xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
93 lines
2.5 KiB
CMake
93 lines
2.5 KiB
CMake
add_library(ume_robot_arm SHARED
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src/damiao_mit_codec.cpp
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src/damiao_can_fd_chain.cpp
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src/ume_robot_arm.cpp
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)
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target_include_directories(ume_robot_arm PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}
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)
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target_link_libraries(ume_robot_arm
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PUBLIC
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cmvr_es::device::canbus
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cmvr_es::ik_solver
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cmvr_es::common
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PRIVATE
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cmvr_es::proto
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cmvr_es::logging
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pthread
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)
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add_library(cmvr_es::device::ume_robot_arm ALIAS ume_robot_arm)
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install(TARGETS ume_robot_arm LIBRARY DESTINATION lib)
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if(BUILD_TESTING)
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add_executable(damiao_mit_codec_test
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tests/damiao_mit_codec_test.cpp
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)
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target_link_libraries(damiao_mit_codec_test
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PRIVATE
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cmvr_es::device::ume_robot_arm
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gtest
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gtest_main
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pthread
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)
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add_test(
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NAME damiao_mit_codec_test
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COMMAND damiao_mit_codec_test
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)
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set(_ume_robot_arm_test_environment
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"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
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)
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if(CMVR_TEST_SYSTEM_LIBSTDCXX)
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list(APPEND _ume_robot_arm_test_environment
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"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
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endif()
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set_tests_properties(damiao_mit_codec_test PROPERTIES
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TIMEOUT 10
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ENVIRONMENT "${_ume_robot_arm_test_environment}"
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)
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add_executable(damiao_can_fd_chain_test
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tests/damiao_can_fd_chain_test.cpp
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)
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target_link_libraries(damiao_can_fd_chain_test
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PRIVATE
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cmvr_es::device::ume_robot_arm
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gtest
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gtest_main
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pthread
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)
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add_test(
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NAME damiao_can_fd_chain_test
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COMMAND damiao_can_fd_chain_test
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)
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set_tests_properties(damiao_can_fd_chain_test PROPERTIES
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TIMEOUT 10
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ENVIRONMENT "${_ume_robot_arm_test_environment}"
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)
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add_executable(ume_robot_arm_test
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tests/ume_robot_arm_test.cpp
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)
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target_link_libraries(ume_robot_arm_test
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PRIVATE
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cmvr_es::device::ume_robot_arm
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gtest
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gtest_main
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pthread
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)
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target_compile_definitions(ume_robot_arm_test PRIVATE
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CMVR_UME_ARM_CONFIG_PATH="${PROJECT_SOURCE_DIR}/cmvr-es/config/devices/arm/ume_arms.pb.txt"
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)
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add_test(
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NAME ume_robot_arm_test
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COMMAND ume_robot_arm_test
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)
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set_tests_properties(ume_robot_arm_test PROPERTIES
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TIMEOUT 10
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ENVIRONMENT "${_ume_robot_arm_test_environment}"
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)
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endif()
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