-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
167 lines (143 loc) · 6.99 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
cmake_minimum_required(VERSION 3.2)
project(wrevolution)
# # Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
# # Find catkin macros and libraries
# # if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
# # is used, also find other catkin packages
find_package(Threads REQUIRED)
find_package(catkin REQUIRED COMPONENTS roscpp message_generation)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(THREADS_PREFER_PTHREAD_FLAG ON)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
set(CMAKE_CXX_EXTENSIONS FALSE)
include_directories("${PROJECT_SOURCE_DIR}/include")
# # System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# # Uncomment this if the package has a setup.py. This macro ensures
# # modules and global scripts declared therein get installed
# # See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
# ###############################################
# # Declare ROS messages, services and actions ##
# ###############################################
# # To declare and build messages, services or actions from within this
# # package, follow these steps:
# # * Let MSG_DEP_SET be the set of packages whose message types you use in
# # your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
# # * In the file package.xml:
# # * add a build_depend tag for "message_generation"
# # * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
# # * If MSG_DEP_SET isn't empty the following dependency has been pulled in
# # but can be declared for certainty nonetheless:
# # * add a exec_depend tag for "message_runtime"
# # * In this file (CMakeLists.txt):
# # * add "message_generation" and every package in MSG_DEP_SET to
# # find_package(catkin REQUIRED COMPONENTS ...)
# # * add "message_runtime" and every package in MSG_DEP_SET to
# # catkin_package(CATKIN_DEPENDS ...)
# # * uncomment the add_*_files sections below as needed
# # and list every .msg/.srv/.action file to be processed
# # * uncomment the generate_messages entry below
# # * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
# # Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
# # Generate services in the 'srv' folder
add_service_files(
FILES
ResetSettings.srv
ResetEncoder.srv
Reverse.srv
ZeroPowerBehavior.srv
)
# # Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
# # Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs # Or other packages containing msgs
)
# ###############################################
# # Declare ROS dynamic reconfigure parameters ##
# ###############################################
# # To declare and build dynamic reconfigure parameters within this
# # package, follow these steps:
# # * In the file package.xml:
# # * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
# # * In this file (CMakeLists.txt):
# # * add "dynamic_reconfigure" to
# # find_package(catkin REQUIRED COMPONENTS ...)
# # * uncomment the "generate_dynamic_reconfigure_options" section below
# # and list every .cfg file to be processed
# # Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
# ##################################
# # catkin specific configuration ##
# ##################################
# # The catkin_package macro generates cmake config files for your package
# # Declare things to be passed to dependent projects
# # INCLUDE_DIRS: uncomment this if your package contains header files
# # LIBRARIES: libraries you create in this project that dependent projects also need
# # CATKIN_DEPENDS: catkin_packages dependent projects also need
# # DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES wrevolution
# CATKIN_DEPENDS other_catkin_pkg
DEPENDS message_runtime
)
# ##########
# # Build ##
# ##########
# # Specify additional locations of header files
# # Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
# # Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wrevolution.cpp
# )
function(MakeTalonTarget TARGET_NAME)
if(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "arm-linux-gnueabihf") # Jetson TK1 / Pi
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_Phoenix.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCCI.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixDiagnostics.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixPlatform_socketcan.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCanutils.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCore.a)
elseif(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "aarch64-linux-gnu") # Jetson TX2
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_Phoenix.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCCI.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixDiagnostics.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixPlatform_socketcan.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCanutils.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCore.a)
else()
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_Phoenix.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCCI.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixDiagnostics.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixPlatform_socketcan.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCanutils.a)
target_link_libraries(${TARGET_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCore.a)
endif()
target_link_libraries(${TARGET_NAME} PRIVATE Threads::Threads)
endfunction(MakeTalonTarget)
function(MakeROSTarget TARGET_NAME)
target_link_libraries(${TARGET_NAME} PRIVATE ${catkin_LIBRARIES})
add_dependencies(${TARGET_NAME} ${catkin_EXPORTED_TARGETS})
endfunction(MakeROSTarget)
add_subdirectory(src)