102 lines
2.4 KiB
CMake
102 lines
2.4 KiB
CMake
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add_library(service
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grpc/src/grpc_camera_service.cpp
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grpc/src/grpc_system_service.cpp
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grpc/src/grpc_speaker_service.cpp
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grpc/src/grpc_microphone_service.cpp
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grpc/src/grpc_head_service.cpp
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grpc/src/grpc_dexhand_service.cpp
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grpc/src/grpc_arm_service.cpp
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grpc/src/grpc_agv_service.cpp
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grpc/src/grpc_hlc_service.cpp
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../task/grpc_server_task/src/grpc_server_task.cpp
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)
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target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(service PRIVATE
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cmvr_es::proto
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osqp
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cmvr_es::device_manager
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cmvr_es::task_manager
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cmvr_es::algorithms::controller
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cmvr_es::task
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cmvr_es::media_source_hub
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cmvr_es::device_media_source_adapter
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protobuf::libprotobuf
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)
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add_library(cmvr_es::service ALIAS service)
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install(TARGETS service LIBRARY DESTINATION lib)
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if(BUILD_TESTING)
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add_executable(grpc_camera_stream_policy_test
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grpc/tests/grpc_camera_stream_policy_test.cpp
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)
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target_include_directories(grpc_camera_stream_policy_test
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PRIVATE
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${CMAKE_SOURCE_DIR}/cmvr-es
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)
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add_test(
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NAME grpc_camera_stream_policy_test
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COMMAND grpc_camera_stream_policy_test
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)
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set_tests_properties(grpc_camera_stream_policy_test PROPERTIES TIMEOUT 10)
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endif()
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# --------------------------------------------------------
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# Unit test
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# --------------------------------------------------------
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find_package(OpenCV REQUIRED)
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include_directories(
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${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
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)
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link_directories(
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${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
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)
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add_executable(grpc_arm_client_test
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grpc/src/grpc_arm_client_test.cpp
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)
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target_link_libraries(grpc_arm_client_test
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PRIVATE
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cmvr_es::device::canbus
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cmvr_es::device::ti5_canopen_motor_driver
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osqp
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gtest
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gtest_main
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pthread
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glog
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cmvr_es::proto
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ccd
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fcl
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cmvr_es::device_manager
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${OpenCV_LIBS}
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)
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add_executable(grpc_hlc_client_test
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grpc/src/grpc_hlc_client_test.cpp
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)
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target_link_libraries(grpc_hlc_client_test
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PRIVATE
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cmvr_es::device::canbus
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cmvr_es::device::ti5_canopen_motor_driver
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osqp
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gtest
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gtest_main
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pthread
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glog
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cmvr_es::proto
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ccd
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fcl
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cmvr_es::device_manager
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)
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