Support using system library libexprtk-dev

Author: jlblancoc

.vscode/settings.json

@@ -40,19 +40,22 @@
         "**/log": true
     },
     "cSpell.words": [
-        "CArchive",
-        "Colorf",
-        "Coordf",
         "Eigen",
-        "idft",
-        "IFFT",
-        "Kbhit",
         "mrpt",
         "MRPT",
         "SSSE",
-        "stbi",
         "undistort",
         "undistortion"
     ],
     "ros.distro": "humble",
+    "cSpell.ignoreWords": [
+        "CArchive",
+        "Colorf",
+        "Coordf",
+        "exprtk",
+        "idft",
+        "IFFT",
+        "Kbhit",
+        "stbi"
+    ],
 }

modules/mrpt_expr/CMakeLists.txt

@@ -20,12 +20,33 @@ set(LIB_SRCS
   src/CRuntimeCompiledExpression_unittest.cpp
 )
 
+# Use system exprtk library?
+# Find the /usr/include/exprtk.hpp file:
+find_path(
+  EXPRTK_INCLUDE_DIR
+  NAMES exprtk.hpp
+  PATHS /usr/include /usr/local/include
+  NO_DEFAULT_PATH
+)
+if(EXPRTK_INCLUDE_DIR)
+  message(STATUS "Using system exprtk.hpp from: ${EXPRTK_INCLUDE_DIR}")
+  set(MRPT_USE_SYSTEM_EXPRTK ON)
+else()
+  message(STATUS "System exprtk.hpp not found, using bundled version.")
+  set(MRPT_USE_SYSTEM_EXPRTK OFF)
+endif()
+
 set(LIB_PUBLIC_HDRS
-  include/mrpt/3rdparty/exprtk.hpp
   include/mrpt/expr/mrpt-expr_export.h
   include/mrpt/expr/CRuntimeCompiledExpression.h
 )
 
+if (NOT MRPT_USE_SYSTEM_EXPRTK)
+  list(APPEND LIB_PUBLIC_HDRS
+    include/mrpt/expr/exprtk.hpp
+  )
+endif()
+
 mrpt_add_library(
   TARGET ${PROJECT_NAME}
   SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
@@ -36,6 +57,12 @@ mrpt_add_library(
     mrpt_system
 )
 
+if (MRPT_USE_SYSTEM_EXPRTK)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE MRPT_USE_SYSTEM_EXPRTK)
+  # Add include path as system path to avoid warnings from exprtk.hpp:
+  target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EXPRTK_INCLUDE_DIR})
+endif()
+
 # Don't export ALL symbols for the huge exprtk lib
 set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS 0)
 # Minimize debug info for this module:

modules/mrpt_expr/include/mrpt/expr/CRuntimeCompiledExpression.h

@@ -70,7 +70,6 @@ class MRPT_EXPR_EXPORT CRuntimeCompiledExpression
  public:
   /** Default ctor */
   CRuntimeCompiledExpression();
-  ~CRuntimeCompiledExpression();
 
   /** Initializes the object by compiling an expression.
    * \exception std::runtime_error On any syntax error or undefined symbol

modules/mrpt_expr/src/CRuntimeCompiledExpression.cpp

@@ -28,7 +28,12 @@
 #define exprtk_disable_superscalar_unroll
 #define exprtk_disable_rtl_vecops
 #define exprtk_disable_rtl_io_file
+
+#if defined(MRPT_USE_SYSTEM_EXPRTK)
+#include <exprtk.hpp>
+#else
 #include <mrpt/3rdparty/exprtk.hpp>
+#endif
 
 using namespace mrpt;
 using namespace mrpt::expr;
@@ -48,7 +53,10 @@ struct CRuntimeCompiledExpression::ExprVerbose
   ExprVerbose()
   {
     const char* sp = ::getenv("MRPT_EXPR_VERBOSE");
-    if (nullptr == sp) return;
+    if (nullptr == sp)
+    {
+      return;
+    }
     const std::string s = mrpt::system::trim(std::string(sp));
 
     if (s == std::string("1"))
@@ -74,8 +82,6 @@ CRuntimeCompiledExpression::CRuntimeCompiledExpression() :
 {
 }
 
-CRuntimeCompiledExpression::~CRuntimeCompiledExpression() = default;
-
 void CRuntimeCompiledExpression::compile(
     const std::string& expression,
     const std::map<std::string, double>& variables,
@@ -95,28 +101,47 @@ void CRuntimeCompiledExpression::compile(
 
   // Convert from std::function<> to raw functors:
   for (const auto& kv : m_funcs_0)
-    if (auto ptr = kv.second.target<double (*)()>(); ptr) symbol_table.add_function(kv.first, *ptr);
+  {
+    if (auto ptr = kv.second.target<double (*)()>(); ptr)
+    {
+      symbol_table.add_function(kv.first, *ptr);
+    }
+  }
 
   for (const auto& kv : m_funcs_1)
+  {
     if (auto ptr = kv.second.target<double (*)(double)>(); ptr)
+    {
       symbol_table.add_function(kv.first, *ptr);
+    }
+  }
 
   for (const auto& kv : m_funcs_2)
+  {
     if (auto ptr = kv.second.target<double (*)(double, double)>(); ptr)
+    {
       symbol_table.add_function(kv.first, *ptr);
+    }
+  }
 
   for (const auto& kv : m_funcs_3)
+  {
     if (auto ptr = kv.second.target<double (*)(double, double, double)>(); ptr)
+    {
       symbol_table.add_function(kv.first, *ptr);
+    }
+  }
 
   m_impl->m_compiled_formula.register_symbol_table(symbol_table);
 
   // Compile user-given expressions:
   exprtk::parser<double> parser;
   if (!parser.compile(expression, m_impl->m_compiled_formula))
+  {
     THROW_EXCEPTION_FMT(
         "Error compiling expression (name=`%s`): `%s`. Error: `%s`",
         expr_name_for_error_reporting.c_str(), expression.c_str(), parser.error().c_str());
+  }
 
   m_impl->m_compiled = true;
 }
@@ -168,7 +193,10 @@ const std::string& CRuntimeCompiledExpression::get_original_expression() const
 void CRuntimeCompiledExpression::ExprVerbose::process(
     const CRuntimeCompiledExpression& rce, const double ret)
 {
-  if (!m_verbose_always_enabled && m_verbose_matches.empty()) return;
+  if (!m_verbose_always_enabled && m_verbose_matches.empty())
+  {
+    return;
+  }
 
   const auto& exp = *rce.m_impl.get();
 
@@ -183,7 +211,10 @@ void CRuntimeCompiledExpression::ExprVerbose::process(
         break;
       }
     }
-    if (!matched) return;
+    if (!matched)
+    {
+      return;
+    }
   }
 
   std::vector<std::pair<std::string, double>> lst;
@@ -195,5 +226,8 @@ void CRuntimeCompiledExpression::ExprVerbose::process(
                  "* Final value: " << ret << "\n"
                  "* Using these symbols:\n";
   // clang-format on
-  for (const auto& v : lst) std::cout << " * " << v.first << " = " << v.second << "\n";
+  for (const auto& v : lst)
+  {
+    std::cout << " * " << v.first << " = " << v.second << "\n";
+  }
 }