Refactor how dependencies are handled

CMakeLists.txt

@@ -36,9 +36,7 @@ include(iDynTreeOptions)
 
 if(NOT IDYNTREE_ONLY_DOCS)
     # Find dependecies
-
-    # Eigen is compulsory
-    find_package(Eigen3 REQUIRED)
+    include(iDynTreeDependencies)
 
     if(IDYNTREE_USES_YARP)
         find_package(YARP REQUIRED)
@@ -47,26 +45,6 @@ if(NOT IDYNTREE_ONLY_DOCS)
         endif()
     endif()
 
-    if(IDYNTREE_USES_ICUB_MAIN)
-        find_package(ICUB REQUIRED)
-    endif()
-
-    if(IDYNTREE_USES_KDL)
-        include(OrocosKDLFindLogic)
-        find_package(orocos_kdl REQUIRED)
-        find_package(TinyXML    REQUIRED)
-    else()
-        # If KDL is not used, an external TinyXML is not compulsory
-        # (because no public headers contain TinyXML includes)
-        # and so we can use the internal copy of TinyXML, see logic
-        # in extern/CMakeLists.txt
-        find_package(TinyXML)
-    endif()
-
-    if(IDYNTREE_USES_IPOPT)
-        find_package(IPOPT REQUIRED)
-    endif()
-
     # Add external libraries that are embedded in iDynTree
     # source tree, if necessary (by default does not adds
     # anything) feel free to check teh logic inside

cmake/iDynTreeDependencies.cmake

@@ -0,0 +1,54 @@
+# Copyright: (C) 2017 Fondazione Istituto Italiano di Tecnologia
+# Authors: Silvio Traversaro
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+#########################################################################
+# Enable/disable dependencies
+macro(idyntree_handle_dependency package)
+  set(multiValueArgs COMPONENTS)
+  cmake_parse_arguments(IHD "" "" "${multiValueArgs}" ${ARGN})
+  if (IHD_COMPONENTS)
+    find_package(${package} COMPONENTS ${IHD_COMPONENTS})
+  else ()
+    find_package(${package})
+  endif ()
+  string(TOUPPER ${package} PKG)
+  option(IDYNTREE_USES_${PKG} "Build the part of iDynTree that depends on package ${package}" ${${package}_FOUND})
+  if (IDYNTREE_USES_${PKG})
+    if (IHD_COMPONENTS)
+      find_package(${package} COMPONENTS ${IHD_COMPONENTS} REQUIRED)
+    else ()
+      find_package(${package} REQUIRED)
+    endif ()
+  endif ()
+endmacro ()
+
+# Eigen is compulsory
+find_package(Eigen3 REQUIRED)
+
+# For orocos_kdl we have custom logic, because we want to set it to FALSE by default
+option(IDYNTREE_USES_KDL "Build the part of iDynTree that depends on package orocos_kdl" FALSE)
+if (IDYNTREE_USES_KDL)
+  include(OrocosKDLFindLogic)
+  find_package(orocos_kdl REQUIRED)
+  find_package(TinyXML    REQUIRED)
+endif ()
+
+find_package(ICUB)
+option(IDYNTREE_USES_ICUB_MAIN "Build the part of iDynTree that depends on package ICUB" ${ICUB_FOUND})
+if (IDYNTREE_USES_ICUB)
+  find_package(ICUB REQUIRED)
+endif ()
+
+idyntree_handle_dependency(YARP)
+idyntree_handle_dependency(IPOPT)
+idyntree_handle_dependency(Irrlicht)
+idyntree_handle_dependency(Qt5 COMPONENTS Qml Quick Widgets)
+
+# If KDL is not used, an external TinyXML is not compulsory
+# (because no public headers contain TinyXML includes)
+# and so we can use the internal copy of TinyXML, see logic
+# in extern/CMakeLists.txt . For this reason we just check
+# the system if a local copy of TinyXML exists, and otherwise
+# we use the copy in extern/CMakeLists.txt
+find_package(TinyXML)

cmake/iDynTreeOptions.cmake

@@ -47,17 +47,6 @@ option(IDYNTREE_USES_SEMANTICS "Compile iDynTree semantics check" FALSE)
 option(IDYNTREE_ENABLE_RPATH "Enable RPATH for the library" TRUE)
 mark_as_advanced(IDYNTREE_ENABLE_RPATH)
 
-#########################################################################
-# Enable/disable dependencies
-option(IDYNTREE_ENABLE_SYMORO_PAR "Enable support for SyMoRo par format" TRUE)
-option(IDYNTREE_USES_KDL "Compile iDynTree with KDL dependency" FALSE)
-option(IDYNTREE_USES_YARP "Compile iDynTree with YARP dependency" TRUE)
-option(IDYNTREE_USES_ICUB_MAIN  "Compile iDynTree with icub-main dependencies (for iKin and skinDynLib helper functions and tools)" TRUE)
-option(IDYNTREE_USES_IPOPT "Compile iDynTree with Ipopt dependency (for inverse-kinematics)" TRUE)
-option(IDYNTREE_USES_IRRLICHT "Compile iDynTree with Irrlicht dependency (for visualizer)" FALSE)
-option(IDYNTREE_USES_QT5 "Compile iDynTree with Qt5 dependency (for visualization tools)" FALSE)
-
-
 if( MSVC )
     option(IDYNTREE_USES_INTERNAL_URDFDOM "Compile iDynTree with an internal copy of urdfdom patched to avoid Boost dependencies" TRUE)
 else()

src/model_io/CMakeLists.txt

@@ -4,6 +4,7 @@ if(IDYNTREE_USES_KDL)
     add_subdirectory(urdf-kdl)
 endif()
 
+option(IDYNTREE_ENABLE_SYMORO_PAR "Enable support for SyMoRo par format" TRUE)
 if(IDYNTREE_ENABLE_SYMORO_PAR AND IDYNTREE_USES_KDL)
     add_subdirectory(symoro)
 endif()