194 lines
7.0 KiB
CMake
194 lines
7.0 KiB
CMake
cmake_minimum_required(VERSION 3.22.0)
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project(cmvr_es)
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include(CTest)
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# 设置C++标准
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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#set(CMAKE_CXX_FLAGS -pthread)
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#set(CMAKE_CXX_STANDARD_REQUIRED True)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Install to <source>/output
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set(CMAKE_INSTALL_PREFIX "${CMAKE_SOURCE_DIR}/output" CACHE PATH "" FORCE)
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# Make build-tree binaries runnable without LD_LIBRARY_PATH
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set(CMAKE_BUILD_RPATH "\$ORIGIN:\$ORIGIN/../lib")
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set(CMAKE_INSTALL_RPATH "\$ORIGIN:\$ORIGIN/../lib")
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# Some vendor SDK directories contain an obsolete private libstdc++.so.6. They
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# are still needed in the build RUNPATH for their own shared objects, but must
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# not shadow the C++ runtime selected by the active compiler.
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execute_process(
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COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libstdc++.so.6
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OUTPUT_VARIABLE CMVR_COMPILER_LIBSTDCXX
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(IS_ABSOLUTE "${CMVR_COMPILER_LIBSTDCXX}" AND EXISTS "${CMVR_COMPILER_LIBSTDCXX}")
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# Do not put the whole system library directory first: that can mix the
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# system FFmpeg with the repository's bundled FFmpeg. A one-library shim
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# fixes only the vendor libstdc++ collision.
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set(CMVR_COMPILER_RUNTIME_DIR "${CMAKE_BINARY_DIR}/cmvr_compiler_runtime")
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file(MAKE_DIRECTORY "${CMVR_COMPILER_RUNTIME_DIR}")
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file(CREATE_LINK
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"${CMVR_COMPILER_LIBSTDCXX}"
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"${CMVR_COMPILER_RUNTIME_DIR}/libstdc++.so.6"
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SYMBOLIC COPY_ON_ERROR
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RESULT CMVR_COMPILER_RUNTIME_LINK_RESULT)
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if(CMVR_COMPILER_RUNTIME_LINK_RESULT STREQUAL "0")
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list(PREPEND CMAKE_BUILD_RPATH "${CMVR_COMPILER_RUNTIME_DIR}")
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else()
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message(WARNING
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"Could not prepare compiler libstdc++ build shim: "
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"${CMVR_COMPILER_RUNTIME_LINK_RESULT}")
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endif()
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endif()
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# Use RUNPATH (new dtags) generally preferable
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set(CMAKE_BUILD_WITH_INSTALL_RPATH OFF)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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###########################################################
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## DEPENDENCIES
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#############################################################
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
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include(FindExternalLib)
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set(CMVR_ARCH "" CACHE STRING "Dependency architecture directory (x86 or arm)")
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if(NOT CMVR_ARCH)
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string(TOLOWER "${CMAKE_SYSTEM_PROCESSOR}" _cmvr_system_processor)
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if(_cmvr_system_processor MATCHES "^(aarch64|arm64|arm)")
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set(CMVR_ARCH "arm")
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else()
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set(CMVR_ARCH "x86")
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endif()
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endif()
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set_property(CACHE CMVR_ARCH PROPERTY STRINGS x86 arm)
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if(NOT CMVR_ARCH STREQUAL "x86" AND NOT CMVR_ARCH STREQUAL "arm")
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message(FATAL_ERROR "CMVR_ARCH must be either 'x86' or 'arm', got: ${CMVR_ARCH}")
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endif()
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set(ARCH "${CMVR_ARCH}")
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setup_external_libs(${ARCH})
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# 在调用 setup_external_libs 之后
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message(STATUS "CMAKE_EXE_LINKER_FLAGS: ${CMAKE_EXE_LINKER_FLAGS}")
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message(STATUS "CMAKE_SHARED_LINKER_FLAGS: ${CMAKE_SHARED_LINKER_FLAGS}")
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find_package(protobuf REQUIRED)
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find_package(gRPC REQUIRED)
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option(CMVR_ENABLE_MSQUIC_BACKEND
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"Enable the MsQuic backend for the QUIC edge service when available"
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ON)
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set(CMVR_HAS_MSQUIC OFF)
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if(CMVR_ENABLE_MSQUIC_BACKEND)
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find_package(MsQuic QUIET)
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if(MsQuic_FOUND)
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set(CMVR_HAS_MSQUIC ON)
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message(STATUS "MsQuic found: ${MsQuic_LIBRARY}")
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else()
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message(STATUS "MsQuic not found; building QUIC edge in unavailable/stub mode")
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endif()
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endif()
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############################################################
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# PROTO , 遇到proto 的生成问题，现在build 目录执行 cmake --install . --verbose ，然后编译即可
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############################################################
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set(PROTO_IMPORT_DIR ${PROJECT_SOURCE_DIR}/protos)
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set(PROTO_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/_protobuf)
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file(MAKE_DIRECTORY ${PROTO_BINARY_DIR})
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file(GLOB_RECURSE PROTO_FILES ${PROTO_IMPORT_DIR}/*.proto)
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set(Protobuf_PROTOC_EXECUTABLE "${CMAKE_INSTALL_PREFIX}/bin/protoc" CACHE FILEPATH "" FORCE)
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set_target_properties(gRPC::grpc_cpp_plugin
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PROPERTIES
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IMPORTED_LOCATION "${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin"
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IMPORTED_LOCATION_RELEASE "${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin"
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)
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# 1) 先做 OBJECT：只负责生成/编译 pb.cc
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add_library(proto-objects OBJECT)
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target_sources(proto-objects PRIVATE ${PROTO_FILES})
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set_target_properties(proto-objects PROPERTIES POSITION_INDEPENDENT_CODE ON)
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protobuf_generate(
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TARGET proto-objects
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IMPORT_DIRS ${PROTO_IMPORT_DIR}
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PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
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USAGE_REQUIREMENT PRIVATE
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)
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protobuf_generate(
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TARGET proto-objects
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LANGUAGE grpc
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GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
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PLUGIN "protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>"
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IMPORT_DIRS ${PROTO_IMPORT_DIR}
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PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
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USAGE_REQUIREMENT PRIVATE
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)
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# 2) 把 OBJECT 打包成一个“唯一的”共享库（关键）
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add_library(proto SHARED $<TARGET_OBJECTS:proto-objects>)
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target_include_directories(proto PUBLIC ${PROTO_BINARY_DIR} ${PROTO_IMPORT_DIR} ${Protobuf_INCLUDE_DIRS})
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target_link_libraries(proto PUBLIC protobuf::libprotobuf gRPC::grpc++ gRPC::grpc++_reflection)
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add_library(cmvr_es::proto ALIAS proto)
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#install(TARGETS proto RUNTIME DESTINATION bin)
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install(TARGETS proto LIBRARY DESTINATION lib)
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############################################################
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# include
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############################################################
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include_directories(
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/usr/local/include/
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${PROTO_BINARY_DIR}
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${PROJECT_SOURCE_DIR}/include
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${PROJECT_SOURCE_DIR}/cmvr-es/devices
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${PROJECT_SOURCE_DIR}/cmvr-es/utils
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${PROJECT_SOURCE_DIR}/cmvr-es
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${PROJECT_SOURCE_DIR}/dependency/${ARCH}/third_party
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${PROJECT_SOURCE_DIR}/dependency/${ARCH}/third_party/osqp/v0.6.3/include/osqp
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)
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############################################################
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# subdirectory
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############################################################
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add_subdirectory(cmvr-es)
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############################################################
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# executables
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############################################################
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add_executable(cmvr_es cmvr-es/main.cpp)
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target_include_directories(cmvr_es PRIVATE ${GLOG_INCLUDE_DIRS})
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target_link_libraries(cmvr_es PRIVATE
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cmvr_es::proto
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cmvr_es::logging
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cmvr_es::quic_edge_task
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${GLOG_LIBRARIES}
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jsoncpp
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cmvr_es::service
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cmvr_es::hardware
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cmvr_es::device::canbus
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cmvr_es::device::ti5motor
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cmvr_es::algorithms::controller
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cmvr_es::ik_solver
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cmvr_es::base_motion
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cmvr_es::common
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cmvr_es::task
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cmvr_es::task_manager
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ccd
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fcl
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)
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install(TARGETS cmvr_es RUNTIME DESTINATION bin)
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install(CODE [[
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file(REMOVE_RECURSE
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"${CMAKE_INSTALL_PREFIX}/bin/config"
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"${CMAKE_INSTALL_PREFIX}/bin/model")
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]])
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install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmvr-es/config DESTINATION bin)
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install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/model DESTINATION bin)
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