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- cmake_minimum_required(VERSION 3.0.0)
-
- project(EgoSystem VERSION 1.0.0)
-
- set(USE_LIDAR OFF)
- MESSAGE(STATUS "operation system is ${CMAKE_HOST_SYSTEM_PROCESSOR}")
- SET (CMAKE_CXX_COMPILER "/usr/bin/clang++-12")
- if( CMAKE_BUILD_TYPE STREQUAL "Debug" )
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g2 -ggdb -Wall -Wno-unused-variable -pthread ")
- endif()
- add_definitions(-DJSONCPP_USING_SECURE_MEMORY=0)
-
- add_definitions(-DWEBRTC_POSIX=1)
- add_definitions(-DWEBRTC_LINUX=1)
-
- set(API_DIR ../webrtcinterop/include)
- set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda-11.4)
- set(CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_ROOT_DIR}/include)
- set(CUDA_LIBRARIES ${CUDA_TOOLKIT_ROOT_DIR}/lib64)
- include_directories(${API_DIR})
- include_directories(${CUDA_INCLUDE_DIRS} )
- find_package(PkgConfig REQUIRED)
- pkg_check_modules(GLIB_PKG glib-2.0)
- if (GLIB_PKG_FOUND)
- message(Found glib-2.0)
- endif (GLIB_PKG_FOUND)
- find_path(MODBUS_INCLUDE_DIR NAMES modbus.h modbus/modbus.h REQUIRED)
- message(STATUS "MODBUS_INCLUDE_DIR: ${MODBUS_INCLUDE_DIR}")
-
- # message("${protobuf_INCLUDE_DIRS}")
- file(GLOB native_srcs "*.cpp")
- set(CURDIR ${CMAKE_CURRENT_LIST_DIR})
- file(GLOB common_srcs ${CURDIR}/../common/*.cpp)
- include_directories(${protobuf_INCLUDE_DIRS})
- set(RS_DRIVER ${CURDIR}/../thirdparty/rs_driver)
- message(RS_DRIVER "${RS_DRIVER}")
- include_directories(${RS_DRIVER})
- include_directories(${CURDIR}/../thirdparty/protobuf/include)
- include_directories(${CURDIR}/../Protocol/linux/)
- file(GLOB proto_srcs ${CURDIR}/../Protocol/linux/*.cc)
- file(GLOB lidar_srcs ${CURDIR}/lidar/*.cpp)
- link_directories("../webrtcinterop/build")
- IF(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
- link_directories("../thirdparty/webrtc/lib/linux")
- elseif(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64")
- link_directories("../thirdparty/webrtc/lib/aarch64")
- link_directories("../thirdparty/protobuf/lib/aarch64")
- endif()
- include_directories("../thirdparty/Mqtt/inlcude/")
- link_directories("../thirdparty/Mqtt/lib/")
- add_executable(EgoSystem ${native_srcs} ${common_srcs} ${proto_srcs})
- find_package(Boost COMPONENTS system REQUIRED)
- message(Boost "${Boost_SYSTEM_LIBRARY}")
- #list(APPEND EXTERNAL_LIBS pcap)
- list(APPEND EXTERNAL_LIBS "-lpthread")
- #list(APPEND EXTERNAL_LIBS pcap)
- list(APPEND EXTERNAL_LIBS "libprotobuf.a")
- target_link_libraries(EgoSystem libwebrtcinterop.a)
- target_link_libraries(EgoSystem libwebrtc_.a)
- target_link_libraries(EgoSystem ${EXTERNAL_LIBS} )
- target_link_libraries(EgoSystem libpcanbasic.so.8)
- target_link_libraries(EgoSystem libpcanbasic.so)
- target_link_libraries(EgoSystem libpcanbasic.so.0)
- target_link_libraries(EgoSystem libpaho-mqtt3a.a)
- target_link_libraries(EgoSystem libpaho-mqtt3c.a)
- target_link_libraries(EgoSystem libjsoncpp.so)
- target_link_libraries(EgoSystem ${Boost_SYSTEM_LIBRARY})
- target_link_libraries(EgoSystem dl)
- target_link_libraries(EgoSystem X11)
- target_link_libraries(EgoSystem ${GLIB_LIBRARIES})
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