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merged async_port into ugv_sdk

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This commit is contained in:
Ruixiang Du
2021-07-06 11:21:45 +08:00
parent f78349e2ff
commit 7fb72d55fd
11 changed files with 721 additions and 56 deletions
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46
CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5.1)
project(ugv_sdk VERSION 0.1.5)
project(ugv_sdk VERSION 0.2.0)
find_program(CCACHE_PROGRAM ccache)
if(CCACHE_PROGRAM)
@@ -38,7 +38,6 @@ endif()
set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
## Set compiler to use c++ 11 features
set(CMAKE_CXX_STANDARD 11)
@@ -67,20 +66,14 @@ if(BUILD_WITHOUT_ROS)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
endif()
if(BUILD_WITHOUT_ROS)
find_package(async_port REQUIRED)
else()
find_package(catkin REQUIRED COMPONENTS async_port)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
endif()
# Build libraries
## Build libraries
find_package(Threads REQUIRED)
add_library(${PROJECT_NAME}
# add sdk main library
add_library(${PROJECT_NAME}
# async_port from weston robot
src/async_port/async_serial.cpp
src/async_port/async_can.cpp
# agx common
src/agilex_base.cpp
src/agx_msg_parser.c
@@ -91,14 +84,11 @@ add_library(${PROJECT_NAME}
# src/bunker_base.cpp
src/ranger_base.cpp
)
if(BUILD_WITHOUT_ROS)
target_link_libraries(${PROJECT_NAME} westonrobot::async_port Threads::Threads)
else()
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Threads::Threads)
endif()
target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads)
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
$<INSTALL_INTERFACE:include/ugv_sdk/details/asio/include>
$<INSTALL_INTERFACE:include>
PRIVATE src)
# Build apps
@@ -149,7 +139,7 @@ if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
endforeach()
# targets to install
install(TARGETS ${PROJECT_NAME}
install(TARGETS ${PROJECT_NAME}
EXPORT ugv_sdkTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
@@ -168,7 +158,7 @@ if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
install(EXPORT ugv_sdkTargets
FILE ugv_sdkTargets.cmake
NAMESPACE westonrobot::
# NAMESPACE UGVSDK::
DESTINATION lib/cmake/ugv_sdk)
configure_file(cmake/ugv_sdkConfig.cmake.in ugv_sdkConfig.cmake @ONLY)
@@ -178,18 +168,18 @@ if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
# Packaging support
set(CPACK_PACKAGE_VENDOR "Weston Robot")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "UGV SDK for Robots from AgileX/WestonRobot")
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
# set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
# set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
set(CPACK_GENERATOR "DEB")
set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Ruixiang Du (ruixiang.du@westonrobot.com)")
# set(CPACK_DEBIAN_PACKAGE_DEPENDS "libasio-dev")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libasio-dev")
set(CPACK_SOURCE_IGNORE_FILES .git dist .*build.* /\\\\.DS_Store)
include(CPack)
@@ -198,8 +188,8 @@ else() # BUILD_WITHOUT_ROS
catkin_package(
LIBRARIES ${PROJECT_NAME}
INCLUDE_DIRS include
CATKIN_DEPENDS async_port
# DEPENDS system_lib
# CATKIN_DEPENDS async_port
# DEPENDS system_lib
)
## Add catkin install targets