xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
35 lines
918 B
CMake
35 lines
918 B
CMake
add_library(control_authority STATIC
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src/control_authority_manager.cpp
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)
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target_compile_features(control_authority PUBLIC cxx_std_17)
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target_include_directories(control_authority
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PUBLIC
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${PROJECT_SOURCE_DIR}/cmvr-es
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)
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add_library(
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cmvr_es::control_authority
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ALIAS control_authority
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)
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install(TARGETS control_authority ARCHIVE DESTINATION lib)
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if(BUILD_TESTING)
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add_executable(control_authority_manager_test
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tests/control_authority_manager_test.cpp
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)
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target_link_libraries(control_authority_manager_test
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PRIVATE
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cmvr_es::control_authority
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gtest
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gtest_main
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pthread
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)
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add_test(
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NAME control_authority_manager_test
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COMMAND control_authority_manager_test
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)
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set_tests_properties(control_authority_manager_test PROPERTIES
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TIMEOUT 10
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)
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endif()
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