From a808bec3b20a28f869ad439d6d605fa0ed49633b Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Thu, 20 May 2021 10:00:12 +0200
Subject: [PATCH] Add casadi-matlab-bindings if
 ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS is ON and ROBOTOLOGY_USES_MATLAB is ON
 (#747)

---
 cmake/Buildcasadi-matlab-bindings.cmake           | 15 +++++++++++++++
 cmake/RobotologySuperbuildLogic.cmake             |  3 +++
 .../casadi-matlab-bindings_activate.msh           |  5 +++++
 .../casadi-matlab-bindings_deactivate.msh         |  5 +++++
 releases/latest.releases.yaml                     |  4 ++++
 5 files changed, 32 insertions(+)
 create mode 100644 cmake/Buildcasadi-matlab-bindings.cmake
 create mode 100644 conda/multisheller/casadi-matlab-bindings_activate.msh
 create mode 100644 conda/multisheller/casadi-matlab-bindings_deactivate.msh

diff --git a/cmake/Buildcasadi-matlab-bindings.cmake b/cmake/Buildcasadi-matlab-bindings.cmake
new file mode 100644
index 000000000..0bf3851f7
--- /dev/null
+++ b/cmake/Buildcasadi-matlab-bindings.cmake
@@ -0,0 +1,15 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(casadi QUIET)
+
+ycm_ep_helper(casadi-matlab-bindings TYPE GIT
+              STYLE GITHUB
+              REPOSITORY dic-iit/casadi-matlab-bindings.git
+              TAG main
+              COMPONENT dynamics
+              FOLDER src
+              CMAKE_ARGS -DCASADI_MATLAB_BINDINGS_USES_MATLAB:BOOL=${ROBOTOLOGY_USES_MATLAB}
+              DEPENDS casadi)
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index 97fe3de9f..902b07b18 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -54,6 +54,9 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   endif()
   if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
     find_or_build_package(bipedal-locomotion-framework)
+    if(ROBOTOLOGY_USES_MATLAB)
+      find_or_build_package(casadi-matlab-bindings)
+    endif()
   endif()
 endif()
 
diff --git a/conda/multisheller/casadi-matlab-bindings_activate.msh b/conda/multisheller/casadi-matlab-bindings_activate.msh
new file mode 100644
index 000000000..32825b3ac
--- /dev/null
+++ b/conda/multisheller/casadi-matlab-bindings_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/casadi-matlab-bindings_deactivate.msh b/conda/multisheller/casadi-matlab-bindings_deactivate.msh
new file mode 100644
index 000000000..96b2936f2
--- /dev/null
+++ b/conda/multisheller/casadi-matlab-bindings_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 8e2ed8814..75a0f4244 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -199,3 +199,7 @@ repositories:
     type: git
     url: https://github.com/dic-iit/matlab-whole-body-simulator.git
     version: v2.0.0
+  casadi-matlab-bindings:
+    type: git
+    url: https://github.com/dic-iit/casadi-matlab-bindings.git
+    version: v3.5.5.0