Use FindMatlab in drake_setup_matlab

CMakeLists.txt

@@ -133,13 +133,13 @@ drake_add_external(nlopt PUBLIC CMAKE
 
 # sedumi
 drake_add_external(sedumi CMAKE
-  CMAKE_ARGS -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})
+  CMAKE_ARGS -DMatlab_ROOT_DIR=${Matlab_ROOT_DIR})
 
 # snopt
-if(MATLAB_EXECUTABLE)
+if(Matlab_FOUND)
   set(SNOPT_EXTRA_CMAKE_ARGS
     -DBUILD_SNOPT_C_MEX=ON
-    -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})
+    -DMatlab_ROOT_DIR=${Matlab_ROOT_DIR})
 else()
   set(SNOPT_EXTRA_CMAKE_ARGS
     -DBUILD_SNOPT_C_MEX=OFF)
@@ -154,7 +154,7 @@ drake_add_external(snopt CMAKE
 
 # spotless
 drake_add_external(spotless PUBLIC CMAKE
-  CMAKE_ARGS -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})
+  CMAKE_ARGS -DMatlab_ROOT_DIR=${Matlab_ROOT_DIR})
 
 # octomap
 drake_add_external(octomap PUBLIC CMAKE
@@ -185,10 +185,10 @@ drake_add_external(swig_matlab PUBLIC
     ${MAKE_COMMAND} install)
 
 # textbook
-if(MATLAB_EXECUTABLE)
+if(Matlab_FOUND)
   set(TEXTBOOK_CMAKE_ARGS
     -DBUILD_TESTING=ON
-    -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})
+    -DMatlab_ROOT_DIR=${Matlab_ROOT_DIR})
 else()
   set(TEXTBOOK_CMAKE_ARGS -DBUILD_TESTING=OFF)
 endif()
@@ -214,7 +214,7 @@ drake_add_external(iris PUBLIC CMAKE
     -DIRIS_WITH_CDD=ON
     -DIRIS_WITH_EIGEN=OFF
     -DIRIS_WITH_MOSEK=OFF
-    -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR}
+    -DMatlab_ROOT_DIR=${Matlab_ROOT_DIR}
   DEPENDS eigen mosek)
 
 

cmake/config.cmake

@@ -30,23 +30,29 @@ function(drake_setup_matlab)
 
   if(DISABLE_MATLAB)
     message(STATUS "MATLAB is disabled.")
-    unset(MATLAB_EXECUTABLE CACHE) # TODO unset MATLAB_FOUND instead (see below)
+    unset(MATLAB_EXECUTABLE CACHE)
+    unset(Matlab_FOUND CACHE)
   else()
     # Look for the MATLAB executable. This does not use find_package(Matlab)
     # because that is "really good at finding MATLAB", and we only want to
     # enable matlab support if the matlab executable is in the user's PATH.
     find_program(MATLAB_EXECUTABLE matlab)
     if(MATLAB_EXECUTABLE)
-      message(STATUS "Found MATLAB: ${MATLAB_EXECUTABLE}")
-
       # Determine the MATLAB root.
       get_filename_component(_matlab_realpath "${MATLAB_EXECUTABLE}" REALPATH)
       get_filename_component(_matlab_bindir "${_matlab_realpath}" DIRECTORY)
-      get_filename_component(MATLAB_ROOT_DIR
+      get_filename_component(Matlab_ROOT_DIR
         "${_matlab_bindir}" DIRECTORY CACHE)
 
-      # TODO find_package(Matlab) and delete mex_setup
-      # TODO change MATLAB_EXECUTABLE in options.cmake to MATLAB_FOUND
+      if(MATLAB_EXECUTABLE)
+        # MATLAB 7.12 (R2011a) introduced the rng() function
+        find_package(Matlab 7.12 MODULE
+          COMPONENTS
+           MAIN_PROGRAM
+           MEX_COMPILER
+           MX_LIBRARY
+           SIMULINK)
+      endif()
     else()
       message(STATUS "MATLAB was not found.")
     endif()
@@ -69,7 +75,7 @@ function(drake_setup_java_for_matlab)
 
     # Ask matlab for its JVM version
     execute_process(
-      COMMAND "${MATLAB_EXECUTABLE}" ${_args} -logfile "${_logfile}" -r "version -java,quit"
+      COMMAND "${Matlab_MAIN_PROGRAM}" ${_args} -logfile "${_logfile}" -r "version -java,quit"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
       TIMEOUT 450
       RESULT_VARIABLE _result
@@ -149,7 +155,7 @@ macro(drake_setup_java)
   # If matlab is in use, try to determine its JVM version, as we need to build
   # all externals to the same version (on success, this will set the Java
   # compile flags)
-  if(MATLAB_EXECUTABLE AND NOT DISABLE_MATLAB)
+  if(Matlab_FOUND AND NOT DISABLE_MATLAB)
     drake_setup_java_for_matlab()
   else()
     unset(CMAKE_JAVA_COMPILE_FLAGS CACHE)

cmake/options.cmake

@@ -233,7 +233,7 @@ macro(drake_setup_options)
     # compatibility issues:
     # https://github.com/RobotLocomotion/drake/issues/2578
     drake_optional_external(IPOPT ON
-      DEPENDS "NOT APPLE OR NOT MATLAB_EXECUTABLE"
+      DEPENDS "NOT APPLE OR NOT Matlab_FOUND"
       "Interior Point Optimizer, for solving non-linear optimizations")
 
     drake_optional_external(OCTOMAP ON
@@ -250,22 +250,22 @@ macro(drake_setup_options)
   # The following projects are default ON when MATLAB is present and enabled.
   # Otherwise, they are hidden and default OFF.
   drake_optional_external(SPOTLESS ON
-    DEPENDS "NOT DISABLE_MATLAB\;MATLAB_EXECUTABLE"
+    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND"
     "polynomial optimization front-end for MATLAB")
 
   # The following projects are default OFF when MATLAB is present and enabled.
   # Otherwise, they are hidden and default OFF. Some of them may also be hidden
   # on Windows regardless of the status of MATLAB.
   drake_optional_external(IRIS OFF
-    DEPENDS "NOT DISABLE_MATLAB\;MATLAB_EXECUTABLE\;NOT WIN32\;WITH_MOSEK"
+    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND\;WITH_MOSEK"
     "fast approximate convex segmentation")
 
   drake_optional_external(SEDUMI OFF
-    DEPENDS "NOT DISABLE_MATLAB\;MATLAB_EXECUTABLE\;NOT WIN32"
+    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND"
     "semi-definite programming solver")
 
   drake_optional_external(YALMIP OFF
-    DEPENDS "NOT DISABLE_MATLAB\;MATLAB_EXECUTABLE\;NOT WIN32"
+    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND"
     "free optimization front-end for MATLAB")
 
   # END external projects that are only needed when MATLAB is in use

drake/CMakeLists.txt

@@ -126,19 +126,10 @@ endif()
 
 # set up matlab build
 include(../cmake/mex.cmake)
-if(MATLAB_EXECUTABLE) # Set by drake_setup_platform
-  if(DISABLE_MATLAB)
-    message(STATUS "MATLAB is disabled because the CMake option DISABLE_MATLAB is set to ON.")
-  else()
-    # Use find_package to find "all of matlab" along with what is needed to use
-    # matlab_add_unit_test and matlab_add_mex
-    find_package(Matlab MODULE REQUIRED
-      COMPONENTS
-        MAIN_PROGRAM
-        MEX_COMPILER
-        MX_LIBRARY
-        SIMULINK)
-  endif()
+if(DISABLE_MATLAB AND Matlab_FOUND) # Set by drake_setup_platform
+  message(STATUS "MATLAB is disabled because the CMake option DISABLE_MATLAB is set to ON.")
+  unset(MATLAB_EXECUTABLE CACHE)
+  unset(Matlab_FOUND CACHE)
 endif()
 
 enable_testing()