Revision 61ca8481
| client/cpp/CMakeLists.txt | ||
|---|---|---|
| 31 | 31 |
####################################### |
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FIND_PACKAGE(hlrc_server) |
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####################################### |
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#allow forced disable of RSB |
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option(IGNORE_RSB "IGNORE_RSB" OFF) |
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####################################### |
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# check if we have RSB support: |
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IF (IGNORE_RSB) |
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MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
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ELSE (IGNORE_RSB) |
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FIND_PACKAGE(RSB 0.11 QUIET) |
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IF (RSB_FOUND) |
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})
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message(STATUS "RSB Support is ON") |
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add_definitions(-DRSB_SUPPORT=1) |
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ELSE(RSB_FOUND) |
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message(STATUS "RSB not found.") |
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ENDIF(RSB_FOUND) |
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ENDIF(IGNORE_RSB) |
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|
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| 75 | 34 |
################################################################ |
| 76 | 35 |
# check for ROS support: |
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find_package(catkin QUIET) |
| ... | ... | |
| 118 | 77 |
src/RobotController.cpp |
| 119 | 78 |
src/Middleware.cpp |
| 120 | 79 |
src/MiddlewareROS.cpp |
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src/MiddlewareRSB.cpp |
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| 122 | 80 |
) |
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|
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add_library(${HLRC_CLIENT_LIBNAME} SHARED
|
| ... | ... | |
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add_dependencies(${HLRC_CLIENT_LIBNAME} ${catkin_EXPORTED_TARGETS})
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| 143 | 101 |
ENDIF (ROS_FOUND) |
| 144 | 102 |
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target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${catkin_LIBRARIES})
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target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RST_LIBRARIES} ${catkin_LIBRARIES})
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#build & install demo |
| 148 | 106 |
#ADD_EXECUTABLE(testMarkerTracker example/testMarkerTracker.cc) |
| ... | ... | |
| 173 | 131 |
INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIGVERSION_FILENAME}" DESTINATION "${DATADIR}")
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| 174 | 132 |
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#ADD_EXECUTABLE(${PROJECT_NAME} main.cpp ${SRC_FILES})
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#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} )
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#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} )
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#build & install examples |
| 179 | 137 |
ADD_EXECUTABLE(${PROJECT_NAME}_example_random_gaze examples/random_gaze/main.cpp)
|
| server/CMakeLists.txt | ||
|---|---|---|
| 10 | 10 |
INCLUDE(FindPkgConfig) |
| 11 | 11 |
|
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####################################### |
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#allow forced disable of RSB |
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option(IGNORE_RSB "IGNORE_RSB" OFF) |
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####################################### |
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# check if we have RSB support: |
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IF (IGNORE_RSB) |
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MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
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ELSE (IGNORE_RSB) |
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FIND_PACKAGE(RSB 0.11 QUIET) |
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IF (RSB_FOUND) |
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})
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message(STATUS "RSB Support is ON") |
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add_definitions(-DRSB_SUPPORT=1) |
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ELSE(RSB_FOUND) |
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message(STATUS "RSB not found.") |
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ENDIF (RSB_FOUND) |
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ENDIF(IGNORE_RSB) |
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################################################################ |
|
| 54 | 14 |
# check for ROS support: |
| 55 | 15 |
find_package(catkin QUIET) |
| 56 | 16 |
IF (catkin_FOUND) |
| ... | ... | |
| 127 | 87 |
link_directories(${catkin_LIBRARY_DIRS} ${AO_LIBRARY_DIRS} ${humotion_LIBRARY_DIRS})
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| 128 | 88 |
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#build dummy list of header files |
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file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h include/RSB/*.h include/ROS/*.h)
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file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h include/ROS/*.h)
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| 131 | 91 |
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# declare library |
| 133 | 93 |
add_executable(${PROJECT_NAME}
|
| ... | ... | |
| 149 | 109 |
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
|
| 150 | 110 |
|
| 151 | 111 |
#create example: |
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target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${RSB_LIBRARIES} ${catkin_LIBRARIES} ${RST_LIBRARIES} ${humotion_LIBRARIES} ${AO_LIBRARIES})
|
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target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${RST_LIBRARIES} ${humotion_LIBRARIES} ${AO_LIBRARIES})
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set_property(TARGET ${PROJECT_NAME} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)
|
| 154 | 114 |
|
| 155 | 115 |
|
| server/src/Arbiter.cpp | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#include "Arbiter.h" |
| 30 | 30 |
#include "AudioPlayerLibAO.h" |
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#include "AudioPlayerRSB.h" |
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#include <boost/algorithm/string/predicate.hpp> |
| 33 | 32 |
#include <mutex> |
| 34 | 33 |
#include <thread> |
| server/src/main.cpp | ||
|---|---|---|
| 26 | 26 |
* |
| 27 | 27 |
*/ |
| 28 | 28 |
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#include "MiddlewareRSB.h" |
|
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#include "MiddlewareROS.h" |
| 31 | 30 |
#include "Arbiter.h" |
| 32 | 31 |
|
| ... | ... | |
| 45 | 44 |
int main(int argc, char* argv[]) {
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if ((argc != 5) && (argc != 6)) {
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printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <mw_hlrc> <mw_humotion> <base scopename "
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"hlrc> <base scopename humotion> [<audio output>] (example: %s RSB RSB /flobi1/ pulse )\n",
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"hlrc> <base scopename humotion> [<audio output>] \n", |
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argv[0], argv[0]); |
| 50 | 49 |
printf(" audio output is optional and can be {pulse,oss,alsa,null,sndio,..}\n\n");
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exit(EXIT_FAILURE); |
| ... | ... | |
| 77 | 76 |
middleware = new MiddlewareROS(arbiter, scope_hlrc); |
| 78 | 77 |
} |
| 79 | 78 |
else {
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middleware = new MiddlewareRSB(arbiter, scope_hlrc);
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printf("> ERROR: invalid middleware! Only ROS supported)\n");
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} |
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// human motion connection: |
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