ON``:
 
   cmake <...> -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" ..
 
-You will then have to generate the Doxygen documentation (XML files):
-
-.. code-block:: bash
-
-  make api
-
-And finally run again the ``cmake`` command:
-
-.. code-block:: bash
-
-  cmake <other_cmake_options> -DWITH_PYTHON=ON ..
-
-This last step will generate header files containing docstrings for Python, based on
+This configuration generates header files containing docstrings for Python, based on
 the content of XML files made by Doxygen. The documentation of any C++/Python function
 is then located in the C++ header files of the :file:`/src` directory.
 

doc/doc/index.rst

@@ -447,7 +447,7 @@ We suggest the following BibTeX template to cite Codac in scientific discourse:
 .. code-block:: none
 
  @misc{codac,
-    author = {Simon Rohou and Benoit Desrochers and others},
+    author = {Rohou, Simon and Desrochers, Benoit and others},
     year = {2022},
     note = {http://codac.io},
     title = {The {Codac} library -- {C}onstraint-programming for robotics}

doc/doc/use-cases/lie-symmetries/index.rst

@@ -1,5 +1,10 @@
 .. _sec-usecases-lie-symmetries:
 
+.. warning::
+
+  Several changes are currently performed on the library.
+  This page may not be up to date.
+
 #########################################
 Lie symmetries for guaranteed integration
 #########################################

doc/doc/use-cases/loops/index.rst

@@ -1,5 +1,10 @@
 .. _sec-usecases-loops:
 
+.. warning::
+
+  Several changes are currently performed on the library.
+  This page may not be up to date.
+
 ####################################
 Loop detection in robot trajectories
 ####################################

doc/doc/use-cases/set-inversion/02-setinv-localization.rst

@@ -1,5 +1,10 @@
 .. _sec-usecases-setinv-localization:
 
+.. warning::
+
+  Several changes are currently performed on the library.
+  This page may not be up to date.
+
 ***************************
 Separators for localization
 ***************************

doc/doc/use-cases/set-inversion/03-setinv-paramestim.rst

@@ -1,5 +1,10 @@
 .. _sec-usecases-setinv-paramestim:
 
+.. warning::
+
+  Several changes are currently performed on the library.
+  This page may not be up to date.
+
 ***********************************
 Separators for parameter estimation
 ***********************************

doc/doc/use-cases/set-inversion/index.rst

@@ -1,5 +1,10 @@
 .. _sec-usecases-setinv:
 
+.. warning::
+
+  Several changes are currently performed on the library.
+  This page may not be up to date.
+
 ##############################
 Set-inversion using separators
 ##############################

make.sh

@@ -45,7 +45,6 @@ fi
   fi
 
   make -j
-  make api
   make doc
   cd ..
 

python/CMakeLists.txt

@@ -29,14 +29,8 @@
   ################################################################################
 
   if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/../doc/api/xml)
-    if(NOT WIN32)
-      string(ASCII 27 Esc)
-      set(ColourReset "${Esc}[m")
-      set(Red         "${Esc}[31m")
-      set(Blue        "${Esc}[34m")
-    endif()
-
-    message(STATUS "${Red}/!\\ Run \"make api\" for generating Doxygen doc, then \"cmake ..\" again, before \"make\"${ColourReset}")
+    # The file generated_docstring.cpp contains all docstring of the library
+    message(FATAL_ERROR "Unable to find Doxygen generated files, this is required for Python binding (docstring)")
   endif()
 
   message(STATUS "Generating docstrings from doxygen files...")
@@ -45,7 +39,6 @@
     ${PROJECT_SOURCE_DIR}/scripts/pybind/doxygen2docstring.py
     ${CMAKE_CURRENT_BINARY_DIR}/../doc/api/xml/
     ${CMAKE_CURRENT_BINARY_DIR}/docstring)
-  # The file generated_docstring.cpp contains all docstring of the library
 
 
   ################################################################################

scripts/docker/build_pybinding.sh

@@ -12,9 +12,6 @@ for PYBIN in /opt/python/cp3*/bin; do
   "${PYBIN}/python" -m pip install --upgrade pip
   mkdir -p build_dir && cd build_dir
   cmake -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" ..
-  make api
-  # Again for doxygen2docstring:
-  cmake -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" ..
   make -j2
 
   #make test ARGS="-V"s