# Set
the minimum required version of cmake for a project
and update Policy Settings
#
to match
the version given
.
cmake_minimum_required(VERSION 3
.1
.0)
message(STATUS "CMAKE_ROOT = " ${CMAKE_ROOT})
# Sets project details such
as name, version, etc
. and enables languages
.
# S
tores
the project name in
the PROJECT_NAME variable
. Additionally this sets
variables:
# PROJECT_SOURCE_DIR, <PROJECT-NAME>_SOURCE_DIR
# PROJECT_BINARY_DIR, <PROJECT-NAME>_BINARY_DIR
project(planning)
message(STATUS "PROJECT_NAME = " ${PROJECT_NAME})
message(STATUS "PROJECT_SOURCE_DIR = " ${PROJECT_SOURCE_DIR})
message(STATUS "PROJECT_BINARY_DIR = " ${PROJECT_BINARY_DIR})
# Control if
...else
... statement
format
set(CMAKE_ALLOW_LOOSE_LOOP_CON
STRUCTS ON)
#set(CMAKE_BUILD_TYPE Debug)
set (CMAKE_PREFIX_PATH "/opt/ros/noetic")
# set(CMAKE_RUNTIME_OUTPUT_DIREC
TORY
../)
# set(CMAKE_BUILD_TYPE "Debug")
# Au
tomatically add
the current source
and build direc
tories
to the include path
.
# If this variable is enabled, CMake au
tomatically add CMAKE_CURRENT_SOURCE_DIR
and
# CMAKE_CURRENT_BINARY_DIR
to the include path for each direc
tory
. These additional
# include direc
tories do not propagate down
to subdirec
tories
. This is useful
mainly
# for out-of-source builds, where files generated in
to the build tree are included by
# files located in
the source tree
.
set(CMAKE_INCLUDE_CURRENT_DIR ON)
message(STATUS "CMAKE_CURRENT_SOURCE_DIR = " ${CMAKE_CURRENT_SOURCE_DIR})
message(STATUS "CMAKE_CURRENT_BINARY_DIR = " ${CMAKE_CURRENT_BINARY_DIR})
# Default compilation flags
to be used when compiling CXX(C++) files
. Will only be used
# by CMake on
the first configuration
to determine CXX default compilation flags, after
# which
the value for CXXFLAGS is s
tored in
the cache
as CMAKE_CXX_FLAGS
. For any
# configuration run (including
the first),
the environment variable will be ignored if
#
the CMAKE_CXX_FLAGS variable is defined
.
set(CMAKE_CXX_FLAGS "-std=c++14 -fPIC")
#set(CMAKE_CXX_FLAGS "-fPIC")
# In
struct CMake
to run moc au
tomatically when needed
set(CMAKE_AU
TOMOC ON)
# Create code from a list of
Qt designer ui files
# set(CMAKE_AU
TOUIC ON)
# H
andle
the Qt rcc code genera
tor au
tomatically
# set(CMAKE_AU
TORCC ON)
# Enable GTest
set(ENABLE_GTEST 0)
if(ENABLE_GTEST)
add_definitions(-DENABLE_GTEST=1)
endif()
# Find
the QtWidgets library
# find_package(
Qt5Widgets COMPONENTS
Qt5Core
Qt5Gui
Qt5OpenGL OpenGL)
find_package(
Qt5Widgets CONFIG REQUIRED)
message(STATUS "
Qt5Widgets_FOUND = " ${
Qt5Widgets_FOUND})
message(STATUS "
Qt5Widgets_VERSION = " ${
Qt5Widgets_VERSION})
message(STATUS "
Qt5Widgets_LIBRARIES = " ${
Qt5Widgets_LIBRARIES})
message(STATUS "
Qt5Widgets_INCLUDE_DIRS = " ${
Qt5Widgets_INCLUDE_DIRS})
# Enable OpenGL
set(
QT_USE_
QTOPENGL TRUE)
find_package(
Qt5OpenGL)
message(STATUS "
Qt5OpenGL_FOUND = " ${
Qt5OpenGL_FOUND})
message(STATUS "
Qt5OpenGL_VERSION = " ${
Qt5OpenGL_VERSION})
message(STATUS "
Qt5OpenGL_LIBRARIES = " ${
Qt5OpenGL_LIBRARIES})
message(STATUS "
Qt5OpenGL_INCLUDE_DIRS = " ${
Qt5OpenGL_INCLUDE_DIRS})
# Using ROS
# Find catkin macros
and libraries
# if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
# is used, also find o
ther catkin packages
#
QT暂时无法正确加载ROS环境，暂时就只能直接指定ROS的cmake目录了，不同的系统可能是不同的
# set(catkin_DIR "/opt/ros/noetic/share/catkin/cmake")
#set(roscpp_DIR "/opt/ros/noetic/share/roscpp/cmake")
# find_package(catkin REQUIRED COMPONENTS roscpp)
message(STATUS "catkin_FOUND = " ${catkin_FOUND})
message(STATUS "catkin_VERSION = " ${catkin_VERSION})
message(STATUS "catkin_LIBRARIES = " ${catkin_LIBRARIES})
message(STATUS "catkin_INCLUDE_DIRS = " ${catkin_INCLUDE_DIRS})
# message(STATUS "roscpp_FOUND = " ${roscpp_FOUND})
# message(STATUS "roscpp_VERSION = " ${roscpp_VERSION})
# message(STATUS "roscpp_LIBRARIES = " ${roscpp_LIBRARIES})
# message(STATUS "roscpp_INCLUDE_DIRS = " ${roscpp_INCLUDE_DIRS})
###################################
## catkin specific configuration ##
###################################
#
The catkin_package macro generates cmake config files for your package
# Declare things
to be
passed to dependent projects
# INCLUDE_DIRS: uncomment this if your package contains header files
# LIBRARIES: libraries you create in this project that dependent projects also need
# CATKIN_DEPENDS: catkin_packages dependent projects also need
# DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package(
# INCLUDE_DIRS include
# LIBRARIES agitr
# CATKIN_DEPENDS o
ther_catkin_pkg
# DEPENDS system_lib
# )
#catkin_package(
#)
# CMAKE_RUNTIME_OUTPUT_DIREC
TORY
# Output direc
tory in which
to build RUNTIME target files
.
# This property specifies
the direc
tory in
to which runtime target files should be built
.
# Multi configuration genera
tors (VS, Xcode) append a per-configuration subdirec
tory
to
#
the specified direco
tory
.
#
There are three kinds of target files that may be built: archive, library,
and runtime
.
# Executables are always treated
as runtime targets
. Static libraries are always treated
#
as archive targets
. Module libraries are always treated
as library targets
. For non-DLL
# platforms shared libraries are treated
as library targets
. For DLL platforms
the DLL part
# of a shared library is treated
as a runtime target
and the corresponding import library
# is treated
as an archive target
. All
Windows b
ased systems including Cygwin are DLL platforms
.
# This property is initialized by
the value of
the variable CMAKE_RUNTIME_OUTPUT_DIREC
TORY
# if it is set when a target is created
.
message(STATUS "After load catkin:")
message(STATUS "CMAKE_RUNTIME_OUTPUT_DIREC
TORY = " ${CMAKE_RUNTIME_OUTPUT_DIREC
TORY})
# Add
the given direc
tories
to those
the compiler uses
to search for include files
.
# Relative paths are interpreted
as relative
to the current source direc
tory
.
include_direc
tories(
"
./OSS/include/gflags-2
.2
.2/gflags"
"
./OSS/include/glog-0
.3
.3"
"
./OSS/include/gtest-1
.7
.0"
"
./OSS/include/pro
tobuf_3_13_0"
"
./OSS/include/"
"
./AP_Platform_SDK_X86/include"
${
Qt5Widgets_INCLUDE_DIRS}
${
Qt5OpenGL_INCLUDE_DIRS}
# ${catkin_INCLUDE_DIRS}
"~/3rdparty/eigen-3
.3
.0"
"~/3rdparty/lcm-1
.4
.0/build/lcm"
"~/3rdparty/lcm-1
.4
.0"
"
./src/common/include"
"
./src/common/src"
"
./src/veh_model/include"
"
./src/veh_model/src"
"
./src/ad_msg/include"
"
./src/data_serial/include"
"
./src/pos_filter/include"
"
./src/pos_filter/src"
"
./src/obj_filter/include"
"
./src/obj_filter/src"
"
./src/driving_map/include"
"
./src/driving_map/src"
"
./src/planning/include"
"
./src/planning/src"
"
./src/socket_comm/include"
"
./src/framework"
"
./src/hmi"
"
./src/common_msgs_3_13_0"
"
./src/"
"
./pcdebug/"
"
./pcdebug/hmi"
"
./OSS/include/pro
tomsg"
)
get_property(dirs DIREC
TORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIREC
TORIES)
message(STATUS "Show include direc
tories:---------")
foreach(dir ${dirs})
message(STATUS ${dir})
endforeach()
message(STATUS "----------------------------------")
# Specify
the paths in which
the linker should search for libraries
. The comm
and will
# apply only
to targets created after it is called
. Relative paths given
to this comm
and
# are interpreted
as relative
to the current source direcotry
.
# Note that this comm
and is rarely necessary
. Library locations returned by find_package()
#
and find_library() are absolute paths
. P
ass
these absolute library file path directly
to
#
the target_link_libraries() comm
and. CMake will ensure
the linker finds
them
.
link_direc
tories(
"
./OSS/lib/linux"
"~/
programs/
qt/
qt-5
.15
.2/5
.15
.2/gcc_64/lib"
"~/3rdparty/lcm-1
.4
.0/build/lcm"
"
./src/outside_msg/msg_series_d17/lib"
#"
./AP_Platform_SDK_X86/lib/ara/log"
"/mnt/MPA_Planning/AP_Platform_SDK_X86/lib/ara/log"
"/mnt/MPA_Planning/AP_Platform_SDK_X86/lib/LSP/system"
)
get_property(dirs DIREC
TORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY LINK_DIREC
TORIES)
message(STATUS "Show link direc
tories:")
foreach(dir ${dirs})
message(STATUS ${dir})
endforeach()
message(STATUS "----------------------------------")
# Add ui
and qrc files
file(GLOB
QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
./pcdebug/hmi/ui/*
.ui)
file(GLOB
QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
./pcdebug/hmi/resources/*
.qrc)
message(STATUS "
QT_FORMS = " ${
QT_FORMS})
message(STATUS "
QT_RESOURCES = " ${
QT_RESOURCES})
#
if (
Qt5Widgets_FOUND)
# Create code from a list of
Qt resource files
qt5_add_resources(
QT_RESOURCES_CPP ${
QT_RESOURCES})
# Create code from a list of
Qt designer ui files
qt5_wrap_ui(
QT_FORMS_HPP ${
QT_FORMS})
else ()
message(FATAL_ERROR "
Qt5Widgets not found")
endif ()
# Add source files
file(GLOB_RECURSE SRC_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS
./src/*
.hpp
./src/*
.h
./src/*
.c
./src/*
.cc
./src/*
.cpp
./pcdebug/*
.h
./pcdebug/*
.cc
)
message(STATUS "SRC_LIST = " ${SRC_LIST})
# Add an executable
to the project using
the specified source files
.
add_executable(${PROJECT_NAME}
${SRC_LIST}
${
QT_RESOURCES_CPP} ${
QT_FORMS_HPP}
)
# Specify libraries or flags
to use when linking a given target
and/or its dependents
.
target_link_libraries(${PROJECT_NAME}
Qt5Widgets
Qt5Core
Qt5Gui
Qt5OpenGL
Qt5Multimedia
GL GLU glut
${catkin_LIBRARIES}
pro
tobuf pthread
boost_thread boost_date_time boost_system boost_chrono
lcm
dlt # ← libdlt
.so → -ldlt
logTrace # ← liblogTrace
.so → -llogTrace
yaml-cpp # ← libyaml-cpp
.so → -lyaml-cpp
common_msgs # ← libcommon_msgs
.so → -lcommon_msgs
osApi # ← libosApi
.so → -losApi（关键！
)
#target_link_libraries(${PROJECT_NAME} libosApi
.so libdlt
.so liblogTrace
.so libyaml-cpp
.so libcommon_msgs
.so)
if(ENABLE_GTEST)
target_link_libraries(${PROJECT_NAME}
"
./OSS/lib/linux/libgtest
.so"
"
./OSS/lib/linux/libgtest_
main.so")
endif()
export LD_LIBRARY_PATH=/mnt/MPA_Planning/AP_Platform_SDK_X86/lib/LSP/system:$LD_LIBRARY_PATH 可以在cmakelist怎么代替
本文探讨了在Qt环境中处理环境变量的方法。指出在Ubuntu下可以通过传递环境变量到main函数中进行处理,但在Windows环境下Qt并未在qtmain_win.cpp中提供环境参数。文中提到应当使用QProcessEnvironment来解决此问题。
扫一扫
2100
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
