mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
121 lines
4.0 KiB
CMake
Executable File
121 lines
4.0 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.1.0)
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project(wrp_sdk)
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# Find catkin
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find_package(catkin REQUIRED)
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# generate symbols for IDE indexer
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/devel)
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## Set compiler to use c++ 11 features
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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## Chosse build type
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# set(CMAKE_BUILD_TYPE Release)
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# set(CMAKE_BUILD_TYPE Debug)
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set(default_build_type "Release")
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if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
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set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
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STRING "Choose the type of build." FORCE)
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# Set the possible values of build type for cmake-gui
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
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"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
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endif()
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## Use GNUInstallDirs to install libraries into correct
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# locations on all platforms.
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include(GNUInstallDirs)
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message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX}")
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## Put all binary files into /bin and libraries into /lib
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
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## Optionally built modules: ON/OFF
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set(BUILD_TESTS OFF)
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set(BUILD_MONITOR ON)
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# Disable monitor if ncurses library is not found
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set(CURSES_NEED_NCURSES TRUE)
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find_package(Curses QUIET)
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if(BUILD_MONITOR AND NOT CURSES_FOUND)
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set(BUILD_MONITOR OFF)
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message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
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endif()
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# Add libraries
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add_library(${PROJECT_NAME}
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src/async_serial.cpp
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src/async_can.cpp
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src/asyncio_utils.cpp
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# agilex mobile platforms
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src/platforms/mobile_base.cpp
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src/platforms/hunter_base.cpp
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src/platforms/hunter_can_parser.c
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src/platforms/scout_base.cpp
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src/platforms/scout_can_parser.c
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src/platforms/scout_uart_parser.c
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)
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target_compile_definitions(${PROJECT_NAME} PUBLIC "-DASIO_ENABLE_OLD_SERVICES -DASIO_HAS_POSIX_STREAM_DESCRIPTOR")
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target_link_libraries(${PROJECT_NAME} pthread)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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PRIVATE src)
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# Add executables
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if(BUILD_TESTS)
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add_subdirectory(tests)
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add_subdirectory(unit_tests)
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endif()
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# Offer the user the choice of overriding the installation directories
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set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
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set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")
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set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
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if(WIN32 AND NOT CYGWIN)
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set(DEF_INSTALL_CMAKEDIR CMake)
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else()
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set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
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endif()
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set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
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# Report to user
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foreach(p LIB BIN INCLUDE CMAKE)
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file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
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message(STATUS "Installing ${p} components to ${_path}")
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unset(_path)
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endforeach()
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## Export catkin targets
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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# CATKIN_DEPENDS hunter_msgs roscpp
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# DEPENDS system_lib
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)
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## Add catkin install targets
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install(TARGETS ${PROJECT_NAME}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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# install(DIRECTORY asio/asio
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# DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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# install(FILES asio/asio.hpp
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# DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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# install(DIRECTORY scripts
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |