cmvr-es/CMakeLists.txt

cmake_minimum_required(VERSION 3.22.0)

project(cmvr_es)

include(CTest)

# 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)



# Install to <source>/output
set(CMAKE_INSTALL_PREFIX "${CMAKE_SOURCE_DIR}/output" CACHE PATH "" FORCE)

# Make build-tree binaries runnable without LD_LIBRARY_PATH
set(CMAKE_BUILD_RPATH "\$ORIGIN:\$ORIGIN/../lib")
set(CMAKE_INSTALL_RPATH "\$ORIGIN:\$ORIGIN/../lib")

# Some vendor SDK directories contain an obsolete private libstdc++.so.6. They
# are still needed in the build RUNPATH for their own shared objects, but must
# not shadow the C++ runtime selected by the active compiler.
execute_process(
        COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libstdc++.so.6
        OUTPUT_VARIABLE CMVR_COMPILER_LIBSTDCXX
        OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(IS_ABSOLUTE "${CMVR_COMPILER_LIBSTDCXX}" AND EXISTS "${CMVR_COMPILER_LIBSTDCXX}")
    # Do not put the whole system library directory first: that can mix the
    # system FFmpeg with the repository's bundled FFmpeg. A one-library shim
    # fixes only the vendor libstdc++ collision.
    set(CMVR_COMPILER_RUNTIME_DIR "${CMAKE_BINARY_DIR}/cmvr_compiler_runtime")
    file(MAKE_DIRECTORY "${CMVR_COMPILER_RUNTIME_DIR}")
    file(CREATE_LINK
            "${CMVR_COMPILER_LIBSTDCXX}"
            "${CMVR_COMPILER_RUNTIME_DIR}/libstdc++.so.6"
            SYMBOLIC COPY_ON_ERROR
            RESULT CMVR_COMPILER_RUNTIME_LINK_RESULT)
    if(CMVR_COMPILER_RUNTIME_LINK_RESULT STREQUAL "0")
        list(PREPEND CMAKE_BUILD_RPATH "${CMVR_COMPILER_RUNTIME_DIR}")
    else()
        message(WARNING
                "Could not prepare compiler libstdc++ build shim: "
                "${CMVR_COMPILER_RUNTIME_LINK_RESULT}")
    endif()
endif()

# Use RUNPATH (new dtags) generally preferable
set(CMAKE_BUILD_WITH_INSTALL_RPATH OFF)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

###########################################################
## DEPENDENCIES
#############################################################
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
include(FindExternalLib)
set(CMVR_ARCH "" CACHE STRING "Dependency architecture directory (x86 or arm)")
if(NOT CMVR_ARCH)
    string(TOLOWER "${CMAKE_SYSTEM_PROCESSOR}" _cmvr_system_processor)
    if(_cmvr_system_processor MATCHES "^(aarch64|arm64|arm)")
        set(CMVR_ARCH "arm")
    else()
        set(CMVR_ARCH "x86")
    endif()
endif()
set_property(CACHE CMVR_ARCH PROPERTY STRINGS x86 arm)
if(NOT CMVR_ARCH STREQUAL "x86" AND NOT CMVR_ARCH STREQUAL "arm")
    message(FATAL_ERROR "CMVR_ARCH must be either 'x86' or 'arm', got: ${CMVR_ARCH}")
endif()
set(ARCH "${CMVR_ARCH}")
setup_external_libs(${ARCH})
# 在调用 setup_external_libs 之后
message(STATUS "CMAKE_EXE_LINKER_FLAGS: ${CMAKE_EXE_LINKER_FLAGS}")
message(STATUS "CMAKE_SHARED_LINKER_FLAGS: ${CMAKE_SHARED_LINKER_FLAGS}")
find_package(protobuf REQUIRED)
find_package(gRPC REQUIRED)

option(CMVR_ENABLE_MSQUIC_BACKEND
       "Enable the MsQuic backend for the QUIC edge service when available"
       ON)
set(CMVR_MSQUIC_VERSION "2.5.9" CACHE STRING
    "Exact MsQuic version expected by cmvr-es")
set(CMVR_MSQUIC_ROOT "" CACHE PATH
    "Explicit MsQuic installation prefix")
option(CMVR_ALLOW_SYSTEM_MSQUIC
       "Allow MsQuic discovery outside the repository or CMVR_MSQUIC_ROOT"
       OFF)
option(CMVR_REQUIRE_MSQUIC
       "Fail configuration when the requested MsQuic backend is unavailable"
       OFF)
set(CMVR_HAS_MSQUIC OFF)
if(CMVR_ENABLE_MSQUIC_BACKEND)
    find_package(MsQuic QUIET)
    if(MsQuic_FOUND)
        set(CMVR_HAS_MSQUIC ON)
        message(STATUS "MsQuic found: ${MsQuic_LIBRARY}")
    else()
        message(STATUS "MsQuic not found; building QUIC edge in unavailable/stub mode")
    endif()
elseif(CMVR_REQUIRE_MSQUIC)
    message(FATAL_ERROR
            "CMVR_REQUIRE_MSQUIC=ON requires CMVR_ENABLE_MSQUIC_BACKEND=ON")
endif()

############################################################
# PROTO  , 遇到proto 的生成问题，现在build 目录执行 cmake --install . --verbose ，然后编译即可
############################################################

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)


set(Protobuf_PROTOC_EXECUTABLE "${CMAKE_INSTALL_PREFIX}/bin/protoc" CACHE FILEPATH "" FORCE)
set_target_properties(gRPC::grpc_cpp_plugin
        PROPERTIES
        IMPORTED_LOCATION "${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin"
        IMPORTED_LOCATION_RELEASE "${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin"
)

# 1) 先做 OBJECT：只负责生成/编译 pb.cc
add_library(proto-objects OBJECT)
target_sources(proto-objects PRIVATE ${PROTO_FILES})
set_target_properties(proto-objects PROPERTIES POSITION_INDEPENDENT_CODE ON)

protobuf_generate(
        TARGET proto-objects
        IMPORT_DIRS ${PROTO_IMPORT_DIR}
        PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
        USAGE_REQUIREMENT PRIVATE
)
protobuf_generate(
        TARGET proto-objects
        LANGUAGE grpc
        GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
        PLUGIN "protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>"
        IMPORT_DIRS ${PROTO_IMPORT_DIR}
        PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
        USAGE_REQUIREMENT PRIVATE
)

# 2) 把 OBJECT 打包成一个“唯一的”共享库（关键）
add_library(proto SHARED $<TARGET_OBJECTS:proto-objects>)
target_include_directories(proto PUBLIC ${PROTO_BINARY_DIR} ${PROTO_IMPORT_DIR} ${Protobuf_INCLUDE_DIRS})
target_link_libraries(proto PUBLIC protobuf::libprotobuf gRPC::grpc++ gRPC::grpc++_reflection)
add_library(cmvr_es::proto ALIAS proto)
#install(TARGETS proto RUNTIME DESTINATION bin)
install(TARGETS proto LIBRARY DESTINATION lib)
############################################################
# include
############################################################
include_directories(
        /usr/local/include/
        ${PROTO_BINARY_DIR}
        ${PROJECT_SOURCE_DIR}/include
        ${PROJECT_SOURCE_DIR}/cmvr-es/devices
        ${PROJECT_SOURCE_DIR}/cmvr-es/utils
        ${PROJECT_SOURCE_DIR}/cmvr-es
        ${PROJECT_SOURCE_DIR}/dependency/${ARCH}/third_party
        ${PROJECT_SOURCE_DIR}/dependency/${ARCH}/third_party/osqp/v0.6.3/include/osqp
)

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

add_subdirectory(cmvr-es)

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

add_executable(cmvr_es cmvr-es/main.cpp)
target_include_directories(cmvr_es PRIVATE ${GLOG_INCLUDE_DIRS})
target_link_libraries(cmvr_es PRIVATE
        cmvr_es::proto
        cmvr_es::logging
        cmvr_es::quic_edge_task
        ${GLOG_LIBRARIES}
        jsoncpp
        cmvr_es::service
        cmvr_es::hardware
        cmvr_es::device::canbus
        cmvr_es::device::ti5motor
        cmvr_es::algorithms::controller
        cmvr_es::ik_solver
        cmvr_es::base_motion
        cmvr_es::common
        cmvr_es::task
        cmvr_es::task_manager
        ccd
        fcl
)

install(TARGETS cmvr_es RUNTIME DESTINATION bin)
option(CMVR_INSTALL_DEFAULT_RUNTIME_ASSETS
       "Install default config/model and replace their existing output copies"
       ON)
if(CMVR_INSTALL_DEFAULT_RUNTIME_ASSETS)
    install(CODE [[
        file(REMOVE_RECURSE
            "${CMAKE_INSTALL_PREFIX}/bin/config"
            "${CMAKE_INSTALL_PREFIX}/bin/model")
    ]])
    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmvr-es/config DESTINATION bin)
    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/model DESTINATION bin)
endif()

option(CMVR_BUILD_QUIC_TEST_GATEWAY
       "Build the development-only QUIC gateway and real MsQuic integration tests"
       ${BUILD_TESTING})
if(CMVR_BUILD_QUIC_TEST_GATEWAY)
    if(CMVR_HAS_MSQUIC)
        add_subdirectory(test)
    else()
        message(WARNING
                "CMVR_BUILD_QUIC_TEST_GATEWAY is ON, but no MsQuic backend was "
                "found; the real QUIC gateway and integration tests are skipped")
    endif()
endif()