Sucan126
d3487a2613
添加新的Monitor类，用于订阅并打印SportModeState和Odometry消息数据 移除custom_robot.cpp中冗余的日志信息 更新CMakeLists.txt以包含新的监控模块
65 lines
1.5 KiB
CMake
65 lines
1.5 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(main)
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# Set C++ standard
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Find required packages
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find_package(PkgConfig REQUIRED)
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find_package(Threads REQUIRED)
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# Try to find PahoMqttC, fallback to manual linking if not found
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find_package(PahoMqttC QUIET)
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if(NOT PahoMqttC_FOUND)
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message(STATUS "PahoMqttC package not found, using manual library linking")
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find_library(PAHO_MQTT_C_LIBRARY NAMES paho-mqtt3c REQUIRED)
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find_path(PAHO_MQTT_C_INCLUDE_DIR NAMES MQTTClient.h REQUIRED)
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endif()
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find_package(unitree_sdk2 REQUIRED)
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# Include directories
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include_directories(
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include
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${CMAKE_CURRENT_SOURCE_DIR}/include/nlohmann
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$<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_INCLUDE_DIR}>
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)
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# Source files
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set(SOURCES
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src/main.cpp
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src/controller.cpp
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src/custom_robot.cpp
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src/config.cpp
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src/logger.cpp
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src/mqtt.cpp
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src/navigation.cpp
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src/low_controller.cpp
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src/recharge.cpp
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src/monitor.cpp
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)
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add_executable(main ${SOURCES})
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# Link libraries
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target_link_libraries(main
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PRIVATE
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unitree_sdk2
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Threads::Threads
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$<$<BOOL:${PahoMqttC_FOUND}>:PahoMqttC::PahoMqttC>
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$<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_LIBRARY}>
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)
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# Set output directory
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set_target_properties(main PROPERTIES
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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# Install target
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install(TARGETS main
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RUNTIME DESTINATION bin
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)
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