Require CMake 3.10 and Check SSE support directly by sloretz · Pull Request #506 · flexible-collision-library/fcl

sloretz · 2020-10-23T22:40:19Z

Require CMake 3.10 and check if SSE/SSE2 are supported directly.
~~Check if SSE/SSE2 are supported if the CMake version is new enough to do so.~~

I think this would fix a build failure on armhf and aarch64:

16:33:57 c++: error: unrecognized command line option ‘-mfpmath=sse’
16:33:57 c++: error: unrecognized command line option ‘-msse’
16:33:57 c++: error: unrecognized command line option ‘-msse2’
16:33:57 c++: error: unrecognized command line option ‘-msse3’
16:33:57 c++: error: unrecognized command line option ‘-mssse3’

@rhaschke Mind taking a look?

This change is

rhaschke

Looks reasonable to me. Thanks, @sloretz for handling this.

SeanCurtis-TRI

@jamiesnape can you give this your blessing? Seems reasonable to me, but I defer to your expertise.

Reviewed 1 of 1 files at r1.
Reviewable status: complete! all files reviewed, all discussions resolved

SeanCurtis-TRI

Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @sloretz)

a discussion (no related file):
Blocking while we wait for @jamiesnape

SeanCurtis-TRI

Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @jamiesnape and @sloretz)

a discussion (no related file):

Previously, SeanCurtis-TRI (Sean Curtis) wrote…

Blocking while we wait for @jamiesnape

+@jamiesnape

jamiesnape

Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @sloretz)

CMakeLists.txt, line 91 at r1 (raw file):

if(CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
  set(FCL_TARGET_SUPPORT_X64_SSE OFF)
elseif(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.10.0")

According to the minimum required versions of CMake for this project if(... VERSION_GREATER_EQUAL ...) is not supported. Dropping support for old versions of CMake is probably an issue elsewhere.

SeanCurtis-TRI

Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @jamiesnape and @sloretz)

CMakeLists.txt, line 91 at r1 (raw file):

Previously, jamiesnape (Jamie Snape) wrote…

According to the minimum required versions of CMake for this project if(... VERSION_GREATER_EQUAL ...) is not supported. Dropping support for old versions of CMake is probably an issue elsewhere.

What is the minimum version of cmake that supports VERSION_GREATER_EQUAL? We recently bumped all the CI requirements to less antiquated versions of Mac OS and Ubuntu, could we simply do the same with CMake? Something that could be advanced here enough to provide the missing functionality, but doesn't require further changes to the current spelling (deferring strategic changes to the build infrastructure to subsequent PRs)?

rhaschke · 2020-10-27T17:05:48Z

CMakeLists.txt

+elseif(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.10.0")
+  cmake_host_system_information(RESULT _has_sse QUERY HAS_SSE)
+  cmake_host_system_information(RESULT _has_sse2 QUERY HAS_SSE2)
+  if(_has_sse AND _has_sse2)
+    set(FCL_TARGET_SUPPORT_X64_SSE ON)
+  else()
+    set(FCL_TARGET_SUPPORT_X64_SSE OFF)
+  endif()
 else()
  set(FCL_TARGET_SUPPORT_X64_SSE ON)


VERSION_GREATER_EQUAL was introduced in cmake 3.7 only. But we can easily invert the logics and use VERSION_LESS that is available in cmake 2.8 as well:

Suggested change

elseif(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.10.0")

cmake_host_system_information(RESULT _has_sse QUERY HAS_SSE)

cmake_host_system_information(RESULT _has_sse2 QUERY HAS_SSE2)

if(_has_sse AND _has_sse2)

set(FCL_TARGET_SUPPORT_X64_SSE ON)

else()

set(FCL_TARGET_SUPPORT_X64_SSE OFF)

endif()

else()

set(FCL_TARGET_SUPPORT_X64_SSE ON)

elseif(${CMAKE_VERSION} VERSION_LESS "3.10.0")

set(FCL_TARGET_SUPPORT_X64_SSE ON)

else() # Decide based on actual host features (only supported since cmake 3.10)

cmake_host_system_information(RESULT _has_sse QUERY HAS_SSE)

cmake_host_system_information(RESULT _has_sse2 QUERY HAS_SSE2)

if(_has_sse AND _has_sse2)

set(FCL_TARGET_SUPPORT_X64_SSE ON)

else()

set(FCL_TARGET_SUPPORT_X64_SSE OFF)

endif()

jamiesnape

Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @SeanCurtis-TRI and @sloretz)

CMakeLists.txt, line 91 at r1 (raw file):

Previously, SeanCurtis-TRI (Sean Curtis) wrote…

What is the minimum version of cmake that supports VERSION_GREATER_EQUAL? We recently bumped all the CI requirements to less antiquated versions of Mac OS and Ubuntu, could we simply do the same with CMake? Something that could be advanced here enough to provide the missing functionality, but doesn't require further changes to the current spelling (deferring strategic changes to the build infrastructure to subsequent PRs)?

If the oldest platform is Bionic, then we can remove everything at

fcl/CMakeLists.txt

Lines 34 to 40 in b611d50

    
           if(APPLE) 
        
             cmake_minimum_required(VERSION 3.0.0) 
        
           elseif(MSVC) 
        
             cmake_minimum_required(VERSION 3.1.3) 
        
           else() 
        
             cmake_minimum_required(VERSION 2.8.12) 
        
           endif()

and replace it with cmake_minimum_required(VERSION 3.10) and remove the if() statements here.

SeanCurtis-TRI

Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @jamiesnape and @sloretz)

CMakeLists.txt, line 91 at r1 (raw file):

Previously, jamiesnape (Jamie Snape) wrote…

If the oldest platform is Bionic, then we can remove everything at

fcl/CMakeLists.txt

Lines 34 to 40 in b611d50

if(APPLE)

cmake_minimum_required(VERSION 3.0.0)

elseif(MSVC)

cmake_minimum_required(VERSION 3.1.3)

else()

cmake_minimum_required(VERSION 2.8.12)

endif()

and replace it with cmake_minimum_required(VERSION 3.10) and remove the if() statements here.

We've bumped CI to bionic and I don't see us going backwards at all. I'm game for bumping the CMake version and simplifying the code.

sloretz · 2020-10-29T23:50:31Z

If the oldest platform is Bionic, then we can remove everything at [...] and replace it with cmake_minimum_required(VERSION 3.10) and remove the if() statements here.

We've bumped CI to bionic and I don't see us going backwards at all. I'm game for bumping the CMake version and simplifying the code.

@SeanCurtis-TRI @jamiesnape It sounds like the minimum CMake version is going to be bumped to 3.10. Is that something you'd like to see in this PR, or is another one coming? I assumed the latter and removed the CMake version check in 5a87fff.

jamiesnape · 2020-10-30T15:15:34Z

I think adding a separate commit before the current one that makes the change to cmake_minimum_required(VERSION 3.10) would be in order. Either way that needs to happen before the current commit once merged into master.

SeanCurtis-TRI

Agreed.

Reviewable status: 0 of 1 files reviewed, 3 unresolved discussions (waiting on @jamiesnape, @SeanCurtis-TRI, and @sloretz)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>

sloretz · 2020-11-02T19:15:37Z

I think adding a separate commit before the current one that makes the change to cmake_minimum_required(VERSION 3.10) would be in order. Either way that needs to happen before the current commit once merged into master.

The first commit 7c1dd82 now bumps the CMake requirement to 3.10, and the second commit f4e5530 checks SSE support

jamiesnape

Reviewed 1 of 1 files at r2.
Dismissed @rhaschke from a discussion.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @sloretz)

SeanCurtis-TRI

I'll use my super powers to merge as two commits.

Reviewed 1 of 1 files at r2.
Reviewable status: complete! all files reviewed, all discussions resolved

SeanCurtis-TRI · 2020-11-05T19:41:51Z

Thanks for the PR!

sloretz mentioned this pull request Oct 23, 2020

fcl: 0.6.1-1 in 'noetic/distribution.yaml' [bloom] ros/rosdistro#26706

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rhaschke approved these changes Oct 24, 2020

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SeanCurtis-TRI assigned jamiesnape Oct 26, 2020

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jamiesnape suggested changes Oct 27, 2020

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sloretz added 2 commits November 2, 2020 11:13

Require CMake 3.10

7c1dd82

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

Check SSE support if CMake >= 3.10

f4e5530

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>

sloretz force-pushed the check_sse_support branch from 5a87fff to f4e5530 Compare November 2, 2020 19:14

sloretz changed the title ~~Check SSE support directly if CMake >= 3.10~~ Require CMake 3.10 and Check SSE support directly Nov 2, 2020

jamiesnape approved these changes Nov 5, 2020

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SeanCurtis-TRI approved these changes Nov 5, 2020

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SeanCurtis-TRI merged commit cbfe1e9 into flexible-collision-library:master Nov 5, 2020

sloretz mentioned this pull request Nov 9, 2020

Mind making a new Noetic release? ros-gbp/fcl-release#3

Open

scpeters mentioned this pull request Mar 4, 2021

A simple compilation issue on Apple m1 #524

Open

jamiesnape removed their assignment Jun 22, 2021

	if(APPLE)
	cmake_minimum_required(VERSION 3.0.0)
	elseif(MSVC)
	cmake_minimum_required(VERSION 3.1.3)
	else()
	cmake_minimum_required(VERSION 2.8.12)
	endif()

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