Measure/CMakeLists.txt

# 定义cmake的最低版本
cmake_minimum_required(VERSION 3.19)
# 检查vcpkg文件夹是否存在
if(EXISTS "${CMAKE_SOURCE_DIR}/vcpkg")
    message("Find directory: " "${CMAKE_SOURCE_DIR}/vcpkg")
else()
    message("Can't find directory: " "${CMAKE_SOURCE_DIR}/vcpkg")
    execute_process(
            COMMAND git clone https://github.com/microsoft/vcpkg.git
            WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
            RESULT_VARIABLE vcpkg_ret
    )

    if (vcpkg_ret EQUAL 0)
        message("clone vcpkg success... ")
    else ()
        message("clone vcpkg failed... ")
        return()
    endif ()
endif()

# 查看vcpkg版本
execute_process(
        COMMAND "${CMAKE_SOURCE_DIR}/vcpkg/vcpkg.exe" --version
        RESULT_VARIABLE result
        OUTPUT_VARIABLE output
)

# cmake 无法在执行project之前获取系统类型，所以只能通过一个个安装尝试
if(NOT result EQUAL 0)
    message("Can't get vcpkg version, run vcpkg install script file.")
    if (EXISTS "${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.sh")
        message("Find script ${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.sh, try to install...")
        execute_process(
                COMMAND "${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.sh"
                RESULT_VARIABLE install_result
                OUTPUT_VARIABLE install_output
        )
    endif ()
    message("vcpkg sh script install result: ${install_result}")
    if (NOT install_result EQUAL 0 AND EXISTS "${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.bat")
        message("${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.sh can't install vcpkg, try to use bat script...")
        message("Find script ${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.bat, try to install...")
        execute_process(
                COMMAND "${CMAKE_SOURCE_DIR}/vcpkg/bootstrap-vcpkg.bat"
                RESULT_VARIABLE install_result
                OUTPUT_VARIABLE install_output
        )
        message(${install_result})
    endif ()
endif()

# vcpkg 环境变量定义,必须在project之前定义
set(VCPKG_ROOT "${CMAKE_SOURCE_DIR}/vcpkg")
set(CMAKE_TOOLCHAIN_FILE "${VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake")

# 定义工程名称
project(Project)

set(CMAKE_CXX_STANDARD 17)

option(MeasureTest "Enable test" OFF)
option(GFLAGS "Enable Google Flags." ON)
option(DataToCloud "Enable collect data to mqtt server." ON)
option(AlgAddTest "Enable test alg module." OFF)
option(ClampSafety "Enable clamp safety." OFF)
option(WatchDog "Enable watch dog." ON)
option(MeasureNode "Enable Measure node." ON)
option(LidarICP "Enable LidarICP" OFF)
option(ExecutorTest "Enable ExecutorTest" OFF)
option(Cloud2Mat "Enable ExecutorTest" OFF)

# 指定安装目录
if (MeasureTest)
    set(CMAKE_INSTALL_PREFIX
            ${PROJECT_SOURCE_DIR}/build/out
            )
    message("ON test, set install path to ${PROJECT_SOURCE_DIR}/build/out")
else ()
    set(CMAKE_INSTALL_PREFIX
            # /out
            ${PROJECT_SOURCE_DIR}/build/out
            )
    message("OFF test, set install path to ${PROJECT_SOURCE_DIR}/build/out")
    add_definitions(-DETC_PATH="${CMAKE_INSTALL_PREFIX}")
endif ()

SET (CMAKE_EXPORT_COMPILE_COMMANDS ON)

set (CMAKE_BUILD_TYPE "RELEASE")

# 打印工程定级目录（非必要）
message("project path: " ${PROJECT_SOURCE_DIR})

#execute_process(COMMAND bash ${PROJECT_SOURCE_DIR}/proto.sh ${PROJECT_SOURCE_DIR})
execute_process(COMMAND ${PROJECT_SOURCE_DIR}/proto.bat ${PROJECT_SOURCE_DIR})
# 第三方库
find_package(PkgConfig REQUIRED)
pkg_check_modules(nanomsg REQUIRED nanomsg)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
find_path(YAML_CPP_INCLUDE_DIR
        NAMES yaml_cpp.h
        PATHS ${YAML_CPP_INCLUDE_DIRS})
find_library(YAML_CPP_LIBRARY
        NAMES YAML_CPP
        PATHS ${YAML_CPP_LIBRARY_DIRS})
if (NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
    add_definitions(-DHAVE_NEW_YAMLCPP)
endif (NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
add_subdirectory(thirdpart/rs_driver)

# Don't search with REQUIRED as we can continue without gflags.
find_package(gflags 2.2.0)
if (gflags_FOUND)
    if (TARGET gflags)
        message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${gflags_DIR}")
        message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${GFLAGS_LIBRARIES}")
    else()
        message("-- Detected version of gflags: ${gflags_VERSION} does not define "
                "expected gflags CMake target which should be exported by gflags 2.2+. "
                "Building without gflags.")
        update_cache_variable(GFLAGS OFF)
    endif()
else (gflags_FOUND)
    message("-- Did not find Google Flags (gflags), Building without gflags.")
    update_cache_variable(GFLAGS OFF)
endif (gflags_FOUND)

find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Ceres REQUIRED)
find_package(OpenCV REQUIRED)
find_package(rs_driver REQUIRED)
find_package(Protobuf REQUIRED)
find_package(rabbitmq-c CONFIG REQUIRED)

include_directories(
        ${rs_driver_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIRS}
        ${CERES_INCLUDE_DIR}
        ${PCL_INCLUDE_DIRS}
        ${PROJECT_SOURCE_DIR}/include
        ${PROJECT_SOURCE_DIR}/Modules
)

# 添加子目录CMAKE
add_subdirectory(include)
if(DataToCloud)
    add_subdirectory(Modules/DataToCloud)
endif ()
if(AlgAddTest)
    add_subdirectory(Modules/AlgAddTest)
endif ()
if(ClampSafety)
    add_subdirectory(Modules/ClampSafety)
endif ()
if(WatchDog)
    add_subdirectory(Modules/WatchDog)
endif ()
if(MeasureNode)
    include_directories(${PROJECT_SOURCE_DIR}/Modules/MeasureNode)
    add_subdirectory(Modules/MeasureNode)
endif ()

if(LidarICP)
    include_directories(${PROJECT_SOURCE_DIR}/Modules/LidarICP)
    add_subdirectory(Modules/LidarICP)
endif ()

if(ExecutorTest)
    include_directories(${PROJECT_SOURCE_DIR}/Modules/ExecutorTest)
    add_subdirectory(Modules/ExecutorTest)
endif ()

if(Cloud2Mat)
    add_subdirectory(Modules/Cloud2Mat)
endif ()
# install(DIRECTORY ${PROJECT_SOURCE_DIR}/etc
#         DESTINATION ${CMAKE_INSTALL_PREFIX}
#         )