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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(shisen_cpp)
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(keisan REQUIRED)
find_package(OpenCV REQUIRED)
find_package(rclcpp REQUIRED)
find_package(shisen_interfaces REQUIRED)
find_package(jitsuyo REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(Protobuf CONFIG REQUIRED)
message(STATUS "Using protobuf ${Protobuf_VERSION}")
# Find gRPC installation
# Looks for gRPCConfig.cmake file installed by gRPC's cmake installation.
find_package(gRPC CONFIG REQUIRED)
message(STATUS "Using gRPC ${gRPC_VERSION}")
add_library(${PROJECT_NAME} SHARED
"src/${PROJECT_NAME}/camera/node/camera_node.cpp"
"src/${PROJECT_NAME}/camera/provider/camera_config_provider.cpp"
"src/${PROJECT_NAME}/camera/provider/image_provider.cpp"
"src/${PROJECT_NAME}/config/grpc/config.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_get_capture_setting.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_get_image.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_save_capture_setting.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_set_capture_setting.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_record_image.cpp"
"src/${PROJECT_NAME}/utility/capture_setting.cpp"
"src/${PROJECT_NAME}/utility/interface.cpp"
"src/${PROJECT_NAME}/node/shisen_cpp_node.cpp"
"src/${PROJECT_NAME}/viewer/consumer/image_consumer.cpp"
"src/${PROJECT_NAME}/viewer/node/viewer_node.cpp"
)
add_library(${PROJECT_NAME}_exported SHARED
"src/${PROJECT_NAME}/camera/node/camera_node.cpp"
"src/${PROJECT_NAME}/camera/provider/camera_config_provider.cpp"
"src/${PROJECT_NAME}/camera/provider/image_provider.cpp"
"src/${PROJECT_NAME}/utility/capture_setting.cpp"
"src/${PROJECT_NAME}/utility/interface.cpp"
"src/${PROJECT_NAME}/viewer/consumer/image_consumer.cpp"
"src/${PROJECT_NAME}/viewer/node/viewer_node.cpp"
)
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_include_directories(${PROJECT_NAME}_exported PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}
keisan
OpenCV
rclcpp
shisen_interfaces
jitsuyo
sensor_msgs
cv_bridge
std_msgs
gRPC)
ament_target_dependencies(${PROJECT_NAME}_exported
keisan
OpenCV
rclcpp
shisen_interfaces
jitsuyo
sensor_msgs
cv_bridge
std_msgs)
target_link_libraries(${PROJECT_NAME}
gRPC::grpc++_reflection
gRPC::grpc++
)
install(DIRECTORY "include" DESTINATION ".")
install(DIRECTORY
launch
DESTINATION "share/${PROJECT_NAME}")
install(TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION "lib"
LIBRARY DESTINATION "lib"
RUNTIME DESTINATION "bin"
INCLUDES DESTINATION "include")
install(TARGETS ${PROJECT_NAME}_exported
EXPORT export_${PROJECT_NAME}_exported
ARCHIVE DESTINATION "lib"
LIBRARY DESTINATION "lib"
RUNTIME DESTINATION "bin"
INCLUDES DESTINATION "include")
target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
add_executable(camera "src/shisen_cpp_main.cpp")
target_include_directories(camera PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(camera ${PROJECT_NAME})
add_executable(viewer "src/viewer_main.cpp")
target_include_directories(viewer PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(viewer ${PROJECT_NAME})
install(TARGETS camera viewer
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_lint_auto REQUIRED)
ament_add_gtest(${PROJECT_NAME}_tests
"test/capture_setting_test.cpp"
"test/compile_test.cpp"
"test/emptiable_test.cpp")
target_include_directories(${PROJECT_NAME}_tests PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME}_tests ${PROJECT_NAME})
ament_lint_auto_find_test_dependencies()
endif()
ament_export_dependencies(keisan OpenCV rclcpp shisen_interfaces sensor_msgs cv_bridge std_msgs)
ament_export_include_directories("include")
ament_export_libraries(${PROJECT_NAME}_exported)
ament_package()