105 lines
3.3 KiB
CMake
105 lines
3.3 KiB
CMake
cmake_minimum_required(VERSION 3.22.0)
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project(cmvr_es)
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# 设置C++标准
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_FLAGS -pthread)
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# 查找依赖
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list(APPEND CMAKE_PREFIX_PATH "$ENV{HOME}./local")
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###########################################################
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## DEPENDENCIES
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#############################################################
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find_package(jsoncpp REQUIRED)
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find_package(protobuf REQUIRED)
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find_package(gRPC REQUIRED)
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(GLOG REQUIRED libglog)
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############################################################
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# PROTO
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############################################################
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set(PROTO_IMPORT_DIR ${PROJECT_SOURCE_DIR}/protos)
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set(PROTO_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/_protobuf)
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file(MAKE_DIRECTORY ${PROTO_BINARY_DIR})
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file(GLOB_RECURSE PROTO_FILES ${PROTO_IMPORT_DIR}/*.proto)
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add_library(proto-objects OBJECT ${PROTO_FILES})
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message(STATUS "proto files will be loaded in ${PROTO_IMPORT_DIR}")
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message(STATUS "proto files will be generated in ${PROTO_BINARY_DIR}")
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protobuf_generate(
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TARGET proto-objects
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IMPORT_DIRS ${PROTO_IMPORT_DIR}
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PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
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USAGE_REQUIREMENT INTERFACE
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)
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protobuf_generate(
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TARGET proto-objects
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LANGUAGE grpc
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GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
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PLUGIN "protoc-gen-grpc=$ENV{HOME}/.local/bin/grpc_cpp_plugin"
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USAGE_REQUIREMENT INTERFACE
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IMPORT_DIRS ${PROTO_IMPORT_DIR}
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PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
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)
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target_include_directories(proto-objects PUBLIC ${PROTO_BINARY_DIR} ${PROTO_IMPORT_DIR})
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target_link_libraries(proto-objects PUBLIC protobuf::libprotobuf gRPC::grpc++)
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############################################################
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# include
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############################################################
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include_directories(
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/usr/include/opencv4
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/usr/include/eigen3
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/usr/local/include/osqp
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/usr/local/share/osqp/codegen_files/inc/private/
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$ENV{HOME}/.local/include
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/usr/local/include/
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${PROTO_BINARY_DIR}
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${PROJECT_SOURCE_DIR}/include
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${PROJECT_SOURCE_DIR}/src/devices
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${PROJECT_SOURCE_DIR}/src/utils
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${PROJECT_SOURCE_DIR}/third_party
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${PROJECT_SOURCE_DIR}/src
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${PROJECT_SOURCE_DIR}/third_party/toppra/0.6.2/include
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)
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############################################################
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# subdirectory
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############################################################
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add_subdirectory(src)
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#add_subdirectory(example)
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#add_subdirectory(test)
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############################################################
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# executables
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############################################################
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add_executable(cmvr_es src/main.cpp)
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target_include_directories(cmvr_es PRIVATE ${GLOG_INCLUDE_DIRS})
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target_link_libraries(cmvr_es PRIVATE
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proto-objects
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service
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${GLOG_LIBRARIES}
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gflags
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jsoncpp_lib
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cmvr_es::utils
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cmvr_es::service
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cmvr_es::monitor
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cmvr_es::hardware
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cmvr_es::httpclient
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cmvr_es::device::canbus
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cmvr_es::device::ti5motor
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cmvr_es::ctrl::controller
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cmvr_es::data_center
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cmvr_es::ik_solver
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cmvr_es::planner
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) |