cmvr-es/CMakeLists.txt

cmake_minimum_required(VERSION 3.22.0)

project(cmvr_es)

# 设置C++标准
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS -pthread)
set(CMAKE_CXX_STANDARD_REQUIRED True)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

# 查找依赖
list(APPEND CMAKE_PREFIX_PATH "$ENV{HOME}./local")

###########################################################
## DEPENDENCIES
#############################################################
find_package(jsoncpp REQUIRED)
find_package(protobuf REQUIRED)
find_package(gRPC REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_check_modules(GLOG REQUIRED libglog)

include_directories(
        ${CMAKE_SOURCE_DIR}/third_party/pinocchio/3.8.0/include
        ${CMAKE_SOURCE_DIR}/third_party/coal/3.0.2/include
        ${CMAKE_SOURCE_DIR}/third_party/urdfdom/5.0.3/include
        ${CMAKE_SOURCE_DIR}/third_party/urdfdom_headers/2.0.1/include
        ${CMAKE_SOURCE_DIR}/third_party/mujoco/3.3.7/include
)

link_directories(
        ${CMAKE_SOURCE_DIR}/third_party/pinocchio/3.8.0/lib
        ${CMAKE_SOURCE_DIR}/third_party/coal/3.0.2/lib
        ${CMAKE_SOURCE_DIR}/third_party/urdfdom/5.0.3/lib
        ${CMAKE_SOURCE_DIR}/third_party/mujoco/3.3.7/lib
)

############################################################
# PROTO
############################################################

set(PROTO_IMPORT_DIR ${PROJECT_SOURCE_DIR}/protos)
set(PROTO_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/_protobuf)
file(MAKE_DIRECTORY ${PROTO_BINARY_DIR})
file(GLOB_RECURSE PROTO_FILES ${PROTO_IMPORT_DIR}/*.proto)
add_library(proto-objects OBJECT ${PROTO_FILES})
message(STATUS "proto files will be loaded in ${PROTO_IMPORT_DIR}")
message(STATUS "proto files will be generated in ${PROTO_BINARY_DIR}")

protobuf_generate(
        TARGET proto-objects
        IMPORT_DIRS ${PROTO_IMPORT_DIR}
        PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
        USAGE_REQUIREMENT INTERFACE
)
protobuf_generate(
        TARGET proto-objects
        LANGUAGE grpc
        GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
        PLUGIN "protoc-gen-grpc=$ENV{HOME}/.local/bin/grpc_cpp_plugin"
        USAGE_REQUIREMENT INTERFACE
        IMPORT_DIRS ${PROTO_IMPORT_DIR}
        PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
)
target_include_directories(proto-objects PUBLIC ${PROTO_BINARY_DIR} ${PROTO_IMPORT_DIR})
target_link_libraries(proto-objects PUBLIC protobuf::libprotobuf gRPC::grpc++ gRPC::grpc++_reflection)

############################################################
# include
############################################################
include_directories(
        /usr/include/opencv4
        /usr/include/eigen3
        /usr/local/include/osqp
        /usr/local/share/osqp/codegen_files/inc/prate/
        $ENV{HOME}/.local/include
        /usr/local/include/
        ${PROTO_BINARY_DIR}
        ${PROJECT_SOURCE_DIR}/include
        ${PROJECT_SOURCE_DIR}/src/devices
        ${PROJECT_SOURCE_DIR}/src/utils
        ${PROJECT_SOURCE_DIR}/third_party
        ${PROJECT_SOURCE_DIR}/src
        ${PROJECT_SOURCE_DIR}/third_party/toppra/0.6.2/include

)

############################################################
# subdirectory
############################################################

add_subdirectory(src)
add_subdirectory(example)
#add_subdirectory(test)

############################################################
# executables
############################################################

add_executable(cmvr_es src/main.cpp)
target_include_directories(cmvr_es PRIVATE ${GLOG_INCLUDE_DIRS})
target_link_libraries(cmvr_es PRIVATE
        proto-objects
        service
        ${GLOG_LIBRARIES}
        gflags
        jsoncpp_lib
        cmvr_es::utils
        cmvr_es::service
        cmvr_es::monitor_manager
        cmvr_es::hardware
        cmvr_es::device::canbus
        cmvr_es::device::ti5motor
        cmvr_es::controller
        cmvr_es::data_center
        cmvr_es::ik_solver
        cmvr_es::planner
        cmvr_es::device::humanoid_robot
)