125 lines
4.1 KiB
CMake
125 lines
4.1 KiB
CMake
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)
|
||
|
||
# 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 ${PROTO_BINARY_DIR}
|
||
USAGE_REQUIREMENT PRIVATE
|
||
)
|
||
protobuf_generate(
|
||
TARGET proto-objects
|
||
LANGUAGE grpc
|
||
GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
|
||
PLUGIN "protoc-gen-grpc=$ENV{HOME}/.local/bin/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})
|
||
target_link_libraries(proto PUBLIC protobuf::libprotobuf gRPC::grpc++ gRPC::grpc++_reflection)
|
||
add_library(cmvr_es::proto ALIAS proto)
|
||
############################################################
|
||
# 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
|
||
cmvr_es::proto
|
||
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
|
||
) |