51 lines
1.3 KiB
CMake
51 lines
1.3 KiB
CMake
add_library(motor_bus_runtime SHARED
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can/src/can_motor_bus_runtime.cpp
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mujoco/src/mujoco_motor_bus_runtime.cpp
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ethercat/src/ethercat_motor_bus_runtime.cpp
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)
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set(IGH_ETHERCAT_ROOT
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${CMAKE_SOURCE_DIR}/dependency/x86/third_party/ethercat/v1.7.0
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)
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target_include_directories(motor_bus_runtime
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}
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PRIVATE
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${IGH_ETHERCAT_ROOT}/include
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)
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target_link_directories(motor_bus_runtime PRIVATE ${IGH_ETHERCAT_ROOT}/lib)
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target_link_libraries(motor_bus_runtime
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PUBLIC
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cmvr_es::proto
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cmvr_es::device::motor_core
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cmvr_es::mujoco_world
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PRIVATE
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ethercat
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cmvr_es::device::canbus
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glog
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)
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add_library(cmvr_es::device::motor_bus_runtime ALIAS motor_bus_runtime)
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install(TARGETS motor_bus_runtime LIBRARY DESTINATION lib)
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add_executable(ethercat_motor_bus_runtime_real_test
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ethercat/src/ethercat_motor_bus_runtime_real_test.cpp
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)
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target_include_directories(ethercat_motor_bus_runtime_real_test
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PRIVATE
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${CMAKE_SOURCE_DIR}/cmvr-es
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)
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target_link_libraries(ethercat_motor_bus_runtime_real_test
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PRIVATE
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cmvr_es::device::motor_bus_runtime
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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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)
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