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fix(aubo): isolate AUBO SDK runtime libraries

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(cherry picked from commit 59e31cbfde)
This commit is contained in:
lgv 2026-07-30 14:14:18 +08:00
parent 0c381644c9
commit d021fea112
1 changed files with 52 additions and 4 deletions
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56
cmvr-es/devices/arm/aubo_arm/CMakeLists.txt
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@ -1,13 +1,61 @@
add_library(aubo_arm SHARED add_library(aubo_arm SHARED
src/aubo_arm.cpp aubo_arm.cpp
) )
target_include_directories(aubo_arm PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_include_directories(aubo_arm PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
set(AUBO_SDK_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/third_party/AuboSdk/linux/include) set(AUBO_SDK_ROOT ${CMAKE_SOURCE_DIR}/dependency/${ARCH}/third_party/aubo_sdk/v0.27.1)
set(AUBO_SDK_LIB_DIR ${CMAKE_SOURCE_DIR}/third_party/AuboSdk/linux/lib) set(AUBO_SDK_INCLUDE_DIR ${AUBO_SDK_ROOT}/include)
set(AUBO_SDK_LIB_DIR ${AUBO_SDK_ROOT}/lib)
if (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h") if (EXISTS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk/aubo_sdkConfig.cmake")
list(APPEND CMAKE_PREFIX_PATH "${AUBO_SDK_LIB_DIR}/cmake")
find_package(Qt5Core QUIET)
if (NOT Qt5Core_FOUND AND NOT TARGET Qt5::Core)
find_library(QT5_CORE_LIBRARY
NAMES Qt5Core libQt5Core.so.5
PATHS /lib /usr/lib /usr/local/lib /lib/x86_64-linux-gnu /usr/lib/x86_64-linux-gnu
)
if (QT5_CORE_LIBRARY)
add_library(Qt5::Core UNKNOWN IMPORTED)
set_target_properties(Qt5::Core PROPERTIES
IMPORTED_LOCATION "${QT5_CORE_LIBRARY}"
)
endif()
endif()
find_package(aubo_sdk REQUIRED CONFIG PATHS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk" NO_DEFAULT_PATH)
# The vendor directory contains an old private libstdc++. Keep it out of
# consumers' RUNPATH by staging only the AUBO runtime libraries.
set(AUBO_CLEAN_LIB_DIR "${CMAKE_CURRENT_BINARY_DIR}/aubo_sdk_runtime")
file(MAKE_DIRECTORY "${AUBO_CLEAN_LIB_DIR}")
foreach(AUBO_LIB
libaubo_sdk.so
libaubo_sdkd.so
librobot_proxy.so
librobot_proxyd.so)
file(COPY_FILE
"${AUBO_SDK_LIB_DIR}/${AUBO_LIB}"
"${AUBO_CLEAN_LIB_DIR}/${AUBO_LIB}"
ONLY_IF_DIFFERENT
)
endforeach()
set_target_properties(aubo_sdk::aubo_sdk aubo_sdk::robot_proxy PROPERTIES
MAP_IMPORTED_CONFIG_DEBUG Release
)
set_target_properties(aubo_sdk::aubo_sdk PROPERTIES
IMPORTED_LOCATION_RELEASE "${AUBO_CLEAN_LIB_DIR}/libaubo_sdk.so"
IMPORTED_LOCATION_DEBUG "${AUBO_CLEAN_LIB_DIR}/libaubo_sdkd.so"
)
set_target_properties(aubo_sdk::robot_proxy PROPERTIES
IMPORTED_LOCATION_RELEASE "${AUBO_CLEAN_LIB_DIR}/librobot_proxy.so"
IMPORTED_LOCATION_DEBUG "${AUBO_CLEAN_LIB_DIR}/librobot_proxyd.so"
)
target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
target_link_libraries(aubo_arm PRIVATE aubo_sdk::aubo_sdk)
elseif (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h")
target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK) target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR}) target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
if (EXISTS "${AUBO_SDK_LIB_DIR}") if (EXISTS "${AUBO_SDK_LIB_DIR}")