自动驾驶中间件水杉SDK

cmake_minimum_required(VERSION 3.3 FATAL_ERROR) project(examples LANGUAGES CXX ) set(CMAKE_CXX_STANDARD 17) macro(GenerateMsg FbFiles FbSrcs FbHdrs) set(${FbSrcs} "") set(${FbHdrs} "") foreach(fil ${${FbFiles}}) string(REPLACE ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} pbFile ${fil}) string(REPLACE ".pmsg" ".fb.cc" pbCC ${pbFile}) string(REPLACE ".pmsg" ".fb.h" pbHH ${pbFile}) if ((not EXISTS ${pbCC}) OR (${fil} IS_NEWER_THAN ${pbCC})) message(STATUS "${fil} -> ${pbCC}") execute_process( COMMAND datac -u --cpp_out=${CMAKE_CURRENT_BINARY_DIR} ${fil} RESULT_VARIABLE res_var ) if (res_var STREQUAL "1") message(FATAL_ERROR "Generate msg error!!! file: ${fil}") endif() endif() list(APPEND ${FbSrcs} ${pbCC}) list(APPEND ${FbHdrs} ${pbHH}) endforeach() endmacro() include_directories( ${PROJECT_SOURCE_DIR}/../include ${CMAKE_BINARY_DIR} ) link_directories( ${PROJECT_SOURCE_DIR}/../lib ) file(GLOB Fbs "*.pmsg") GenerateMsg(Fbs MsgSrcs MsgHdrs) add_library(example_msg SHARED ${MsgSrcs} ${MsgHdrs}) target_link_libraries(example_msg fixedbuf) add_executable(talker talker.cc) target_link_libraries(talker autocom example_msg) add_executable(listener listener.cc) target_link_libraries(listener autocom example_msg)