xtkuang
28f1dd1bf8
Add synchronous and streaming MotorService APIs backed by the PLC Modbus TCP runtime and protocol driver. Extend AUBO JSON commands and isolate vendor libstdc++ paths while keeping build-tree tests runnable.
100 lines
3.7 KiB
CMake
100 lines
3.7 KiB
CMake
add_library(aubo_arm SHARED
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aubo_arm.cpp
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)
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target_include_directories(aubo_arm PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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set(AUBO_SDK_ROOT ${CMAKE_SOURCE_DIR}/dependency/${ARCH}/third_party/aubo_sdk/v0.27.1)
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set(AUBO_SDK_INCLUDE_DIR ${AUBO_SDK_ROOT}/include)
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set(AUBO_SDK_LIB_DIR ${AUBO_SDK_ROOT}/lib)
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if (EXISTS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk/aubo_sdkConfig.cmake")
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list(APPEND CMAKE_PREFIX_PATH "${AUBO_SDK_LIB_DIR}/cmake")
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find_package(Qt5Core QUIET)
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if (NOT Qt5Core_FOUND AND NOT TARGET Qt5::Core)
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find_library(QT5_CORE_LIBRARY
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NAMES Qt5Core libQt5Core.so.5
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PATHS /lib /usr/lib /usr/local/lib /lib/x86_64-linux-gnu /usr/lib/x86_64-linux-gnu
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)
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if (QT5_CORE_LIBRARY)
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add_library(Qt5::Core UNKNOWN IMPORTED)
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set_target_properties(Qt5::Core PROPERTIES
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IMPORTED_LOCATION "${QT5_CORE_LIBRARY}"
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)
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endif()
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endif()
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find_package(aubo_sdk REQUIRED CONFIG PATHS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk" NO_DEFAULT_PATH)
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set_target_properties(aubo_sdk::aubo_sdk aubo_sdk::robot_proxy PROPERTIES
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MAP_IMPORTED_CONFIG_DEBUG Release
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)
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target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
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target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
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target_link_libraries(aubo_arm PRIVATE aubo_sdk::aubo_sdk)
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elseif (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h")
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target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
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target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
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if (EXISTS "${AUBO_SDK_LIB_DIR}")
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target_link_directories(aubo_arm PRIVATE ${AUBO_SDK_LIB_DIR})
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target_link_libraries(aubo_arm PRIVATE aubo_sdk)
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endif()
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else()
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message(WARNING "Aubo SDK not found; AuboArm will compile as an unavailable vendor arm.")
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endif()
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target_link_libraries(aubo_arm
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PUBLIC
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cmvr_es::proto
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PRIVATE
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glog
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jsoncpp
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)
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add_library(cmvr_es::device::aubo_arm ALIAS aubo_arm)
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install(TARGETS aubo_arm LIBRARY DESTINATION lib)
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if(BUILD_TESTING)
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enable_testing()
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add_executable(aubo_arm_json_command_test
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tests/aubo_arm_json_command_test.cpp
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)
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target_link_libraries(aubo_arm_json_command_test
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PRIVATE
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cmvr_es::device::aubo_arm
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cmvr_es::proto
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)
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add_test(
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NAME aubo_arm_json_command_test
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COMMAND aubo_arm_json_command_test
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)
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set_tests_properties(aubo_arm_json_command_test PROPERTIES
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TIMEOUT 10
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ENVIRONMENT "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
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)
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if(UNIX AND NOT APPLE)
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# The imported AUBO target still contributes its vendor directory to
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# direct consumers' build-tree RUNPATH. Put the system runtime first
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# for this test; installed artifacts exclude the vendor libstdc++.
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execute_process(
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COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libstdc++.so.6
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OUTPUT_VARIABLE AUBO_TEST_SYSTEM_LIBSTDCXX
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(EXISTS "${AUBO_TEST_SYSTEM_LIBSTDCXX}")
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get_filename_component(
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AUBO_TEST_SYSTEM_LIBSTDCXX_REAL
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"${AUBO_TEST_SYSTEM_LIBSTDCXX}"
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REALPATH
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)
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get_filename_component(
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AUBO_TEST_SYSTEM_LIBSTDCXX_DIR
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"${AUBO_TEST_SYSTEM_LIBSTDCXX_REAL}"
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DIRECTORY
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)
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set_property(
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TARGET aubo_arm_json_command_test
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PROPERTY BUILD_RPATH "${AUBO_TEST_SYSTEM_LIBSTDCXX_DIR}"
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)
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endif()
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endif()
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endif()
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