vehicle-backup/ZJ_PRO_DMF_JETSON/EgoSystem/CMakeLists.txt

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)
find_package(CUDA REQUIRED)
enable_language(CUDA)

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/")

include_directories(${CUDA_INCLUDES} /usr/src/jetson_multimedia_api/include /usr/src/jetson_multimedia_api/include/libjpeg-8b  /usr/include/libdrm)
aux_source_directory(../webrtcinterop/common/classes COMMON)

add_executable(EgoSystem ${native_srcs} ${common_srcs} ${proto_srcs} ${COMMON} )

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})
link_directories(/usr/lib/aarch64-linux-gnu/tegra /lib/aarch64-linux-gnu /usr/local/lib /usr/lib)

# target_link_libraries(EgoSystem ${CUDA_LIBRARIES} pthread v4l2 EGL GLESv2 X11 nvbufsurface nvbufsurftransform nvjpeg nvosd drm cuda)
target_link_libraries(EgoSystem ${CUDA_LIBRARIES} pthread v4l2 EGL GLESv2 X11 /usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so /usr/lib/aarch64-linux-gnu/tegra/libnvbufsurftransform.so 
/usr/lib/aarch64-linux-gnu/tegra/libnvjpeg.so
 /usr/lib/aarch64-linux-gnu/tegra/libnvosd.so  
 /usr/lib/aarch64-linux-gnu/libdrm.so)  
# target_link_libraries(EgoSystem ${CUDA_LIBRARIES} pthread v4l2 EGL GLESv2 X11 ${LIB})