From 5b267a80e38733695a8398c3db342a17b01dce66 Mon Sep 17 00:00:00 2001
From: Silvio <silvio.traversaro@iit.it>
Date: Tue, 17 Dec 2024 15:31:58 +0100
Subject: [PATCH 1/2] Add nodeps CMake preset and BUILD_WITHOUT_DEPENDENCIES
 CMake option

---
 .github/workflows/ci-nodeps.yml | 31 ++++++++++++++++++++++++
 CMakeLists.txt                  | 42 +++++++++++++++++++++++++--------
 CMakePresets.json               | 38 +++++++++++++++++++++++++++++
 3 files changed, 101 insertions(+), 10 deletions(-)
 create mode 100644 .github/workflows/ci-nodeps.yml
 create mode 100644 CMakePresets.json

diff --git a/.github/workflows/ci-nodeps.yml b/.github/workflows/ci-nodeps.yml
new file mode 100644
index 0000000000..afbf54c019
--- /dev/null
+++ b/.github/workflows/ci-nodeps.yml
@@ -0,0 +1,31 @@
+name: CI Workflow with nodeps CMake preset
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+  schedule:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Install deps
+      run: |
+        sudo apt-get install -y cmake build-essential
+
+    - name: Configure
+      run: |
+        cmake --preset nodeps
+
+    - name: Build
+      run: |
+        cmake --build --preset nodeps
+
+    - name: Install
+      run: |
+        cd build
+        cmake --install ./build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ce93e95d8..5739b0bbf3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,20 +4,40 @@
 cmake_minimum_required(VERSION 3.12)
 project(robots-configuration VERSION 2.7.0)
 
-find_package(YCM REQUIRED)
-find_package(YARP REQUIRED)
-find_package(ICUBcontrib REQUIRED)
-
-list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
-include(ICUBcontribOptions)
-include(ICUBcontribHelpers)
-
+option(BUILD_WITHOUT_DEPENDENCIES "If enabled, permit to install robots-configuration without any dependency on YCM, YARP or ICUBcontrib" OFF)
 option(INSTALL_ALL_ROBOTS "Enable installation of all robots" OFF)
 set(ROBOT_NAME "$ENV{YARP_ROBOT_NAME}" CACHE PATH "Name of your robot")
 set(ROBOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${ROBOT_NAME}")
 option(BUILD_TESTING "If ON compile tests" OFF)
 
-icubcontrib_set_default_prefix()
+
+if(NOT BUILD_WITHOUT_DEPENDENCIES)
+    find_package(YCM REQUIRED)
+    find_package(YARP REQUIRED)
+    find_package(ICUBcontrib REQUIRED)
+
+    list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
+    include(ICUBcontribOptions)
+    include(ICUBcontribHelpers)
+    icubcontrib_set_default_prefix()
+else()
+    if(BUILD_TESTING)
+        message(FATAL_ERROR "BUILD_TESTING=ON requires BUILD_WITHOUT_DEPENDENCIES=OFF")
+    endif()
+
+    # If we do not have dependencies, we just need to define yarp_install as a simple redirect
+    # to CMake's builtin install
+    function(yarp_install)
+        install(${ARGN})
+    endfunction()
+
+    # The only use of ICUBContrib beside setting the default install prefix is to
+    # set ICUBCONTRIB_ROBOTS_INSTALL_DIR
+    include(GNUInstallDirs)
+    # CMAKE_INSTALL_DATAROOTDIR is just a fancy (and platform independent) way to refer to share,
+    # see https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
+    set(ICUBCONTRIB_ROBOTS_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ICUBcontrib/robots")
+endif()
 
 if(UNIX)
     find_program(BASH_PROGRAM bash)
@@ -111,4 +131,6 @@ else()
     endif()
 endif()
 
-icubcontrib_add_uninstall_target()
+if(NOT BUILD_WITHOUT_DEPENDENCIES)
+    icubcontrib_add_uninstall_target()
+endif()
\ No newline at end of file
diff --git a/CMakePresets.json b/CMakePresets.json
new file mode 100644
index 0000000000..00238e7b47
--- /dev/null
+++ b/CMakePresets.json
@@ -0,0 +1,38 @@
+{
+    "version": 3,
+    "cmakeMinimumRequired": {
+      "major": 3,
+      "minor": 22,
+      "patch": 1
+    },
+    "configurePresets": [
+      {
+        "name": "default",
+        "displayName": "Default Configuration",
+        "binaryDir": "${sourceDir}/build",
+        "cacheVariables": {
+          "CMAKE_BUILD_TYPE": "Release"
+        }
+      },
+      {
+        "name": "nodeps",
+        "inherits": "default",
+        "displayName": "Configuration that does not depend on YARP, ICUBContrib or YCM",
+        "installDir": "${sourceDir}/build/install",
+        "cacheVariables": {
+          "INSTALL_ALL_ROBOTS": "ON",
+          "BUILD_WITHOUT_DEPENDENCIES": "ON"
+        }
+      }
+    ],
+    "buildPresets": [
+      {
+        "name": "default",
+        "configurePreset": "default"
+      },
+      {
+        "name": "nodeps",
+        "configurePreset": "nodeps"
+      }
+    ]
+}

From 8e961adb86ee6c6378d4223470287b5cc0a77e46 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Tue, 17 Dec 2024 16:34:06 +0100
Subject: [PATCH 2/2] Add missing newline

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5739b0bbf3..4db6e9acff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -133,4 +133,4 @@ endif()
 
 if(NOT BUILD_WITHOUT_DEPENDENCIES)
     icubcontrib_add_uninstall_target()
-endif()
\ No newline at end of file
+endif()