Make Bosch API optional in CMakeLists.txt

mav_sensors_drivers/CMakeLists.txt

@@ -3,7 +3,11 @@ project(mav_sensors_drivers)
 
 add_compile_options(-std=c++17)
 
-find_package(catkin REQUIRED roscpp lpp mav_sensors_core)
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        lpp
+        mav_sensors_core
+)
 
 catkin_package(
   INCLUDE_DIRS include lib/BMP3-Sensor-API lib/BMI08x-Sensor-API
@@ -17,28 +21,49 @@ add_compile_definitions(MODE_LPP)
 ## Build ##
 ###########
 
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMP3-Sensor-API/)
+    set(MAV_SENSORS_BMP3_SUPPORT ON)
+    set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/barometer/bmp390.cpp)
+    set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMP3-Sensor-API)
+    message(STATUS "Found BMP3-Sensor-API")
+else()
+    message(WARNING "BMP3-Sensor-API not found. BMP3 sensor will not be supported.")
+endif()
+
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API/)
+    set(MAV_SENSORS_BMI08X_SUPPORT ON)
+    set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/imu/bmi088.cpp)
+    set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMI08x-Sensor-API)
+    message(STATUS "Found BMI08x-Sensor-API")
+else()
+    message(WARNING "BMI08x-Sensor-API not found. BMI08x sensor will not be supported.")
+endif()
+
 include_directories(
- include 
- lib/BMP3-Sensor-API
- lib/BMI08x-Sensor-API
+ include
+ ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
         src/imu/adis16448.cpp
-        src/barometer/bmp390.cpp
-        src/imu/bmi088.cpp
-        src/radar/xwr18xx_mmw_demo.cpp)
+        src/radar/xwr18xx_mmw_demo.cpp
+        ${MAV_SENSORS_OPTIONAL_SRC_FILES})
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_library(${PROJECT_NAME}_BMP3
         lib/BMP3-Sensor-API/bmp3.c)
+set(MAV_SENSOR_LIBRARIES ${MAV_SENSOR_LIBRARIES} ${PROJECT_NAME}_BMP3)
+endif()
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_library(${PROJECT_NAME}_BMI08x
         lib/BMI08x-Sensor-API/bmi08a.c
         lib/BMI08x-Sensor-API/bmi08g.c
         lib/BMI08x-Sensor-API/bmi08xa.c)
+endif()
 
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROJECT_NAME}_BMP3 ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${MAV_SENSOR_LIBRARIES} ${catkin_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}