161 lines
5.7 KiB
CMake
161 lines
5.7 KiB
CMake
cmake_minimum_required(VERSION 3.22.0)
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project(cmvr_es)
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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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# Preserve the project's production-build behavior: tests are opt-in via
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# -DBUILD_TESTING=ON, while still registering them with CTest when requested.
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option(BUILD_TESTING "Build the test targets" OFF)
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include(CTest)
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if(BUILD_TESTING AND UNIX AND NOT APPLE)
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# Test executables can still inherit the AUBO imported target's build-tree
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# RUNPATH. Keep the active toolchain runtime ahead of that vendor path.
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execute_process(
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COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libstdc++.so.6
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OUTPUT_VARIABLE CMVR_TEST_SYSTEM_LIBSTDCXX
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(EXISTS "${CMVR_TEST_SYSTEM_LIBSTDCXX}")
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get_filename_component(
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CMVR_TEST_SYSTEM_LIBSTDCXX
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"${CMVR_TEST_SYSTEM_LIBSTDCXX}"
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REALPATH
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)
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else()
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unset(CMVR_TEST_SYSTEM_LIBSTDCXX)
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endif()
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endif()
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# Install to <source>/output
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set(CMAKE_INSTALL_PREFIX "${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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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 "${CMAKE_SOURCE_DIR}/cmake")
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include(FindExternalLib)
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set(ARCH "x86")
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setup_external_libs(${ARCH})
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if(BUILD_TESTING AND CMVR_EXTERNAL_LIBRARY_DIRS)
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list(JOIN CMVR_EXTERNAL_LIBRARY_DIRS ":" CMVR_TEST_EXTERNAL_LIBRARY_PATH)
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endif()
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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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############################################################
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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 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 ${GLOG_INCLUDE_DIRS})
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target_link_libraries(cmvr_es PRIVATE
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cmvr_es::runtime
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cmvr_es::proto
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cmvr_es::logging
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cmvr_es::quic_edge_task
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${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::ti5_canopen_motor_driver
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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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