Install for C++
====================

The RDK C++ library is packed into a modern CMake project named ``flexiv_rdk``, which can be configured and installed using CMake on all supported platforms.

Prepare build tools
---------------------

Linux
~~~~~~

1. Install GCC compiler kit using package manager::

       sudo apt install build-essential

2. Install CMake using package manager::

       sudo apt install cmake

macOS
~~~~~~

1. Install Clang compiler kit using `xcode` tool::

       xcode-select 

   This will invoke the installation of Xcode Command Line Tools, then follow the prompted window to finish the installation.

2. Install CMake using package manager::

       brew install cmake

Windows
~~~~~~~~

1. Install compiler kit: Download and install Microsoft Visual Studio 2019 (MSVC v14.2) or above. Choose "Desktop development with C++" under the *Workloads* tab during installation. You only need to keep the following components for the selected workload:
    
    * MSVC ... C++ x64/x86 build tools (Latest)
    * C++ CMake tools for Windows
    * Windows 10 SDK or Windows 11 SDK, depending on your actual Windows version

2. Install CMake (with GUI): Download ``cmake-3.x.x-windows-x86_64.msi`` from `CMake download page <https://cmake.org/download/>`_ and install the msi file. The minimum required version is 3.16.3. **Add CMake to system PATH** when prompted, so that ``cmake`` and ``cmake-gui`` command can be used from Command Prompt or a bash emulator.
3. Install bash emulator: Download and install `Git for Windows <https://git-scm.com/download/win/>`_, which comes with a bash emulator Git Bash. The following steps are to be carried out in this bash emulator.

Install dependencies
---------------------

1. Clone or download ``flexiv_rdk`` repo following instructions in :doc:`download_rdk`.
2. Choose a directory for installing RDK C++ library and all its dependencies. This directory can be under system path or not, depending on whether you want RDK to be globally discoverable by CMake. For example, a new folder named ``rdk_install`` under the home directory.
3. In a new Terminal, run the provided script to compile and install all C++ dependencies to the installation directory chosen in step 2::

		cd flexiv_rdk/thirdparty
		bash build_and_install_dependencies.sh ~/rdk_install

  .. note::
    Internet connection is required for this step.

Install RDK library
---------------------

1. After all dependencies are installed, open a new Terminal and configure the ``flexiv_rdk`` CMake project::

		cd flexiv_rdk
		mkdir build && cd build
		cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install

  .. note::
    ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` sets the absolute path of the installation directory, which should be the one chosen in step 2 above.

2. Install ``flexiv_rdk`` C++ library to ``CMAKE_INSTALL_PREFIX`` path, which may or may not be globally discoverable by CMake::

		cd flexiv_rdk/build
		cmake --build . --target install --config Release

3. If the installation was successful, the following directories should appear in the ``rdk_install`` folder:

  * include/flexiv/rdk/
  * lib/cmake/flexiv_rdk/


.. _link_rdk_cpp_lib:

Use the installed library
--------------------------

After the library is installed as ``flexiv_rdk`` CMake target, it can be linked from any other CMake projects. Using the provided ``flexiv_rdk-examples``` project for instance::

	cd flexiv_rdk/example
	mkdir build && cd build
	cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
	cmake --build . --config Release -j 4

.. note::
  ``-D`` followed by ``CMAKE_PREFIX_PATH`` tells the user project's CMake where to find the installed C++ library. This argument can be skipped if the RDK library and its dependencies are installed to a globally discoverable location.