Merge branch 'main' of github.com:ig-or/donkey

ig-or · Mar 2, 2024 · b2f9280 · b2f9280
2 parents 34bdd6a + cfe18e8
commit b2f9280
Show file tree

Hide file tree

Showing 6 changed files with 348 additions and 139 deletions.
diff --git a/nano/eye/CMakeLists.txt b/nano/eye/CMakeLists.txt
@@ -7,18 +7,33 @@ set(xqt "${CMAKE_CURRENT_SOURCE_DIR}/../../xqtools")
 include("${xqt}/buildsys/ccmake.cmake")
 set(PROJECT_NAME eye)
 
+option(G4_LIDAR "use G4 lidar" OFF)
+
 set (NEED_BOOST  program_options date_time system filesystem thread chrono log iostreams)
 commonStart()
 set(NO_VERSION_INFO 1)
 
-add_compile_definitions(tstype=int)
+add_compile_options( -std=gnu++20 )
 
-find_package(ydlidar_sdk REQUIRED)
+add_compile_definitions(tstype=int  )  # -D_GLIBCXX_USE_NANOSLEEP
 include_directories(
   ${PROJECT_SOURCE_DIR}
   ${PROJECT_SOURCE_DIR}/src
-  ${YDLIDAR_SDK_INCLUDE_DIRS})
-link_directories(${YDLIDAR_SDK_LIBRARY_DIRS})
+)
+
+addSourceFiles("main" "." main  eth_client)
+addSourceFiles("core" "${xqt}/core/src" rbuf xmroundbuf xmutils xstdef xmatrixplatform)
+addSourceFiles("matrix" "${xqt}/matrix/src" xmatrix_imp xmatrix2)
+addSourceFiles("message" "${xqt}/message/src" xmessage xparser xq_parser datafileloader xqdatatxtfile xmessagepack xmessagesend)
+
+if (G4_LIDAR)
+  add_definitions(-DG4LIDAR)
+  find_package(ydlidar_sdk REQUIRED)
+  include_directories(${YDLIDAR_SDK_INCLUDE_DIRS})
+  link_directories(${YDLIDAR_SDK_LIBRARY_DIRS})
+  addOtherLib(${YDLIDAR_SDK_LIBRARIES})
+  addSourceFiles("lidar" "." g4)
+endif()
 
 #add_definitions(-DNOMINMAX)
 #add_definitions(-D_WIN32_WINNT=0x0A00)
@@ -28,16 +43,8 @@ link_directories(${YDLIDAR_SDK_LIBRARY_DIRS})
 
 #endif()
 
-addSourceFiles("main" "." main  eth_client g4)
-addSourceFiles("core" "${xqt}/core/src" rbuf xmroundbuf xmutils xstdef xmatrixplatform)
-addSourceFiles("matrix" "${xqt}/matrix/src" xmatrix_imp xmatrix2)
-addSourceFiles("message" "${xqt}/message/src" xmessage xparser xq_parser datafileloader xqdatatxtfile xmessagepack xmessagesend)
-
-
 #addOtherLib("Winmm.lib")
-
-addOtherLib(${YDLIDAR_SDK_LIBRARIES})
-
+#addOtherLib("-pthread")
 
 programEnd()