121 lines
3.3 KiB
CMake
121 lines
3.3 KiB
CMake
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add_library(service
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stop_all/src/stop_operation_dispatcher.cpp
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action/src/action_queue_executor.cpp
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server/src/camera_ptz_activity_registry.cpp
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server/src/media_activity_coordinator.cpp
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server/src/motor_activity_coordinator.cpp
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server/src/grpc_camera_service.cpp
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server/src/grpc_command_transaction.cpp
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server/src/grpc_error_logging_interceptor.cpp
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server/src/grpc_recovery_audit.cpp
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server/src/grpc_safety_proto.cpp
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server/src/grpc_safety_participants.cpp
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server/src/grpc_security.cpp
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server/src/grpc_system_service.cpp
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server/src/grpc_speaker_service.cpp
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server/src/grpc_microphone_service.cpp
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server/src/grpc_head_service.cpp
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server/src/grpc_dexhand_service.cpp
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server/src/grpc_arm_service.cpp
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server/src/grpc_arm_teleop_service.cpp
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server/src/grpc_robot_arm_teleop_backend.cpp
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server/src/grpc_motor_service.cpp
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server/src/grpc_agv_service.cpp
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server/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
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${CMAKE_SOURCE_DIR}/cmvr-es
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)
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target_link_libraries(service PRIVATE
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cmvr_es::proto
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cmvr_es::stop_all_admission_gate
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cmvr_es::camera_operational_activity_registry
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osqp
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cmvr_es::control_authority_manager
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cmvr_es::device_manager
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cmvr_es::task_manager
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cmvr_es::algorithms::controller
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cmvr_es::task
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cmvr_es::media_source_manager
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cmvr_es::device_media_source_adapter
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protobuf::libprotobuf
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)
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add_library(cmvr_es::service ALIAS service)
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install(TARGETS service LIBRARY DESTINATION lib)
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if(BUILD_TESTING)
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add_executable(grpc_camera_stream_policy_test
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server/tests/grpc_camera_stream_policy_test.cpp
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)
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target_include_directories(grpc_camera_stream_policy_test
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PRIVATE
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${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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server/tests/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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server/tests/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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