Refactor CMake with JRL CMake Modules v2 by ahoarau · Pull Request #437 · Simple-Robotics/proxsuite

ahoarau · 2025-12-11T11:52:00Z

⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

Full rewrite of the CMake Files in modern CMake
Remove submodules: archives can now be used
Remove external libraries
c++17 minimum required
pixi support
🚧 NIX CI is temporarily disabled
Fix Documentation links
Support for find_package components

find_package(proxsuite 0.7.1 CONFIG REQUIRED COMPONENTS proxsuite vectorized)

jorisv

Nice work

jorisv

When running tests, following tests are failing on Linux with pixi:

         33 - proxsuite-test-cpp.dense_maros_meszaros (SEGFAULT)
         34 - proxsuite-test-cpp.vectorized.dense_maros_meszaros (SEGFAULT)
         35 - proxsuite-test-cpp.sparse_maros_meszaros (SEGFAULT)
         36 - proxsuite-test-cpp.vectorized.sparse_maros_meszaros (SEGFAULT)

…ure collisions

It is now supported on cmeel https://pypi.org/project/cmeel-cereal/

mimics jrl-v1

jorisv · 2026-07-30T09:24:19Z

+jrl_option(PROXSUITE_EXPORT_PACKAGE "Generate the CMake export files" ${PROJECT_IS_TOP_LEVEL})
+jrl_option(BUILD_TESTING "Build the tests" OFF)
+jrl_option(BUILD_EXAMPLES "Build the examples" OFF)
+jrl_option(BUILD_BENCHMARKS "Build the benchmarks" OFF)


Suggested change

jrl_option(BUILD_BENCHMARKS "Build the benchmarks" OFF)

jrl_option(BUILD_BENCHMARK "Build the benchmarks" OFF)

jorisv · 2026-07-30T09:28:21Z

+
+jrl_option(PROXSUITE_EXPORT_PACKAGE "Generate the CMake export files" ${PROJECT_IS_TOP_LEVEL})
+jrl_option(BUILD_TESTING "Build the tests" OFF)
+jrl_option(BUILD_EXAMPLES "Build the examples" OFF)


Suggested change

jrl_option(BUILD_EXAMPLES "Build the examples" OFF)

jrl_option(PROXSUITE_BUILD_EXAMPLES "Build the examples" OFF)

BUILD_EXAMPLES is a new options

jorisv · 2026-07-30T09:29:04Z

+jrl_option(BUILD_EXAMPLES "Build the examples" OFF)
+jrl_option(BUILD_BENCHMARKS "Build the benchmarks" OFF)
+jrl_option(BUILD_DOCUMENTATION "Build the documentation" OFF)
+jrl_option(BUILD_MAROS_MESZAROS_TESTS "Build the Maros-Meszaros tests, needs matio library" OFF)


Suggested change

jrl_option(BUILD_MAROS_MESZAROS_TESTS "Build the Maros-Meszaros tests, needs matio library" OFF)

jrl_option(PROXSUITE_BUILD_MAROS_MESZAROS_TESTS "Build the Maros-Meszaros tests, needs matio library" OFF)

BUILD_MAROS_MESZAROS_TESTS is a new option.

jorisv · 2026-07-30T09:29:29Z

+jrl_option(ENABLE_WARNINGS "Enable warnings during compilation" OFF)
+jrl_option(ENABLE_WARNINGS_AS_ERRORS "Treat all warnings as errors" OFF)


Suggested change

jrl_option(ENABLE_WARNINGS "Enable warnings during compilation" OFF)

jrl_option(ENABLE_WARNINGS_AS_ERRORS "Treat all warnings as errors" OFF)

jrl_option(PROXSUITE_ENABLE_WARNINGS "Enable warnings during compilation" OFF)

jrl_option(PROXSUITE_ENABLE_WARNINGS_AS_ERRORS "Treat all warnings as errors" OFF)

ENABLE_WARNINGS* are new options.

ENABLE_WARNINGS activate jrl_target_set_default_compile_options on proxsuite traget. I think this should be done by default, why setting an option ?

We don't want to export the warnings in the final package (it's an INTERFACE library).
These options are only meant for proxsuite dev purposes.

jorisv · 2026-07-30T09:30:33Z

+jrl_option(TEST_JULIA_INTERFACE "Run the julia examples as unittest" OFF)
+jrl_option(BUILD_WITH_OPENMP_SUPPORT "Build the library with the OpenMP support" OFF)
+jrl_option(LINK_PYTHON_INTERFACE_TO_OPENMP "Link OpenMP to the Python interface" ON CONDITION "BUILD_WITH_OPENMP_SUPPORT" FALLBACK OFF)
+jrl_option(BUILD_WITH_SERIALIZATION "Build with serialization support" ON)


Suggested change

jrl_option(BUILD_WITH_SERIALIZATION "Build with serialization support" ON)

jrl_option(PROXSUITE_BUILD_WITH_SERIALIZATION "Build with serialization support" ON)

New option

jorisv · 2026-07-30T09:31:09Z

+jrl_option(LINK_PYTHON_INTERFACE_TO_OPENMP "Link OpenMP to the Python interface" ON CONDITION "BUILD_WITH_OPENMP_SUPPORT" FALLBACK OFF)
+jrl_option(BUILD_WITH_SERIALIZATION "Build with serialization support" ON)
+jrl_option(GENERATE_PYTHON_STUBS "Generate Python stubs" OFF)
+jrl_option(PYTHON_BINDING_CUSTOM_INSTALL_DIR "Override the default <current-python-install-sitelib>/<project-name>" "")


Never used ?

jorisv · 2026-07-30T09:34:51Z

+jrl_option(INSTALL_DOCUMENTATION "Install the documentation" OFF)
+jrl_option(INITIALIZE_EIGEN_WITH_NAN "Initialize Eigen objects with NAN values" OFF)
+jrl_option(CHECK_RUNTIME_MALLOC "Check if some memory allocations are performed at runtime" OFF)
+jrl_option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)


This option is never used.

jorisv · 2026-07-30T09:42:57Z

+  if(WIN32)
+    set(Catch2_USE_FETCHCONTENT ON)
+  endif()


Can we add a guard to fetchcontent catch2 only on debug build configuration ? The CI will not have to rebuild catch 2 on release mode then.

jorisv · 2026-07-30T09:59:13Z

+
+if(LINK_PYTHON_INTERFACE_TO_OPENMP)
+  message(STATUS "[proxsuite] Linking python bindings to OpenMP")
+  target_link_libraries(proxsuite_pywrap PRIVATE OpenMP::OpenMP_CXX)


Since proxsuite already link as INTERFACE OpenMP::OpenMP_CXX this is useless.
On old version, proxsuite target never link to OpenMP. It was manually appended to tests, binding and tests.

We could create a proxsuite-parallel and proxsuite-vectorized-parallel target that link to openmp ?
Or just remove proxsuite link to OpenMP::OpenMP_CXX, but I don't like it since it allow to use part of the library without proper linking.

ahoarau marked this pull request as draft December 11, 2025 16:39

ahoarau force-pushed the jrl-next branch 2 times, most recently from bd8de6d to c36d61e Compare December 22, 2025 14:54

jorisv requested changes Dec 30, 2025

View reviewed changes

ahoarau force-pushed the jrl-next branch 6 times, most recently from 930496b to e4a6dd2 Compare January 9, 2026 07:33

ahoarau force-pushed the jrl-next branch 3 times, most recently from 9920160 to 7ce7cbf Compare January 23, 2026 16:09

ahoarau force-pushed the jrl-next branch 2 times, most recently from f85e65e to e238efe Compare February 11, 2026 18:32

ahoarau force-pushed the jrl-next branch 7 times, most recently from b2617af to b0388c0 Compare February 20, 2026 09:26

ahoarau force-pushed the jrl-next branch 2 times, most recently from 7f6f202 to 3d05dbd Compare March 24, 2026 08:52

ahoarau force-pushed the jrl-next branch 2 times, most recently from 28e0fd5 to b09f8a3 Compare April 16, 2026 11:14

ahoarau force-pushed the jrl-next branch 2 times, most recently from a104370 to 93c8745 Compare May 11, 2026 20:36

jorisv requested changes Jun 1, 2026

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jorisv reviewed Jun 2, 2026

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Comment thread CMakeLists.txt Outdated

ahoarau added 20 commits July 27, 2026 17:52

pixi: update lock file

7c8d439

apply dos2unix

6873540

pixi: update lock file

d415569

replace prek by pre-commit

24aa2c1

ci-ros: bump commit

413d9a7

ros-ci: add ros-ci prefix to cache key

bffef44

ci-pixi: replace default by ${{ matrix.pixi_environment }}

53c9f9b

ci-pixi: add ${{ matrix.pixi_environment }} to cache key to avoid fut…

004fa76

…ure collisions

ci-ubuntu: use docker images instead of official github images

943c9c7

cmake: update jrl link to upstream

c60352d

cpp: add copyright inria

e0dfed9

tests: add back wrongly removed test and prevent name collision

77f4669

cmake: remove cereal fetchcontent

e404def

It is now supported on cmeel https://pypi.org/project/cmeel-cereal/

cmake: python bindings required BUILD_WITH_SERIALIZATION

71c3b1e

cmake: BUILD_PYTHON_INTERFACE defaults to ON

92801db

mimics jrl-v1

cmake: use ENVIRONMENT_MODIFICATION

079bf46

pre-commit: update gersemi repo and version

50effc2

ci-ubuntu: add cereal and simde

8e87ba3

cmake: fix MAROS_MESZAROS_DIR dir path missing "/"

ab900a5

pixi: uniformize pixi with other maestro projects

af9d5f5

ahoarau force-pushed the jrl-next branch from c3e3ce8 to af9d5f5 Compare July 27, 2026 15:52

ahoarau and others added 8 commits July 28, 2026 13:55

ros-ci: add ros lyrical

4886708

ci-pixi: add skip-deps

8355a6e

pixi: add jrl-cmakemodules v2 dep

0305ec2

cmake: add EXPECTED_TARGETS

1a7a928

cmake: add warning and deprecated headers

5243cbe

pixi: prefer kebab case

a4245d0

pixi: Fix doc environment build

cd60d1f

pixi: Setup gitattributes for lockfile

0900557

jorisv requested changes Jul 30, 2026

View reviewed changes

	jrl_option(BUILD_BENCHMARKS "Build the benchmarks" OFF)
	jrl_option(BUILD_BENCHMARK "Build the benchmarks" OFF)

	jrl_option(BUILD_EXAMPLES "Build the examples" OFF)
	jrl_option(PROXSUITE_BUILD_EXAMPLES "Build the examples" OFF)

	jrl_option(BUILD_MAROS_MESZAROS_TESTS "Build the Maros-Meszaros tests, needs matio library" OFF)
	jrl_option(PROXSUITE_BUILD_MAROS_MESZAROS_TESTS "Build the Maros-Meszaros tests, needs matio library" OFF)

		jrl_option(ENABLE_WARNINGS "Enable warnings during compilation" OFF)
		jrl_option(ENABLE_WARNINGS_AS_ERRORS "Treat all warnings as errors" OFF)

	jrl_option(BUILD_WITH_SERIALIZATION "Build with serialization support" ON)
	jrl_option(PROXSUITE_BUILD_WITH_SERIALIZATION "Build with serialization support" ON)

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ahoarau commented Dec 11, 2025 •

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