CMakeLists.txt 12.2 KB
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### Teacher CMakeLists
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cmake_minimum_required(VERSION 2.8.3)
project(d_fall_pps)

## Add support for C++11, supported in ROS Kinetic and newer
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add_definitions(-std=c++11)
add_definitions(-DCATKIN_MAKE) # GUI -- Add precompiler definitions to include ROS things in GUI compilation
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## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
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  message_generation
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  roscpp
  rospy
  std_msgs
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  genmsg
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  rosbag
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  roslib
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)

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

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add_message_files(
  FILES
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  UnlabeledMarker.msg
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  CrazyflieData.msg
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  CrazyfliePositionData.msg
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  ViconData.msg
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  ControlCommand.msg
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  CrazyflieContext.msg
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  AreaBounds.msg
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  Setpoint.msg
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  CrazyflieEntry.msg
  CrazyflieDB.msg
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  UWBAnchor.msg
  UWBAnchorArray.msg
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  CustomControllerYAML.msg
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  #----------------------------------------------------------------------
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  DebugMsg.msg
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)

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## Generate services in the 'srv' folder
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add_service_files(
  FILES
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  Controller.srv
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  CMRead.srv
  CMQuery.srv
  CMUpdate.srv
  CMCommand.srv
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  Anchors.srv
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)
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## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
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generate_messages(
  DEPENDENCIES
  std_msgs
)
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################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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 you 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(
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  INCLUDE_DIRS include ${MY_GUI_LIB_PATH_INC} # GUI -- include headers from GUI in package
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  INCLUDE_DIRS include ${STUDENT_GUI_LIB_PATH_INC} # StudentGUI -- include headers from GUI in package
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  LIBRARIES
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  CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
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  DEPENDS
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)

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### --- GUI --- ###

# GUI -- Things needed for Qt wrapper build process
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)

# GUI -- Add Qt support
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
find_package(Qt5Svg REQUIRED)


### Teacher
# GUI -- Add src and includes
set(MY_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)
# GUI -- Resource file
set(MY_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc)
# GUI -- Special Qt sources that need to be wrapped before being compiled
# they have the Qt macro QOBJECT inside, the MOC cpp file needs to be done manually
set(SRC_HDRS_QOBJECT_GUI
  ${MY_GUI_LIB_PATH_INC}/crazyFlyZoneTab.h
  ${MY_GUI_LIB_PATH_INC}/myGraphicsScene.h
  ${MY_GUI_LIB_PATH_INC}/myGraphicsView.h
  ${MY_GUI_LIB_PATH_INC}/mainguiwindow.h
  ${MY_GUI_LIB_PATH_INC}/rosNodeThread.h
  ${MY_GUI_LIB_PATH_INC}/CFLinker.h
  
)

### Student
# StudentGUI -- Add src and includes
set(STUDENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/src)
set(STUDENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/include)
# StudentGUI -- Special Qt sources that need to be wrapped before being compiled
set(SRC_HDRS_QOBJECT_STUDENT_GUI
  ${STUDENT_GUI_LIB_PATH_INC}/MainWindow.h
  ${STUDENT_GUI_LIB_PATH_INC}/rosNodeThread_student.h
  )
# StudentGUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS_STUDENT_GUI ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS_STUDENT_GUI ${SRC_HDRS_QOBJECT_STUDENT_GUI})


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###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
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  ${MY_GUI_LIB_PATH_INC}            # GUI -- include directory inside GUI folder
  ${STUDENT_GUI_LIB_PATH_INC}       # StudentGUI -- include directory inside GUI folder
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  ${catkin_INCLUDE_DIRS}
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  include
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)

## Declare a C++ library
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##add_library(${PROJECT_NAME}
##  src/blablalba.cpp
##)
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## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

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### --- Executables --- ###
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# UWBManagerService -- Add sources here
set(MY_CPP_SOURCES_UWBMS              # compilation of sources
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  ${PROJECT_SOURCE_DIR}/src/UWBManagerService.cpp
  ${PROJECT_SOURCE_DIR}/src/SerialUnix.cpp
  ${PROJECT_SOURCE_DIR}/src/DataListener.cpp
)
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## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/d_fall_pps_node.cpp)
add_executable(ViconDataPublisher src/ViconDataPublisher.cpp)
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add_dependencies(ViconDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(ViconDataPublisher ${catkin_LIBRARIES})
target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
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add_executable(UWBManagerService ${MY_CPP_SOURCES_UWBMS})
add_dependencies(UWBManagerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(UWBManagerService ${catkin_LIBRARIES})

add_executable(TeacherService src/TeacherService.cpp)
add_dependencies(TeacherService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(TeacherService ${catkin_LIBRARIES})
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add_executable(UWBDataPublisher src/UWBDataPublisher.cpp)
add_dependencies(UWBDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(UWBDataPublisher ${catkin_LIBRARIES})

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add_executable(LocalizationServer src/LocalizationServer.cpp)
add_dependencies(LocalizationServer d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(LocalizationServer ${catkin_LIBRARIES})
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# add_executable(PPSClient src/PPSClient.cpp)
# add_dependencies(PPSClient d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# target_link_libraries(PPSClient ${catkin_LIBRARIES})
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add_executable(Client src/Client.cpp)
add_dependencies(Client d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(Client ${catkin_LIBRARIES})

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add_executable(SafeControllerService src/SafeControllerService.cpp)
add_dependencies(SafeControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(SafeControllerService ${catkin_LIBRARIES})

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add_executable(CustomControllerService src/CustomControllerService.cpp)
add_dependencies(CustomControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(CustomControllerService ${catkin_LIBRARIES})

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add_executable(CentralManagerService src/CentralManagerService.cpp src/CrazyflieIO.cpp)
add_dependencies(CentralManagerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(CentralManagerService ${catkin_LIBRARIES})

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add_executable(CircleControllerService src/CircleControllerService.cpp)
add_dependencies(CircleControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(CircleControllerService ${catkin_LIBRARIES})

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add_executable(FollowCrazyflieService src/FollowCrazyflieService.cpp)
add_dependencies(FollowCrazyflieService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(FollowCrazyflieService ${catkin_LIBRARIES})
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add_executable(FollowN_1Service src/FollowN_1Service.cpp)
add_dependencies(FollowN_1Service d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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target_link_libraries(FollowN_1Service ${catkin_LIBRARIES})

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# add_executable(UWBAnalysis src/UWBAnalysis.cpp)
# add_dependencies(UWBAnalysis d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# target_link_libraries(UWBAnalysis ${catkin_LIBRARIES})
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### Teacher GUI
# GUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS_GUI ${MY_GUI_LIB_PATH_SRC}/mainguiwindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS_GUI ${SRC_HDRS_QOBJECT_GUI})
# GUI -- wrap resource file qrc->rcc
qt5_add_resources(MY_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})
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# GUI -- Add sources here
set(MY_CPP_SOURCES_GUI              # compilation of sources
  ${MY_GUI_LIB_PATH_SRC}/mainguiwindow.cpp
  ${MY_GUI_LIB_PATH_SRC}/main.cpp
  ${MY_GUI_LIB_PATH_SRC}/cornergrabber.cpp
  ${MY_GUI_LIB_PATH_SRC}/crazyFlyZone.cpp
  ${MY_GUI_LIB_PATH_SRC}/crazyFlyZoneTab.cpp
  ${MY_GUI_LIB_PATH_SRC}/myGraphicsRectItem.cpp
  ${MY_GUI_LIB_PATH_SRC}/myGraphicsScene.cpp
  ${MY_GUI_LIB_PATH_SRC}/myGraphicsView.cpp
  ${MY_GUI_LIB_PATH_SRC}/tablePiece.cpp
  ${MY_GUI_LIB_PATH_SRC}/marker.cpp
  ${MY_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
  ${MY_GUI_LIB_PATH_SRC}/crazyFly.cpp
  ${MY_GUI_LIB_PATH_SRC}/CFLinker.cpp
  ${MY_GUI_LIB_PATH_SRC}/channelLUT.cpp
  ${MY_GUI_LIB_PATH_SRC}/centerMarker.cpp
)
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## uncomment the following to make the student compile
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# GUI -- Add executables here
add_executable(my_GUI ${MY_CPP_SOURCES_GUI} ${UIS_HDRS_GUI} ${SRC_MOC_HDRS_GUI} ${MY_RESOURCE_FILE_RCC})
qt5_use_modules(my_GUI Widgets)
# GUI-- dependencies
add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# GUI -- link libraries
target_link_libraries(my_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
target_link_libraries(my_GUI Qt5::Svg)
target_link_libraries(my_GUI ${catkin_LIBRARIES})
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### Student GUI
set(MY_CPP_SOURCES_STUDENT_GUI              # compilation of sources
  ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.cpp
  ${STUDENT_GUI_LIB_PATH_SRC}/main.cpp
  ${STUDENT_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
)
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## uncomment the following to make the teacher compile
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# StudentGUI -- Add executables here
add_executable(student_GUI ${MY_CPP_SOURCES_STUDENT_GUI} ${UIS_HDRS_STUDENT_GUI} ${SRC_MOC_HDRS_STUDENT_GUI})
qt5_use_modules(student_GUI Widgets)
# StudentGUI-- dependencies
add_dependencies(student_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# StudentGUI -- link libraries
target_link_libraries(student_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
target_link_libraries(student_GUI ${catkin_LIBRARIES})