mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
moved ugv_sdk out from sub-folder
This commit is contained in:
Ruixiang Du
211
CMakeLists.txt
Normal file → Executable file
211
CMakeLists.txt
Normal file → Executable file
@@ -1,4 +1,211 @@
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|||||||
cmake_minimum_required(VERSION 3.5.1)
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cmake_minimum_required(VERSION 3.5.1)
|
||||||
project(mobile_robot VERSION 0.2.0)
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project(ugv_sdk VERSION 0.1.5)
|
||||||
|
|
||||||
add_subdirectory(ugv_sdk)
|
find_program(CCACHE_PROGRAM ccache)
|
||||||
|
if(CCACHE_PROGRAM)
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||||||
|
message(STATUS "Found ccache")
|
||||||
|
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
## Project Options
|
||||||
|
option(BUILD_TESTS ON)
|
||||||
|
option(STATIC_CHECK OFF)
|
||||||
|
# set(CMAKE_BUILD_TYPE Release)
|
||||||
|
# set(CMAKE_BUILD_TYPE Debug)
|
||||||
|
|
||||||
|
## Check if pkg is built with ROS catkin
|
||||||
|
if(CATKIN_DEVEL_PREFIX)
|
||||||
|
message(STATUS "Build package with catkin")
|
||||||
|
set(BUILD_WITHOUT_ROS OFF)
|
||||||
|
find_package(catkin REQUIRED)
|
||||||
|
else()
|
||||||
|
message(STATUS "Build package with cmake")
|
||||||
|
set(BUILD_WITHOUT_ROS ON)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
## Generate symbols for IDE indexer
|
||||||
|
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||||
|
|
||||||
|
if(STATIC_CHECK)
|
||||||
|
find_program(CPPCHECK cppcheck)
|
||||||
|
if(CPPCHECK)
|
||||||
|
message(STATUS "Found cppcheck")
|
||||||
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set(CMAKE_CXX_CPPCHECK cppcheck;--std=c++11;--enable=all)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
## Additional cmake module path
|
||||||
|
set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
|
||||||
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list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
|
||||||
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list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
|
||||||
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list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
|
||||||
|
|
||||||
|
## Set compiler to use c++ 11 features
|
||||||
|
set(CMAKE_CXX_STANDARD 11)
|
||||||
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||||
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||||
|
|
||||||
|
## Chosse build type
|
||||||
|
set(default_build_type "Release")
|
||||||
|
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
|
||||||
|
message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
|
||||||
|
set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
|
||||||
|
STRING "Choose the type of build." FORCE)
|
||||||
|
# Set the possible values of build type for cmake-gui
|
||||||
|
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
|
||||||
|
"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(BUILD_WITHOUT_ROS)
|
||||||
|
## Use GNUInstallDirs to install libraries into correct locations on all platforms.
|
||||||
|
include(GNUInstallDirs)
|
||||||
|
message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
|
||||||
|
|
||||||
|
## Put all binary files into /bin and libraries into /lib
|
||||||
|
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
|
||||||
|
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
|
||||||
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(NOT BUILD_WITHOUT_ROS)
|
||||||
|
find_package(catkin REQUIRED COMPONENTS async_port)
|
||||||
|
include_directories(
|
||||||
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Build libraries
|
||||||
|
find_package(Threads REQUIRED)
|
||||||
|
|
||||||
|
add_library(${PROJECT_NAME}
|
||||||
|
# agx common
|
||||||
|
src/mobile_base.cpp
|
||||||
|
src/agx_msg_parser.c
|
||||||
|
# robot support
|
||||||
|
src/scout_base.cpp
|
||||||
|
# src/hunter_base.cpp
|
||||||
|
src/tracer_base.cpp
|
||||||
|
# src/bunker_base.cpp
|
||||||
|
)
|
||||||
|
if(BUILD_WITHOUT_ROS)
|
||||||
|
target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)
|
||||||
|
else()
|
||||||
|
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Threads::Threads)
|
||||||
|
endif()
|
||||||
|
target_include_directories(${PROJECT_NAME} PUBLIC
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
PRIVATE src)
|
||||||
|
|
||||||
|
# Build apps
|
||||||
|
if(BUILD_WITHOUT_ROS)
|
||||||
|
# Check wether to build monitor tool
|
||||||
|
set(BUILD_MONITOR ON)
|
||||||
|
# Disable monitor if ncurses library is not found
|
||||||
|
set(CURSES_NEED_NCURSES TRUE)
|
||||||
|
find_package(Curses QUIET)
|
||||||
|
if(BUILD_MONITOR AND NOT CURSES_FOUND)
|
||||||
|
set(BUILD_MONITOR OFF)
|
||||||
|
message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# add app source directory
|
||||||
|
add_subdirectory(apps)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Build tests
|
||||||
|
# if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
|
||||||
|
# message(STATUS "Tests will be built")
|
||||||
|
# enable_testing()
|
||||||
|
# include(GoogleTest)
|
||||||
|
# add_subdirectory(tests)
|
||||||
|
# else()
|
||||||
|
# message(STATUS "Tests will not be built")
|
||||||
|
# endif()
|
||||||
|
|
||||||
|
## Installation configuration
|
||||||
|
if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
|
||||||
|
|
||||||
|
# Offer the user the choice of overriding the installation directories
|
||||||
|
set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
|
||||||
|
set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")
|
||||||
|
set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
|
||||||
|
if(WIN32 AND NOT CYGWIN)
|
||||||
|
set(DEF_INSTALL_CMAKEDIR CMake)
|
||||||
|
else()
|
||||||
|
set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
|
||||||
|
endif()
|
||||||
|
set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
|
||||||
|
|
||||||
|
# Report to user
|
||||||
|
foreach(p LIB BIN INCLUDE CMAKE)
|
||||||
|
file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
|
||||||
|
message(STATUS " - To install ${p} components to ${_path}")
|
||||||
|
unset(_path)
|
||||||
|
endforeach()
|
||||||
|
|
||||||
|
# targets to install
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
|
EXPORT ugv_sdkTargets
|
||||||
|
LIBRARY DESTINATION lib
|
||||||
|
ARCHIVE DESTINATION lib
|
||||||
|
RUNTIME DESTINATION bin
|
||||||
|
INCLUDES DESTINATION include)
|
||||||
|
|
||||||
|
install(DIRECTORY include/ugv_sdk
|
||||||
|
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
|
||||||
|
|
||||||
|
# export target configuration
|
||||||
|
include(CMakePackageConfigHelpers)
|
||||||
|
write_basic_package_version_file(
|
||||||
|
ugv_sdkConfigVersion.cmake
|
||||||
|
VERSION "${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}"
|
||||||
|
COMPATIBILITY SameMajorVersion)
|
||||||
|
|
||||||
|
install(EXPORT ugv_sdkTargets
|
||||||
|
FILE ugv_sdkTargets.cmake
|
||||||
|
NAMESPACE westonrobot::
|
||||||
|
DESTINATION lib/cmake/ugv_sdk)
|
||||||
|
|
||||||
|
configure_file(cmake/ugv_sdkConfig.cmake.in ugv_sdkConfig.cmake @ONLY)
|
||||||
|
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfig.cmake"
|
||||||
|
"${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfigVersion.cmake"
|
||||||
|
DESTINATION lib/cmake/ugv_sdk)
|
||||||
|
|
||||||
|
# Packaging support
|
||||||
|
set(CPACK_PACKAGE_VENDOR "Weston Robot")
|
||||||
|
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
|
||||||
|
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
|
||||||
|
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
|
||||||
|
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
|
||||||
|
set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
|
||||||
|
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
|
||||||
|
# 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_SOURCE_IGNORE_FILES .git dist .*build.* /\\\\.DS_Store)
|
||||||
|
include(CPack)
|
||||||
|
|
||||||
|
else() # BUILD_WITHOUT_ROS
|
||||||
|
|
||||||
|
catkin_package(
|
||||||
|
LIBRARIES ${PROJECT_NAME}
|
||||||
|
INCLUDE_DIRS include
|
||||||
|
CATKIN_DEPENDS wrp_io
|
||||||
|
# DEPENDS system_lib
|
||||||
|
)
|
||||||
|
|
||||||
|
## Add catkin install targets
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
|
||||||
|
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}
|
||||||
|
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
|
||||||
|
|
||||||
|
endif() # BUILD_WITHOUT_ROS
|
||||||
|
|||||||
218
LICENSE
218
LICENSE
@@ -1,29 +1,201 @@
|
|||||||
BSD 3-Clause License
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
Copyright (c) 2020, WestonRobot
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||||
All rights reserved.
|
|
||||||
|
|
||||||
Redistribution and use in source and binary forms, with or without
|
1. Definitions.
|
||||||
modification, are permitted provided that the following conditions are met:
|
|
||||||
|
|
||||||
1. Redistributions of source code must retain the above copyright notice, this
|
"License" shall mean the terms and conditions for use, reproduction,
|
||||||
list of conditions and the following disclaimer.
|
and distribution as defined by Sections 1 through 9 of this document.
|
||||||
|
|
||||||
2. Redistributions in binary form must reproduce the above copyright notice,
|
"Licensor" shall mean the copyright owner or entity authorized by
|
||||||
this list of conditions and the following disclaimer in the documentation
|
the copyright owner that is granting the License.
|
||||||
and/or other materials provided with the distribution.
|
|
||||||
|
|
||||||
3. Neither the name of the copyright holder nor the names of its
|
"Legal Entity" shall mean the union of the acting entity and all
|
||||||
contributors may be used to endorse or promote products derived from
|
other entities that control, are controlled by, or are under common
|
||||||
this software without specific prior written permission.
|
control with that entity. For the purposes of this definition,
|
||||||
|
"control" means (i) the power, direct or indirect, to cause the
|
||||||
|
direction or management of such entity, whether by contract or
|
||||||
|
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||||
|
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||||
|
|
||||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
"You" (or "Your") shall mean an individual or Legal Entity
|
||||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
exercising permissions granted by this License.
|
||||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
"Source" form shall mean the preferred form for making modifications,
|
||||||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
including but not limited to software source code, documentation
|
||||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
source, and configuration files.
|
||||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
||||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
"Object" form shall mean any form resulting from mechanical
|
||||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
transformation or translation of a Source form, including but
|
||||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
not limited to compiled object code, generated documentation,
|
||||||
|
and conversions to other media types.
|
||||||
|
|
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|
"Work" shall mean the work of authorship, whether in Source or
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||||||
|
Object form, made available under the License, as indicated by a
|
||||||
|
copyright notice that is included in or attached to the work
|
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|
(an example is provided in the Appendix below).
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|
"Derivative Works" shall mean any work, whether in Source or Object
|
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|
form, that is based on (or derived from) the Work and for which the
|
||||||
|
editorial revisions, annotations, elaborations, or other modifications
|
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|
represent, as a whole, an original work of authorship. For the purposes
|
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|
of this License, Derivative Works shall not include works that remain
|
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|
separable from, or merely link (or bind by name) to the interfaces of,
|
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|
the Work and Derivative Works thereof.
|
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"Contribution" shall mean any work of authorship, including
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||||||
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the original version of the Work and any modifications or additions
|
||||||
|
to that Work or Derivative Works thereof, that is intentionally
|
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submitted to Licensor for inclusion in the Work by the copyright owner
|
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or by an individual or Legal Entity authorized to submit on behalf of
|
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the copyright owner. For the purposes of this definition, "submitted"
|
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means any form of electronic, verbal, or written communication sent
|
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to the Licensor or its representatives, including but not limited to
|
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communication on electronic mailing lists, source code control systems,
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and issue tracking systems that are managed by, or on behalf of, the
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Licensor for the purpose of discussing and improving the Work, but
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excluding communication that is conspicuously marked or otherwise
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designated in writing by the copyright owner as "Not a Contribution."
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"Contributor" shall mean Licensor and any individual or Legal Entity
|
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on behalf of whom a Contribution has been received by Licensor and
|
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subsequently incorporated within the Work.
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||||||
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|
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2. Grant of Copyright License. Subject to the terms and conditions of
|
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this License, each Contributor hereby grants to You a perpetual,
|
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worldwide, non-exclusive, no-charge, royalty-free, irrevocable
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copyright license to reproduce, prepare Derivative Works of,
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publicly display, publicly perform, sublicense, and distribute the
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Work and such Derivative Works in Source or Object form.
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3. Grant of Patent License. Subject to the terms and conditions of
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this License, each Contributor hereby grants to You a perpetual,
|
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worldwide, non-exclusive, no-charge, royalty-free, irrevocable
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(except as stated in this section) patent license to make, have made,
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use, offer to sell, sell, import, and otherwise transfer the Work,
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where such license applies only to those patent claims licensable
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by such Contributor that are necessarily infringed by their
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Contribution(s) alone or by combination of their Contribution(s)
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with the Work to which such Contribution(s) was submitted. If You
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institute patent litigation against any entity (including a
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cross-claim or counterclaim in a lawsuit) alleging that the Work
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or a Contribution incorporated within the Work constitutes direct
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or contributory patent infringement, then any patent licenses
|
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granted to You under this License for that Work shall terminate
|
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as of the date such litigation is filed.
|
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|
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4. Redistribution. You may reproduce and distribute copies of the
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Work or Derivative Works thereof in any medium, with or without
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modifications, and in Source or Object form, provided that You
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meet the following conditions:
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|
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(a) You must give any other recipients of the Work or
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Derivative Works a copy of this License; and
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|
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(b) You must cause any modified files to carry prominent notices
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stating that You changed the files; and
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(d) If the Work includes a "NOTICE" text file as part of its
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of the NOTICE file are for informational purposes only and
|
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do not modify the License. You may add Your own attribution
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or as an addendum to the NOTICE text from the Work, provided
|
||||||
|
that such additional attribution notices cannot be construed
|
||||||
|
as modifying the License.
|
||||||
|
|
||||||
|
You may add Your own copyright statement to Your modifications and
|
||||||
|
may provide additional or different license terms and conditions
|
||||||
|
for use, reproduction, or distribution of Your modifications, or
|
||||||
|
for any such Derivative Works as a whole, provided Your use,
|
||||||
|
reproduction, and distribution of the Work otherwise complies with
|
||||||
|
the conditions stated in this License.
|
||||||
|
|
||||||
|
5. Submission of Contributions. Unless You explicitly state otherwise,
|
||||||
|
any Contribution intentionally submitted for inclusion in the Work
|
||||||
|
by You to the Licensor shall be under the terms and conditions of
|
||||||
|
this License, without any additional terms or conditions.
|
||||||
|
Notwithstanding the above, nothing herein shall supersede or modify
|
||||||
|
the terms of any separate license agreement you may have executed
|
||||||
|
with Licensor regarding such Contributions.
|
||||||
|
|
||||||
|
6. Trademarks. This License does not grant permission to use the trade
|
||||||
|
names, trademarks, service marks, or product names of the Licensor,
|
||||||
|
except as required for reasonable and customary use in describing the
|
||||||
|
origin of the Work and reproducing the content of the NOTICE file.
|
||||||
|
|
||||||
|
7. Disclaimer of Warranty. Unless required by applicable law or
|
||||||
|
agreed to in writing, Licensor provides the Work (and each
|
||||||
|
Contributor provides its Contributions) on an "AS IS" BASIS,
|
||||||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
|
||||||
|
implied, including, without limitation, any warranties or conditions
|
||||||
|
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
|
||||||
|
PARTICULAR PURPOSE. You are solely responsible for determining the
|
||||||
|
appropriateness of using or redistributing the Work and assume any
|
||||||
|
risks associated with Your exercise of permissions under this License.
|
||||||
|
|
||||||
|
8. Limitation of Liability. In no event and under no legal theory,
|
||||||
|
whether in tort (including negligence), contract, or otherwise,
|
||||||
|
unless required by applicable law (such as deliberate and grossly
|
||||||
|
negligent acts) or agreed to in writing, shall any Contributor be
|
||||||
|
liable to You for damages, including any direct, indirect, special,
|
||||||
|
incidental, or consequential damages of any character arising as a
|
||||||
|
result of this License or out of the use or inability to use the
|
||||||
|
Work (including but not limited to damages for loss of goodwill,
|
||||||
|
work stoppage, computer failure or malfunction, or any and all
|
||||||
|
other commercial damages or losses), even if such Contributor
|
||||||
|
has been advised of the possibility of such damages.
|
||||||
|
|
||||||
|
9. Accepting Warranty or Additional Liability. While redistributing
|
||||||
|
the Work or Derivative Works thereof, You may choose to offer,
|
||||||
|
and charge a fee for, acceptance of support, warranty, indemnity,
|
||||||
|
or other liability obligations and/or rights consistent with this
|
||||||
|
License. However, in accepting such obligations, You may act only
|
||||||
|
on Your own behalf and on Your sole responsibility, not on behalf
|
||||||
|
of any other Contributor, and only if You agree to indemnify,
|
||||||
|
defend, and hold each Contributor harmless for any liability
|
||||||
|
incurred by, or claims asserted against, such Contributor by reason
|
||||||
|
of your accepting any such warranty or additional liability.
|
||||||
|
|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
APPENDIX: How to apply the Apache License to your work.
|
||||||
|
|
||||||
|
To apply the Apache License to your work, attach the following
|
||||||
|
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||||
|
replaced with your own identifying information. (Don't include
|
||||||
|
the brackets!) The text should be enclosed in the appropriate
|
||||||
|
comment syntax for the file format. We also recommend that a
|
||||||
|
file or class name and description of purpose be included on the
|
||||||
|
same "printed page" as the copyright notice for easier
|
||||||
|
identification within third-party archives.
|
||||||
|
|
||||||
|
Copyright [yyyy] [name of copyright owner]
|
||||||
|
|
||||||
|
Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
you may not use this file except in compliance with the License.
|
||||||
|
You may obtain a copy of the License at
|
||||||
|
|
||||||
|
http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
|
||||||
|
Unless required by applicable law or agreed to in writing, software
|
||||||
|
distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
See the License for the specific language governing permissions and
|
||||||
|
limitations under the License.
|
||||||
|
|||||||
|
Before Width: | Height: | Size: 85 KiB After Width: | Height: | Size: 85 KiB |
@@ -19,8 +19,8 @@
|
|||||||
#include <mutex>
|
#include <mutex>
|
||||||
#include <atomic>
|
#include <atomic>
|
||||||
|
|
||||||
#include "wrp_io/async_can.hpp"
|
#include "async_port/async_can.hpp"
|
||||||
#include "wrp_io/async_serial.hpp"
|
#include "async_port/async_serial.hpp"
|
||||||
|
|
||||||
namespace westonrobot {
|
namespace westonrobot {
|
||||||
class MobileBase {
|
class MobileBase {
|
||||||
@@ -1,211 +0,0 @@
|
|||||||
cmake_minimum_required(VERSION 3.5.1)
|
|
||||||
project(ugv_sdk VERSION 0.1.5)
|
|
||||||
|
|
||||||
find_program(CCACHE_PROGRAM ccache)
|
|
||||||
if(CCACHE_PROGRAM)
|
|
||||||
message(STATUS "Found ccache")
|
|
||||||
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
## Project Options
|
|
||||||
option(BUILD_TESTS ON)
|
|
||||||
option(STATIC_CHECK OFF)
|
|
||||||
# set(CMAKE_BUILD_TYPE Release)
|
|
||||||
# set(CMAKE_BUILD_TYPE Debug)
|
|
||||||
|
|
||||||
## Check if pkg is built with ROS catkin
|
|
||||||
if(CATKIN_DEVEL_PREFIX)
|
|
||||||
message(STATUS "Build package with catkin")
|
|
||||||
set(BUILD_WITHOUT_ROS OFF)
|
|
||||||
find_package(catkin REQUIRED)
|
|
||||||
else()
|
|
||||||
message(STATUS "Build package with cmake")
|
|
||||||
set(BUILD_WITHOUT_ROS ON)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
## Generate symbols for IDE indexer
|
|
||||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
|
||||||
|
|
||||||
if(STATIC_CHECK)
|
|
||||||
find_program(CPPCHECK cppcheck)
|
|
||||||
if(CPPCHECK)
|
|
||||||
message(STATUS "Found cppcheck")
|
|
||||||
set(CMAKE_CXX_CPPCHECK cppcheck;--std=c++11;--enable=all)
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
## Additional cmake module path
|
|
||||||
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/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
|
|
||||||
list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
|
|
||||||
|
|
||||||
## Set compiler to use c++ 11 features
|
|
||||||
set(CMAKE_CXX_STANDARD 11)
|
|
||||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
||||||
|
|
||||||
## Chosse build type
|
|
||||||
set(default_build_type "Release")
|
|
||||||
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
|
|
||||||
message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
|
|
||||||
set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
|
|
||||||
STRING "Choose the type of build." FORCE)
|
|
||||||
# Set the possible values of build type for cmake-gui
|
|
||||||
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
|
|
||||||
"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(BUILD_WITHOUT_ROS)
|
|
||||||
## Use GNUInstallDirs to install libraries into correct locations on all platforms.
|
|
||||||
include(GNUInstallDirs)
|
|
||||||
message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
|
|
||||||
|
|
||||||
## Put all binary files into /bin and libraries into /lib
|
|
||||||
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
|
|
||||||
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
|
|
||||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(NOT BUILD_WITHOUT_ROS)
|
|
||||||
find_package(catkin REQUIRED COMPONENTS wrp_io)
|
|
||||||
include_directories(
|
|
||||||
include
|
|
||||||
${catkin_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Build libraries
|
|
||||||
find_package(Threads REQUIRED)
|
|
||||||
|
|
||||||
add_library(${PROJECT_NAME}
|
|
||||||
# agx common
|
|
||||||
src/mobile_base.cpp
|
|
||||||
src/agx_msg_parser.c
|
|
||||||
# robot support
|
|
||||||
src/scout_base.cpp
|
|
||||||
# src/hunter_base.cpp
|
|
||||||
src/tracer_base.cpp
|
|
||||||
# src/bunker_base.cpp
|
|
||||||
)
|
|
||||||
if(BUILD_WITHOUT_ROS)
|
|
||||||
target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)
|
|
||||||
else()
|
|
||||||
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Threads::Threads)
|
|
||||||
endif()
|
|
||||||
target_include_directories(${PROJECT_NAME} PUBLIC
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
PRIVATE src)
|
|
||||||
|
|
||||||
# Build apps
|
|
||||||
if(BUILD_WITHOUT_ROS)
|
|
||||||
# Check wether to build monitor tool
|
|
||||||
set(BUILD_MONITOR ON)
|
|
||||||
# Disable monitor if ncurses library is not found
|
|
||||||
set(CURSES_NEED_NCURSES TRUE)
|
|
||||||
find_package(Curses QUIET)
|
|
||||||
if(BUILD_MONITOR AND NOT CURSES_FOUND)
|
|
||||||
set(BUILD_MONITOR OFF)
|
|
||||||
message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# add app source directory
|
|
||||||
add_subdirectory(apps)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Build tests
|
|
||||||
# if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
|
|
||||||
# message(STATUS "Tests will be built")
|
|
||||||
# enable_testing()
|
|
||||||
# include(GoogleTest)
|
|
||||||
# add_subdirectory(tests)
|
|
||||||
# else()
|
|
||||||
# message(STATUS "Tests will not be built")
|
|
||||||
# endif()
|
|
||||||
|
|
||||||
## Installation configuration
|
|
||||||
if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
|
|
||||||
|
|
||||||
# Offer the user the choice of overriding the installation directories
|
|
||||||
set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
|
|
||||||
set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")
|
|
||||||
set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
|
|
||||||
if(WIN32 AND NOT CYGWIN)
|
|
||||||
set(DEF_INSTALL_CMAKEDIR CMake)
|
|
||||||
else()
|
|
||||||
set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
|
|
||||||
endif()
|
|
||||||
set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
|
|
||||||
|
|
||||||
# Report to user
|
|
||||||
foreach(p LIB BIN INCLUDE CMAKE)
|
|
||||||
file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
|
|
||||||
message(STATUS " - To install ${p} components to ${_path}")
|
|
||||||
unset(_path)
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
# targets to install
|
|
||||||
install(TARGETS ${PROJECT_NAME}
|
|
||||||
EXPORT ugv_sdkTargets
|
|
||||||
LIBRARY DESTINATION lib
|
|
||||||
ARCHIVE DESTINATION lib
|
|
||||||
RUNTIME DESTINATION bin
|
|
||||||
INCLUDES DESTINATION include)
|
|
||||||
|
|
||||||
install(DIRECTORY include/ugv_sdk
|
|
||||||
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
|
|
||||||
|
|
||||||
# export target configuration
|
|
||||||
include(CMakePackageConfigHelpers)
|
|
||||||
write_basic_package_version_file(
|
|
||||||
ugv_sdkConfigVersion.cmake
|
|
||||||
VERSION "${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}"
|
|
||||||
COMPATIBILITY SameMajorVersion)
|
|
||||||
|
|
||||||
install(EXPORT ugv_sdkTargets
|
|
||||||
FILE ugv_sdkTargets.cmake
|
|
||||||
NAMESPACE westonrobot::
|
|
||||||
DESTINATION lib/cmake/ugv_sdk)
|
|
||||||
|
|
||||||
configure_file(cmake/ugv_sdkConfig.cmake.in ugv_sdkConfig.cmake @ONLY)
|
|
||||||
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfig.cmake"
|
|
||||||
"${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfigVersion.cmake"
|
|
||||||
DESTINATION lib/cmake/ugv_sdk)
|
|
||||||
|
|
||||||
# Packaging support
|
|
||||||
set(CPACK_PACKAGE_VENDOR "Weston Robot")
|
|
||||||
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
|
|
||||||
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
|
|
||||||
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
|
|
||||||
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
|
|
||||||
set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
|
|
||||||
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
|
|
||||||
# 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_SOURCE_IGNORE_FILES .git dist .*build.* /\\\\.DS_Store)
|
|
||||||
include(CPack)
|
|
||||||
|
|
||||||
else() # BUILD_WITHOUT_ROS
|
|
||||||
|
|
||||||
catkin_package(
|
|
||||||
LIBRARIES ${PROJECT_NAME}
|
|
||||||
INCLUDE_DIRS include
|
|
||||||
CATKIN_DEPENDS wrp_io
|
|
||||||
# DEPENDS system_lib
|
|
||||||
)
|
|
||||||
|
|
||||||
## Add catkin install targets
|
|
||||||
install(TARGETS ${PROJECT_NAME}
|
|
||||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
||||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
||||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
|
|
||||||
|
|
||||||
install(DIRECTORY include/${PROJECT_NAME}
|
|
||||||
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
|
|
||||||
|
|
||||||
endif() # BUILD_WITHOUT_ROS
|
|
||||||
@@ -1,29 +0,0 @@
|
|||||||
BSD 3-Clause License
|
|
||||||
|
|
||||||
Copyright (c) 2020, WestonRobot
|
|
||||||
All rights reserved.
|
|
||||||
|
|
||||||
Redistribution and use in source and binary forms, with or without
|
|
||||||
modification, are permitted provided that the following conditions are met:
|
|
||||||
|
|
||||||
1. Redistributions of source code must retain the above copyright notice, this
|
|
||||||
list of conditions and the following disclaimer.
|
|
||||||
|
|
||||||
2. Redistributions in binary form must reproduce the above copyright notice,
|
|
||||||
this list of conditions and the following disclaimer in the documentation
|
|
||||||
and/or other materials provided with the distribution.
|
|
||||||
|
|
||||||
3. Neither the name of the copyright holder nor the names of its
|
|
||||||
contributors may be used to endorse or promote products derived from
|
|
||||||
this software without specific prior written permission.
|
|
||||||
|
|
||||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
||||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
||||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
|
||||||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
||||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
||||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
||||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
||||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
||||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
Reference in New Issue
Block a user