2026-09-23 11:11:49 +08:00
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QT += core gui widgets multimedia 3dcore 3drender 3dextras 3dinput 3danimation
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2026-09-18 16:22:20 +08:00
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CONFIG += c++14 warn_on debug_and_release
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TEMPLATE = app
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DEFINES += QT_DEPRECATED_WARNINGS _WIN32_WINNT=0x0600
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INCLUDE_DIR = $$clean_path($$PWD/include)
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LIB_DIR = $$clean_path($$PWD/lib)
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TOOLS_DIR = $$clean_path($$PWD/tools)
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CERT_DIR = $$clean_path($$PWD/certs)
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PROTO_ROOT = $$clean_path($$PWD/protos)
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PROTO_GEN_DIR = $$clean_path($$PWD/generated_cpp)
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PROTOC = $$TOOLS_DIR/run_protoc.cmd
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GRPC_CPP_PLUGIN = $$TOOLS_DIR/grpc_cpp_plugin.exe
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MSQUIC_DLL = $$LIB_DIR/msquic.dll
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MSQUIC_TEST_CERT = $$CERT_DIR/quic-test-server.pfx
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MSQUIC_TEST_CA = $$CERT_DIR/quic-test-ca.crt
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RUNTIME_DLLS = $$files($$LIB_DIR/*.dll)
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2026-09-23 11:11:49 +08:00
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MODEL_DIR = $$clean_path($$PWD/models)
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2026-09-18 16:22:20 +08:00
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QT_SCENEPARSER_DIR = $$clean_path($$[QT_INSTALL_PLUGINS]/sceneparsers)
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!exists($$PROTOC): error("protoc launcher not found. Run scripts/build_native_deps.ps1 first.")
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!exists($$GRPC_CPP_PLUGIN): error("grpc_cpp_plugin.exe not found. Run scripts/build_native_deps.ps1 first.")
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!exists($$MSQUIC_DLL): error("msquic.dll not found. Run scripts/install_msquic.ps1 first.")
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!exists($$MSQUIC_TEST_CERT): error("QUIC test certificate not found. Run scripts/install_msquic.ps1 first.")
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!exists($$MSQUIC_TEST_CA): error("QUIC test CA not found. Run scripts/install_msquic.ps1 first.")
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!exists($$INCLUDE_DIR/libavcodec/avcodec.h): error("FFmpeg headers not found in include.")
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!exists($$LIB_DIR/avcodec-58.dll): error("FFmpeg runtime DLLs not found in lib.")
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!exists($$INCLUDE_DIR/urdf_parser/urdf_parser.h): error("urdfdom headers not found in include.")
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!exists($$LIB_DIR/liburdfdom_model.dll.a): error("urdfdom link library not found in lib.")
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!exists($$LIB_DIR/liburdfdom_model.dll): error("urdfdom runtime DLL not found in lib.")
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PROTO_FILES = \
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$$PROTO_ROOT/cmvr/api/common.proto \
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$$PROTO_ROOT/cmvr/api/agv_command.proto \
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$$PROTO_ROOT/cmvr/api/agv_service.proto \
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$$PROTO_ROOT/cmvr/api/arm_command.proto \
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$$PROTO_ROOT/cmvr/api/arm_service.proto \
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$$PROTO_ROOT/cmvr/api/biohead_command.proto \
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$$PROTO_ROOT/cmvr/api/biohead_service.proto \
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$$PROTO_ROOT/cmvr/api/camera_command.proto \
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$$PROTO_ROOT/cmvr/api/camera_service.proto \
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$$PROTO_ROOT/cmvr/api/configuration_command.proto \
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$$PROTO_ROOT/cmvr/api/configuration_service.proto \
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$$PROTO_ROOT/cmvr/api/dexhand_command.proto \
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$$PROTO_ROOT/cmvr/api/dexhand_service.proto \
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$$PROTO_ROOT/cmvr/api/hlc_command.proto \
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$$PROTO_ROOT/cmvr/api/hlc_service.proto \
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$$PROTO_ROOT/cmvr/api/microphone_command.proto \
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$$PROTO_ROOT/cmvr/api/microphone_service.proto \
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$$PROTO_ROOT/cmvr/api/speaker_command.proto \
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$$PROTO_ROOT/cmvr/api/speaker_service.proto \
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$$PROTO_ROOT/cmvr/api/system_command.proto \
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$$PROTO_ROOT/cmvr/api/system_service.proto \
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$$PROTO_ROOT/cmvr/api/test_service.proto
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GRPC_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/api/agv_service.proto \
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$$PROTO_ROOT/cmvr/api/arm_service.proto \
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$$PROTO_ROOT/cmvr/api/biohead_service.proto \
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$$PROTO_ROOT/cmvr/api/camera_service.proto \
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$$PROTO_ROOT/cmvr/api/configuration_service.proto \
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$$PROTO_ROOT/cmvr/api/dexhand_service.proto \
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$$PROTO_ROOT/cmvr/api/hlc_service.proto \
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$$PROTO_ROOT/cmvr/api/microphone_service.proto \
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$$PROTO_ROOT/cmvr/api/speaker_service.proto \
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$$PROTO_ROOT/cmvr/api/system_service.proto \
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$$PROTO_ROOT/cmvr/api/test_service.proto
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MSG_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/msgs/agv.proto
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CONFIG_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/config/agv_config/agv_config.proto \
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$$PROTO_ROOT/cmvr/config/arm_config/arm_config.proto \
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$$PROTO_ROOT/cmvr/config/aubo_robot_config/aubo_robot_config.proto \
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$$PROTO_ROOT/cmvr/config/biohead_config/biohead_config.proto \
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$$PROTO_ROOT/cmvr/config/camera_config/camera_config.proto \
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$$PROTO_ROOT/cmvr/config/cmvr_es_config/cmvr_es_config.proto \
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$$PROTO_ROOT/cmvr/config/device_manager_config/device_manager_config.proto \
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$$PROTO_ROOT/cmvr/config/dexhand_config/dexhand_config.proto \
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$$PROTO_ROOT/cmvr/config/grpc_server_config/grpc_server_config.proto \
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$$PROTO_ROOT/cmvr/config/logger_config/logger_config.proto \
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$$PROTO_ROOT/cmvr/config/microphone_config/microphone_config.proto \
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$$PROTO_ROOT/cmvr/config/motor_config/motor_config.proto \
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$$PROTO_ROOT/cmvr/config/quic_edge_config/quic_edge_config.proto \
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$$PROTO_ROOT/cmvr/config/self_collision_task_config/self_collision_task_config.proto \
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$$PROTO_ROOT/cmvr/config/speaker_config/speaker_config.proto \
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$$PROTO_ROOT/cmvr/config/task_manager_config/task_manager_config.proto \
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$$PROTO_ROOT/cmvr/config/touch_screen_task_config/touch_screen_task_config.proto
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CONFIG_ROOT_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/config/cartesian_motion_validation_config.proto \
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$$PROTO_ROOT/cmvr/config/joint_limits_config.proto \
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$$PROTO_ROOT/cmvr/config/lawba_ik_config.proto \
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$$PROTO_ROOT/cmvr/config/pinocchio_dls_ik_config.proto \
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$$PROTO_ROOT/cmvr/config/pinocchio_qp_ik_config.proto \
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$$PROTO_ROOT/cmvr/config/srs_ik_config.proto \
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$$PROTO_ROOT/cmvr/config/touch_screen_algorithm_config.proto \
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$$PROTO_ROOT/cmvr/config/touch_screen_common_config.proto
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COMMON_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/common/geometry.proto
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MUJOCO_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/config/mujoco_config/mujoco_world_config.proto
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QUIC_PROTO_FILES = \
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$$PROTO_ROOT/cmvr/quic_edge/v1/quic_edge.proto
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# Show the complete local proto tree in Qt Creator without compiling unused APIs.
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2026-09-23 11:11:49 +08:00
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OTHER_FILES += $$files($$PROTO_ROOT/*.proto, true) $$files($$MODEL_DIR/*.urdf, true)
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2026-09-18 16:22:20 +08:00
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INCLUDEPATH += \
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$$PROTO_GEN_DIR \
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$$INCLUDE_DIR \
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$$INCLUDE_DIR/urdfdom_headers
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protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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protobuf_compiler.input = PROTO_FILES
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protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/api/${QMAKE_FILE_BASE}.pb.cc
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protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PROTO_ROOT/cmvr/api/${QMAKE_FILE_BASE}.proto)
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protobuf_compiler.depends = $$PROTO_FILES $$MSG_PROTO_FILES
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protobuf_compiler.variable_out = SOURCES
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protobuf_compiler.CONFIG += target_predeps
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msg_protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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msg_protobuf_compiler.input = MSG_PROTO_FILES
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msg_protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/msgs/${QMAKE_FILE_BASE}.pb.cc
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msg_protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PROTO_ROOT/cmvr/msgs/${QMAKE_FILE_BASE}.proto)
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msg_protobuf_compiler.depends = $$MSG_PROTO_FILES
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msg_protobuf_compiler.variable_out = SOURCES
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msg_protobuf_compiler.CONFIG += target_predeps
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config_protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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config_protobuf_compiler.input = CONFIG_PROTO_FILES
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config_protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/config/${QMAKE_FILE_BASE}/${QMAKE_FILE_BASE}.pb.cc
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config_protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PWD/${QMAKE_FILE_IN})
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config_protobuf_compiler.depends = $$CONFIG_PROTO_FILES
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config_protobuf_compiler.variable_out = SOURCES
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config_protobuf_compiler.CONFIG += target_predeps
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config_root_protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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config_root_protobuf_compiler.input = CONFIG_ROOT_PROTO_FILES
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config_root_protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/config/${QMAKE_FILE_BASE}.pb.cc
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config_root_protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PWD/${QMAKE_FILE_IN})
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config_root_protobuf_compiler.depends = $$CONFIG_ROOT_PROTO_FILES $$COMMON_PROTO_FILES
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config_root_protobuf_compiler.variable_out = SOURCES
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config_root_protobuf_compiler.CONFIG += target_predeps
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common_protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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common_protobuf_compiler.input = COMMON_PROTO_FILES
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common_protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/common/${QMAKE_FILE_BASE}.pb.cc
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common_protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PWD/${QMAKE_FILE_IN})
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common_protobuf_compiler.depends = $$COMMON_PROTO_FILES
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common_protobuf_compiler.variable_out = SOURCES
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common_protobuf_compiler.CONFIG += target_predeps
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mujoco_protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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mujoco_protobuf_compiler.input = MUJOCO_PROTO_FILES
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mujoco_protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/config/mujoco_config/${QMAKE_FILE_BASE}.pb.cc
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mujoco_protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PWD/${QMAKE_FILE_IN})
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mujoco_protobuf_compiler.depends = $$MUJOCO_PROTO_FILES
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mujoco_protobuf_compiler.variable_out = SOURCES
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mujoco_protobuf_compiler.CONFIG += target_predeps
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grpc_compiler.name = gRPC ${QMAKE_FILE_IN}
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grpc_compiler.input = GRPC_PROTO_FILES
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grpc_compiler.output = $$PROTO_GEN_DIR/cmvr/api/${QMAKE_FILE_BASE}.grpc.pb.cc
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grpc_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --grpc_out=$$quote($$PROTO_GEN_DIR) --plugin=protoc-gen-grpc=$$quote($$GRPC_CPP_PLUGIN) $$quote($$PROTO_ROOT/cmvr/api/${QMAKE_FILE_BASE}.proto)
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grpc_compiler.depends = $$PROTO_FILES $$MSG_PROTO_FILES
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grpc_compiler.variable_out = SOURCES
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grpc_compiler.CONFIG += target_predeps
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quic_protobuf_compiler.name = Protobuf ${QMAKE_FILE_IN}
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quic_protobuf_compiler.input = QUIC_PROTO_FILES
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quic_protobuf_compiler.output = $$PROTO_GEN_DIR/cmvr/quic_edge/v1/${QMAKE_FILE_BASE}.pb.cc
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quic_protobuf_compiler.commands = $$quote($$PROTOC) --proto_path=$$quote($$PROTO_ROOT) --cpp_out=$$quote($$PROTO_GEN_DIR) $$quote($$PROTO_ROOT/cmvr/quic_edge/v1/${QMAKE_FILE_BASE}.proto)
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quic_protobuf_compiler.depends = $$QUIC_PROTO_FILES
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quic_protobuf_compiler.variable_out = SOURCES
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quic_protobuf_compiler.CONFIG += target_predeps
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QMAKE_EXTRA_COMPILERS += protobuf_compiler msg_protobuf_compiler config_protobuf_compiler config_root_protobuf_compiler common_protobuf_compiler mujoco_protobuf_compiler grpc_compiler quic_protobuf_compiler
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ABSL_STATIC_LIBS = $$files($$LIB_DIR/libabsl_*.a)
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LIBS += \
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-Wl,--start-group \
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$$LIB_DIR/libgrpc++.a \
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$$LIB_DIR/libgrpc.a \
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$$LIB_DIR/libgpr.a \
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$$LIB_DIR/libaddress_sorting.a \
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$$LIB_DIR/libre2.a \
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$$LIB_DIR/libupb.a \
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$$LIB_DIR/libcares.a \
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$$LIB_DIR/libssl.a \
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$$LIB_DIR/libcrypto.a \
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$$LIB_DIR/libzlibstatic.a \
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$$LIB_DIR/libprotobuf.a \
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$$ABSL_STATIC_LIBS \
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-Wl,--end-group \
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$$LIB_DIR/libavcodec.dll.a \
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$$LIB_DIR/libavutil.dll.a \
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$$LIB_DIR/libswscale.dll.a \
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$$LIB_DIR/liburdfdom_model.dll.a \
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-lws2_32 \
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-lcrypt32 \
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-ladvapi32 \
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-lbcrypt \
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-ldbghelp \
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-liphlpapi \
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-lsecur32 \
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-lntdll
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2026-09-23 11:11:49 +08:00
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DEFINES += CMVR_WITH_GRPC=1 CMVR_WITH_MSQUIC=1
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2026-09-18 16:22:20 +08:00
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CONFIG(debug, debug|release) {
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TARGET = CmvrControlStation_d
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DESTDIR = $$clean_path($$PWD/bin/debug)
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OBJECTS_DIR = build/debug/obj
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MOC_DIR = build/debug/moc
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RCC_DIR = build/debug/rcc
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UI_DIR = build/debug/ui
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DEFINES += CMVR_DEBUG_BUILD
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ASSIMP_SCENE_PARSER = $$QT_SCENEPARSER_DIR/assimpsceneimportd.dll
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} else {
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TARGET = CmvrControlStation
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DESTDIR = $$clean_path($$PWD/bin/release)
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OBJECTS_DIR = build/release/obj
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MOC_DIR = build/release/moc
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RCC_DIR = build/release/rcc
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UI_DIR = build/release/ui
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DEFINES += NDEBUG
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ASSIMP_SCENE_PARSER = $$QT_SCENEPARSER_DIR/assimpsceneimport.dll
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}
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!exists($$ASSIMP_SCENE_PARSER): error("Qt3D Assimp scene parser not found in the selected Qt Kit.")
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SOURCES += \
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src/audiostreammanager.cpp \
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src/configeditorwidget.cpp \
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src/main.cpp \
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src/mainwindow.cpp \
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src/mainwindow_ui.cpp \
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src/quictestserver.cpp \
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src/rpcservicewidget.cpp \
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src/robotclient.cpp \
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src/trendwidget.cpp \
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src/urdfviewerwidget.cpp \
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src/videodecoder.cpp \
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src/videorenderwidget.cpp \
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ui/handeyecalibrationwidget.cpp
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HEADERS += \
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src/audiostreammanager.h \
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src/configeditorwidget.h \
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src/mainwindow.h \
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src/quictestserver.h \
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src/rpcservicewidget.h \
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src/robotclient.h \
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src/trendwidget.h \
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src/uiicons.h \
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src/urdfviewerwidget.h \
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src/videodecoder.h \
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src/videoframe.h \
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src/videorenderwidget.h \
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ui/handeyecalibrationwidget.h
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FORMS += \
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ui/handeyecalibrationwidget.ui \
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ui/mainwindow.ui \
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ui/systemservicepage.ui \
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ui/armservicepage.ui \
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ui/cameraservicepage.ui \
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ui/agvservicepage.ui \
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ui/agvstatusdialog.ui \
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ui/audioservicepage.ui \
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ui/quicserverpage.ui \
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ui/diagnosticspage.ui \
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ui/rpcservicewidget.ui
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RESOURCES += resources.qrc
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runtime_library_deployment.files = $$RUNTIME_DLLS
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runtime_library_deployment.path = $$DESTDIR
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quic_certificate_deployment.files = $$MSQUIC_TEST_CERT
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quic_certificate_deployment.path = $$DESTDIR
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quic_ca_deployment.files = $$MSQUIC_TEST_CA
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quic_ca_deployment.path = $$DESTDIR
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assimp_scene_parser_deployment.files = $$ASSIMP_SCENE_PARSER
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assimp_scene_parser_deployment.path = $$DESTDIR/sceneparsers
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2026-09-23 11:11:49 +08:00
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COPIES += runtime_library_deployment quic_certificate_deployment quic_ca_deployment assimp_scene_parser_deployment
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QMAKE_POST_LINK += $$QMAKE_COPY_DIR $$shell_quote($$shell_path($$MODEL_DIR)) $$shell_quote($$shell_path($$DESTDIR/models))
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2026-09-18 16:22:20 +08:00
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win32 {
|
2026-09-23 11:11:49 +08:00
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|
QMAKE_POST_LINK += $$escape_expand(\n\t) $$QMAKE_COPY_FILE $$shell_quote($$shell_path($$MSQUIC_TEST_CERT)) $$shell_quote($$shell_path($$DESTDIR/quic-test-server.pfx))
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2026-09-18 16:22:20 +08:00
|
|
|
QMAKE_POST_LINK += $$escape_expand(\n\t) $$QMAKE_COPY_FILE $$shell_quote($$shell_path($$MSQUIC_TEST_CA)) $$shell_quote($$shell_path($$DESTDIR/quic-test-ca.crt))
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}
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|
win32:RC_ICONS =
|
