From 1d2e8beb937b3983018d6b063bd628e20ea090c8 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Thu, 16 Jan 2025 11:48:27 -0600
Subject: [PATCH] Fix cpack build and enable during CI pipeline

---
 .github/workflows/unstable.yml                |  2 +-
 .run-cpack                                    |  2 +-
 tesseract_examples/CMakeLists.txt             | 41 +++++++++++++++++++
 tesseract_task_composer/CMakeLists.txt        |  2 +
 .../examples/CMakeLists.txt                   | 31 +++++++++++---
 5 files changed, 71 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
index cb4d906cfb..e242c0dea2 100644
--- a/.github/workflows/unstable.yml
+++ b/.github/workflows/unstable.yml
@@ -63,4 +63,4 @@ jobs:
           vcs-file: dependencies_unstable.repos
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
           target-path: target_ws/src
-          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_PACKAGE=ON
diff --git a/.run-cpack b/.run-cpack
index 7d9ece3e23..d1cd29a386 100755
--- a/.run-cpack
+++ b/.run-cpack
@@ -20,7 +20,7 @@ echo "   artifact_dir: $artifact_dir"
 echo "   artifact_ext: $artifact_ext"
 echo "   build_dir: $build_dir"
 
-declare -a StringArray=("tesseract_command_language" "tesseract_time_parameterization" "tesseract_motion_planners" "tesseract_process_managers" "tesseract_task_composer")
+declare -a StringArray=("tesseract_command_language" "tesseract_examples" "tesseract_motion_planners" "tesseract_task_composer" "tesseract_time_parameterization")
 
 # Iterate the packages using for loop
 for val in ${StringArray[@]}; do
diff --git a/tesseract_examples/CMakeLists.txt b/tesseract_examples/CMakeLists.txt
index b4f1842670..ae9645dd8b 100644
--- a/tesseract_examples/CMakeLists.txt
+++ b/tesseract_examples/CMakeLists.txt
@@ -164,3 +164,44 @@ if(TESSERACT_ENABLE_TESTING)
   add_run_tests_target(ENABLE ${TESSERACT_ENABLE_RUN_TESTING})
   add_subdirectory(test)
 endif()
+
+if(TESSERACT_PACKAGE)
+  cpack(
+    VERSION ${pkg_extracted_version}
+    MAINTAINER_NAME ${pkg_extracted_maintainer_name}
+    MAINTAINER_EMAIL ${pkg_extracted_maintainer_email}
+    DESCRIPTION ${pkg_extracted_description}
+    LICENSE_FILE ${CMAKE_CURRENT_LIST_DIR}/../LICENSE
+    README_FILE ${CMAKE_CURRENT_LIST_DIR}/../README.md
+    LINUX_DEPENDS
+      "libconsole-bridge-dev"
+      "libpcl-dev"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer"
+      "${TESSERACT_PACKAGE_PREFIX}trajopt-sqp"
+      "${TESSERACT_PACKAGE_PREFIX}trajopt-ifopt"
+    WINDOWS_DEPENDS
+      "console-bridge"
+      "pcl"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer"
+      "${TESSERACT_PACKAGE_PREFIX}trajopt-sqp"
+      "${TESSERACT_PACKAGE_PREFIX}trajopt-ifopt")
+
+  if(UNIX AND TESSERACT_PACKAGE_SOURCE)
+    cpack_debian_source_package(
+      CHANGLELOG ${CMAKE_CURRENT_LIST_DIR}/CHANGELOG.rst
+      UPLOAD ${TESSERACT_PACKAGE_SOURCE_UPLOAD}
+      DPUT_HOST ${TESSERACT_PACKAGE_SOURCE_DPUT_HOST}
+      DEBIAN_INCREMENT ${TESSERACT_PACKAGE_SOURCE_DEBIAN_INCREMENT}
+      DISTRIBUTIONS ${TESSERACT_PACKAGE_SOURCE_DISTRIBUTIONS})
+  endif()
+endif()
diff --git a/tesseract_task_composer/CMakeLists.txt b/tesseract_task_composer/CMakeLists.txt
index 8ae7c2095e..a22258155c 100644
--- a/tesseract_task_composer/CMakeLists.txt
+++ b/tesseract_task_composer/CMakeLists.txt
@@ -78,6 +78,8 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE TESSERACT_TASK_COMPOSER_PLUGI
 
 # Examples
 if(TESSERACT_ENABLE_EXAMPLES)
+  message("Build task composer examples components")
+  list(APPEND SUPPORTED_COMPONENTS examples)
   add_subdirectory(examples)
 endif()
 
diff --git a/tesseract_task_composer/examples/CMakeLists.txt b/tesseract_task_composer/examples/CMakeLists.txt
index 1a62a5d94d..9b17f43499 100644
--- a/tesseract_task_composer/examples/CMakeLists.txt
+++ b/tesseract_task_composer/examples/CMakeLists.txt
@@ -53,9 +53,30 @@ target_cxx_version(${PROJECT_NAME}_raster_example PRIVATE VERSION ${TESSERACT_CX
 target_include_directories(${PROJECT_NAME}_raster_example PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
 list(APPEND Examples ${PROJECT_NAME}_raster_example)
 
-install(
+# Configure Components
+configure_component(
+  COMPONENT examples
+  NAMESPACE tesseract
   TARGETS ${Examples}
-  EXPORT ${PROJECT_NAME}-targets
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
+  DEPENDENCIES
+    console_bridge
+    tesseract_environment
+    tesseract_command_language
+    tesseract_visualization)
+
+if(TESSERACT_PACKAGE)
+  cpack_component(
+    COMPONENT examples
+    VERSION ${pkg_extracted_version}
+    DESCRIPTION "Tesseract task composer examples components"
+    LINUX_DEPENDS
+      "libconsole-bridge-dev"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-visualization"
+    WINDOWS_DEPENDS
+      "console-bridge"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-visualization")
+endif()