Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,163 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(socketcan_interface)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    class_loader
+)
+
+find_package(console_bridge REQUIRED)
+
+find_package(Boost REQUIRED
+  COMPONENTS
+    chrono
+    system
+    thread
+)
+
+find_package(Threads REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}_string
+  CATKIN_DEPENDS
+  DEPENDS
+    Boost
+    console_bridge
+)
+
+include_directories(
+  include
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  ${console_bridge_INCLUDE_DIRS}
+)
+
+# ${PROJECT_NAME}_string
+add_library(${PROJECT_NAME}_string
+    src/string.cpp
+)
+
+# socketcan_dump
+add_executable(socketcan_dump
+  src/candump.cpp
+)
+
+target_link_libraries(socketcan_dump
+   ${PROJECT_NAME}_string
+   ${console_bridge_LIBRARIES}
+   ${catkin_LIBRARIES}
+   ${Boost_LIBRARIES}
+   ${CMAKE_THREAD_LIBS_INIT}
+)
+
+# socketcan_bcm
+add_executable(socketcan_bcm
+  src/canbcm.cpp
+)
+
+target_link_libraries(socketcan_bcm
+   ${PROJECT_NAME}_string
+   ${console_bridge_LIBRARIES}
+   ${catkin_LIBRARIES}
+   ${Boost_LIBRARIES}
+)
+
+# ${PROJECT_NAME}_plugin
+add_library(${PROJECT_NAME}_plugin
+  src/${PROJECT_NAME}_plugin.cpp
+)
+target_link_libraries(${PROJECT_NAME}_plugin
+  ${console_bridge_LIBRARIES}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+install(
+  TARGETS
+    socketcan_bcm
+    socketcan_dump
+    ${PROJECT_NAME}_plugin
+    ${PROJECT_NAME}_string
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY
+    include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(
+  FILES
+    ${PROJECT_NAME}_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+if(CATKIN_ENABLE_TESTING)
+  find_package(xmlrpcpp REQUIRED)
+
+  catkin_add_gtest(${PROJECT_NAME}-test_dummy_interface
+    test/test_dummy_interface.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_dummy_interface
+    ${PROJECT_NAME}_string
+    ${console_bridge_LIBRARIES}
+    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test_delegates
+    test/test_delegates.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_delegates
+    ${PROJECT_NAME}_string
+    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test_settings
+    test/test_settings.cpp
+  )
+  target_include_directories(${PROJECT_NAME}-test_settings PRIVATE
+    ${xmlrpcpp_INCLUDE_DIRS}
+  )
+  target_link_libraries(${PROJECT_NAME}-test_settings
+    ${PROJECT_NAME}_string
+    ${catkin_LIBRARIES}
+    ${xmlrpcpp_LIBRARIES}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test_string
+    test/test_string.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_string
+    ${PROJECT_NAME}_string
+    ${console_bridge_LIBRARIES}
+    ${catkin_LIBRARIES}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test_filter
+    test/test_filter.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_filter
+    ${PROJECT_NAME}_string
+    ${console_bridge_LIBRARIES}
+    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test_dispatcher
+    test/test_dispatcher.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_dispatcher
+    ${PROJECT_NAME}_string
+    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
+  )
+  target_compile_options(${PROJECT_NAME}-test_dispatcher PRIVATE -Wno-deprecated-declarations)
+endif()