From fe92b8447162db3d007d6f12a3c3d33a2c02e468 Mon Sep 17 00:00:00 2001
From: Peta Carlyle <petacarlyle@bigpond.com>
Date: Sat, 19 Jun 2021 11:50:07 +1000
Subject: [PATCH] Adds mac build support

---
 cmake/Modules/Findwebots.cmake                | 24 +++++++++++++++--
 .../teleport_controller/CMakeLists.txt        | 27 ++++++++-----------
 shared/message/CMakeLists.txt                 |  1 +
 3 files changed, 34 insertions(+), 18 deletions(-)

diff --git a/cmake/Modules/Findwebots.cmake b/cmake/Modules/Findwebots.cmake
index 13610b9f7..b3e91df85 100644
--- a/cmake/Modules/Findwebots.cmake
+++ b/cmake/Modules/Findwebots.cmake
@@ -42,14 +42,34 @@ if(NOT webots_FOUND)
     mark_as_advanced(webots_${lib}_LIBRARY)
   endforeach(lib ${webots_libraries})
 
-  # Link all of our imported targets to our imported library
+  # Find the webots robotis libraries
+  set(robotis_libraries "robotis-op2;managers")
+  foreach(lib ${robotis_libraries})
+    find_library(
+      "webots_robotis_${lib}_LIBRARY"
+      NAMES ${lib}
+      PATHS ${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries
+      PATH_SUFFIXES robotis-op2 managers 
+      DOC "The Webots Robotis (${lib}) library"
+    )
+
+    # Setup an imported target for this library
+    add_library(webots::robotis::${lib} UNKNOWN IMPORTED)
+    set_target_properties(webots::robotis::${lib} PROPERTIES IMPORTED_LOCATION ${webots_robotis_${lib}_LIBRARY})
+
+    # Setup and export our variables
+    set(required_vars ${required_vars} "webots_robotis_${lib}_LIBRARY")
+    list(APPEND webots_LIBRARIES webots::robotis::${lib})
+    mark_as_advanced(webots_robotis_${lib}_LIBRARY)
+  endforeach(lib ${webots_libraries})
+
   add_library(webots::webots INTERFACE IMPORTED)
   target_link_libraries(webots::webots INTERFACE ${webots_LIBRARIES})
 
   # Make sure the libraries exist in the parent scope
   set(webots_LIBRARIES ${webots_LIBRARIES})
 
-  # Find our include path
+  # Find our webots include path
   find_path(
     "webots_INCLUDE_DIR"
     NAMES "webots/Robot.hpp"
diff --git a/controllers/teleport_controller/CMakeLists.txt b/controllers/teleport_controller/CMakeLists.txt
index d1216132c..278bb8709 100644
--- a/controllers/teleport_controller/CMakeLists.txt
+++ b/controllers/teleport_controller/CMakeLists.txt
@@ -9,25 +9,20 @@ add_executable(teleport_controller ${controller_sources})
 # Make sure we can find the utility folder
 target_include_directories(teleport_controller PRIVATE ${YAML_CPP_INCLUDE_DIRS})
 target_include_directories(teleport_controller PRIVATE "${PROJECT_SOURCE_DIR}/shared")
-target_include_directories(
-  teleport_controller PRIVATE "${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/managers/include"
-)
-target_include_directories(
-  teleport_controller PRIVATE "${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/managers"
-)
-target_include_directories(
-  teleport_controller
-  PRIVATE "${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/robotis-op2/robotis/Framework/include"
-)
+#target_include_directories(
+#  teleport_controller PRIVATE "${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/managers/include"
+#)
+#target_include_directories(
+#  teleport_controller PRIVATE "${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/managers"
+#)
+#target_include_directories(
+#  teleport_controller
+#  PRIVATE "${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/robotis-op2/robotis/Framework/include"
+#)
 # Link against the webots target (this will also add any necessary include directories to our target)
 target_link_libraries(teleport_controller PRIVATE webots::webots)
 target_link_libraries(teleport_controller PRIVATE ${YAML_CPP_LIBRARIES})
-target_link_libraries(
-  teleport_controller PRIVATE ${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/robotis-op2/librobotis-op2.so
-)
-target_link_libraries(
-  teleport_controller PRIVATE ${WEBOTS_HOME}/projects/robots/robotis/darwin-op/libraries/managers/libmanagers.so
-)
+
 # Generate binary in controller source directory
 set_target_properties(
   teleport_controller PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" OUTPUT_NAME teleport_controller
diff --git a/shared/message/CMakeLists.txt b/shared/message/CMakeLists.txt
index 202981a51..ead8f1692 100644
--- a/shared/message/CMakeLists.txt
+++ b/shared/message/CMakeLists.txt
@@ -27,6 +27,7 @@ add_library(
   messages_protobuf OBJECT "${PROJECT_BINARY_DIR}/shared/message/messages.pb.cc"
                            "${PROJECT_BINARY_DIR}/shared/message/messages.pb.h"
 )
+target_link_libraries(messages_protobuf PRIVATE protobuf::libprotobuf)
 
 # Turn off clang-tidy for them
 set_target_properties(messages_protobuf PROPERTIES CXX_CLANG_TIDY "")