123 lines
5.6 KiB
CMake
123 lines
5.6 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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# =============================================================================
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# visual_track_control —— 视觉跟踪控制律静态库（独立子工程）
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#
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# 实现 docs/物理追踪思路.md 的水平航向控制（§4）、垂直/高度双支路控制（§5）、
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# 距离 PID（§6）、全量限幅（§8）、Coast 清积分与判丢刹车（§6.4）、
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# 超龄降级（§7.1、§9.2）。
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#
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# 构建约束：
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# - 与主工程完全解耦：根 CMakeLists.txt 零改动，可独立构建；
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# - 仅依赖 third_party：nlohmann（单头文件）、spdlog（源码）、
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# c_library_v2-master（MAVLink 纯头文件）；
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# - target_tracker 为 SHARED 库且零源码修改，原样 add_subdirectory 复用，
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# TrackResult 出现在本库公共头（vtc_types.h），故以 PUBLIC 链接；
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# - MAVLink include 目录设为 SYSTEM PRIVATE：压告警噪音且不泄漏给下游，
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# 全工程仅 src/mavlink_command_gateway.cpp 一个 TU 包含 mavlink.h
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# （MAVLINK_HELPER 默认空宏，多 TU 包含会多重定义）。
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# =============================================================================
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project(visual_track_control LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# target_tracker 是 SHARED 库：BUILD_RPATH 指向构建目录，示例无需
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# LD_LIBRARY_PATH 即可直接运行（部署时需随带 libtarget_tracker.so.1）。
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR};${CMAKE_BINARY_DIR}/target_tracker;$ORIGIN")
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# ---- 依赖：target_tracker（零改动复用；其测试块由 -DBUILD_TESTING=OFF 压制） ----
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../target_tracker
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${CMAKE_BINARY_DIR}/target_tracker)
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# ---- 依赖：spdlog（守卫引入，避免挂载进根构建时重复定义；关闭示例/测试/动态库/安装） ----
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if(NOT TARGET spdlog::spdlog)
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set(SPDLOG_BUILD_EXAMPLE OFF CACHE BOOL "" FORCE)
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set(SPDLOG_BUILD_EXAMPLE_HO OFF CACHE BOOL "" FORCE)
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set(SPDLOG_BUILD_TESTS OFF CACHE BOOL "" FORCE)
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set(SPDLOG_BUILD_TESTS_HO OFF CACHE BOOL "" FORCE)
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set(SPDLOG_BUILD_SHARED OFF CACHE BOOL "" FORCE)
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set(SPDLOG_INSTALL OFF CACHE BOOL "" FORCE)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../third_party/spdlog
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${CMAKE_BINARY_DIR}/spdlog)
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endif()
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# ---- 静态库本体 ----
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add_library(visual_track_control STATIC
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src/vtc_config.cpp
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src/pid_controller.cpp
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src/line_of_sight.cpp
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src/tracking_control_law.cpp
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src/mavlink_command_gateway.cpp)
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target_include_directories(visual_track_control PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
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# nlohmann JSON：单头文件，仅配置加载器（启动期）使用，不进入热路径
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target_include_directories(visual_track_control PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/../third_party/nlohmann)
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# MAVLink 纯头文件库：SYSTEM 压告警、PRIVATE 不泄漏（公共头无任何 mavlink_* 类型）
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target_include_directories(visual_track_control SYSTEM PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/../third_party/c_library_v2-master)
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target_link_libraries(visual_track_control
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PUBLIC target_tracker
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PRIVATE spdlog::spdlog)
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target_compile_features(visual_track_control PUBLIC cxx_std_17)
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# 编译告警：与主工程一致
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if(MSVC)
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target_compile_options(visual_track_control PRIVATE /W4 /permissive-)
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else()
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target_compile_options(visual_track_control PRIVATE -Wall -Wextra -Wpedantic)
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endif()
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# ---- 示例可执行文件（合成检测 → 追踪 → 控制律 → MAVLink 字节流打印） ----
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add_executable(track_control_demo examples/track_control_demo.cpp)
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target_link_libraries(track_control_demo PRIVATE visual_track_control spdlog::spdlog)
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target_compile_definitions(track_control_demo PRIVATE
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VTC_DEMO_DEFAULT_CONFIG="${CMAKE_CURRENT_SOURCE_DIR}/config/track_control.json")
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if(MSVC)
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target_compile_options(track_control_demo PRIVATE /W4 /permissive-)
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else()
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target_compile_options(track_control_demo PRIVATE -Wall -Wextra -Wpedantic)
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endif()
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# ---- 单元测试（Google Test） ----
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# 独立选项：构建本子工程时需 -DBUILD_TESTING=OFF 压制 target_tracker 的测试，
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# 故本库测试开关不复用 BUILD_TESTING，二者互不干扰。
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# 开发机未安装 GTest 时自动跳过（不影响库与示例构建）。
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option(VTC_BUILD_TESTS "构建 visual_track_control 单元测试" ON)
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if(VTC_BUILD_TESTS)
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find_package(GTest QUIET)
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if(GTest_FOUND)
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enable_testing()
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include(GoogleTest)
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add_executable(vtc_unit_tests
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tests/rate_limiter_test.cpp
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tests/staleness_checker_test.cpp
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tests/frame_transform_test.cpp
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tests/line_of_sight_test.cpp
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tests/pid_controller_test.cpp
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tests/tracking_control_law_test.cpp
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tests/vtc_config_test.cpp
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tests/mavlink_command_gateway_test.cpp)
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target_link_libraries(vtc_unit_tests PRIVATE
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visual_track_control GTest::gtest GTest::gtest_main)
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target_compile_definitions(vtc_unit_tests PRIVATE
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VTC_TEST_CONFIG="${CMAKE_CURRENT_SOURCE_DIR}/config/track_control.json"
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VTC_TEST_TMP_DIR="${CMAKE_CURRENT_BINARY_DIR}")
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if(MSVC)
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target_compile_options(vtc_unit_tests PRIVATE /W4 /permissive-)
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else()
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target_compile_options(vtc_unit_tests PRIVATE -Wall -Wextra -Wpedantic)
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endif()
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gtest_discover_tests(vtc_unit_tests)
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else()
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message(STATUS "未找到 GTest：跳过 vtc_unit_tests 单元测试")
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endif()
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endif()
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