84 lines
1.9 KiB
CMake
84 lines
1.9 KiB
CMake
|
|
add_library(service
|
|
grpc/src/grpc_camera_service.cpp
|
|
grpc/src/grpc_system_service.cpp
|
|
grpc/src/grpc_speaker_service.cpp
|
|
grpc/src/grpc_microphone_service.cpp
|
|
grpc/src/grpc_head_service.cpp
|
|
grpc/src/grpc_dexhand_service.cpp
|
|
grpc/src/grpc_arm_service.cpp
|
|
grpc/src/grpc_hlc_service.cpp
|
|
../task/grpc_server_task/src/grpc_server_task.cpp
|
|
)
|
|
|
|
target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
|
|
|
target_link_libraries(service PRIVATE
|
|
cmvr_es::proto
|
|
osqp
|
|
cmvr_es::device_manager
|
|
cmvr_es::task_manager
|
|
cmvr_es::algorithms::controller
|
|
cmvr_es::task
|
|
protobuf::libprotobuf
|
|
)
|
|
|
|
add_library(cmvr_es::service ALIAS service)
|
|
install(TARGETS service LIBRARY DESTINATION lib)
|
|
|
|
# --------------------------------------------------------
|
|
# Unit test
|
|
# --------------------------------------------------------
|
|
find_package(OpenCV REQUIRED)
|
|
|
|
include_directories(
|
|
${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
|
|
)
|
|
|
|
link_directories(
|
|
${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
|
|
)
|
|
|
|
|
|
add_executable(grpc_arm_client_test
|
|
grpc/src/grpc_arm_client_test.cpp
|
|
)
|
|
|
|
|
|
target_link_libraries(grpc_arm_client_test
|
|
PRIVATE
|
|
cmvr_es::device::canbus
|
|
cmvr_es::device::ti5_canopen_motor_driver
|
|
osqp
|
|
gtest
|
|
gtest_main
|
|
pthread
|
|
glog
|
|
cmvr_es::proto
|
|
ccd
|
|
fcl
|
|
cmvr_es::device_manager
|
|
${OpenCV_LIBS}
|
|
)
|
|
|
|
|
|
add_executable(grpc_hlc_client_test
|
|
grpc/src/grpc_hlc_client_test.cpp
|
|
)
|
|
|
|
|
|
target_link_libraries(grpc_hlc_client_test
|
|
PRIVATE
|
|
cmvr_es::device::canbus
|
|
cmvr_es::device::ti5_canopen_motor_driver
|
|
osqp
|
|
gtest
|
|
gtest_main
|
|
pthread
|
|
glog
|
|
cmvr_es::proto
|
|
ccd
|
|
fcl
|
|
cmvr_es::device_manager
|
|
)
|