128 lines
3.4 KiB
CMake
128 lines
3.4 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(iiwa_controller)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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find_package(ament_cmake REQUIRED)
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find_package(controller_interface REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(realtime_tools REQUIRED)
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find_package(std_msgs REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_cmake_pytest REQUIRED)
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endif()
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# FRI SDK
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set(FRI_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/libFRI)
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file(GLOB_RECURSE FRI_SOURCES
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"${FRI_SDK_DIR}/src/base/*.cpp"
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"${FRI_SDK_DIR}/src/client_lbr/*.cpp"
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"${FRI_SDK_DIR}/src/client_trafo/*.cpp"
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"${FRI_SDK_DIR}/src/connection/*.cpp"
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"${FRI_SDK_DIR}/src/nanopb-0.2.8/*.c"
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"${FRI_SDK_DIR}/src/protobuf/*.c"
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"${FRI_SDK_DIR}/src/protobuf/*.cpp"
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"${FRI_SDK_DIR}/src/protobuf_gen/*.c"
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)
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add_library(fri_client_sdk STATIC ${FRI_SOURCES})
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target_include_directories(fri_client_sdk PUBLIC
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${FRI_SDK_DIR}/include
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${FRI_SDK_DIR}/src/nanopb-0.2.8
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${FRI_SDK_DIR}/src/protobuf
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${FRI_SDK_DIR}/src/protobuf_gen
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${FRI_SDK_DIR}/src/base
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${FRI_SDK_DIR}/src/client_lbr
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${FRI_SDK_DIR}/src/connection
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)
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target_compile_definitions(fri_client_sdk PUBLIC PB_FIELD_16BIT)
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target_compile_options(fri_client_sdk PRIVATE -fpermissive -w)
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set_target_properties(fri_client_sdk PROPERTIES POSITION_INDEPENDENT_CODE ON)
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target_link_libraries(fri_client_sdk PUBLIC pthread)
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# Плагины hardware interface + controller
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add_library(${PROJECT_NAME} SHARED
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src/FRIClient.cpp
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src/IIWAHardwareInterface.cpp
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${PROJECT_NAME} PRIVATE
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fri_client_sdk
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controller_interface::controller_interface
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hardware_interface::hardware_interface
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pluginlib::pluginlib
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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realtime_tools::realtime_tools
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${std_msgs_TARGETS}
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)
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pluginlib_export_plugin_description_file(
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hardware_interface
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iiwa_hardware_interface_plugin.xml
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)
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if(BUILD_TESTING)
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ament_add_gtest(
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test_guards
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test/test_guards.cpp
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)
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target_include_directories(test_guards PRIVATE
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include
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${FRI_SDK_DIR}/include
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${FRI_SDK_DIR}/src/nanopb-0.2.8
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${FRI_SDK_DIR}/src/protobuf
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${FRI_SDK_DIR}/src/protobuf_gen
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${FRI_SDK_DIR}/src/base
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${FRI_SDK_DIR}/src/client_lbr
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${FRI_SDK_DIR}/src/connection
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)
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ament_add_pytest_test(
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test_safety_contract
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test/test_safety_contract.py
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)
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endif()
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# Установка — только библиотека и заголовки, без config/launch/urdf
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install(TARGETS ${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY include/
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DESTINATION include
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)
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install(DIRECTORY external/libFRI/include/
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DESTINATION include
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)
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(export_${PROJECT_NAME})
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ament_export_dependencies(
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controller_interface hardware_interface pluginlib rclcpp rclcpp_lifecycle realtime_tools std_msgs)
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ament_package()
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