linkerhand-cpp-sdk/CMakeLists.txt at main · linker-bot/linkerhand-cpp-sdk · GitHub

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cmake_minimum_required(VERSION 3.15)
project(LinkerHand-CPP-SDK
    VERSION 1.1.7
    LANGUAGES CXX
    DESCRIPTION "LinkerHand C++ SDK for robotic hand control"
)

if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
    set(LIB_SUBDIR "x86_64")
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
    set(LIB_SUBDIR "aarch64")
else()
    message(WARNING "Unknown architecture, defaulting to x86_64")
    set(LIB_SUBDIR "x86_64")
endif()

#-----------------------------------------------------------------------------
# LINKER_HAND_CPP_SDK
#-----------------------------------------------------------------------------
find_library(LINKER_HAND_LIB
    NAMES linkerhand_cpp_sdk linkerhand_cpp
    PATHS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR}
        /usr/local/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
        /usr/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
        ${CMAKE_INSTALL_PREFIX}/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
    NO_DEFAULT_PATH
)

set(LINKER_HAND_INCLUDE_DIR
    ${CMAKE_CURRENT_SOURCE_DIR}/include
    /usr/local/include/linkerhand-cpp-sdk
    /usr/include/linkerhand-cpp-sdk
    ${CMAKE_INSTALL_PREFIX}/include/linkerhand-cpp-sdk
)

if(NOT LINKER_HAND_LIB)
    message(FATAL_ERROR "linkerhand_cpp_sdk library not found!")
endif()

if(NOT LINKER_HAND_INCLUDE_DIR)
    message(FATAL_ERROR "LinkerHand headers not found!")
endif()

message(STATUS "Found linkerhand_cpp_sdk library: ${LINKER_HAND_LIB}")
message(STATUS "Found LinkerHand headers: ${LINKER_HAND_INCLUDE_DIR}")

#-----------------------------------------------------------------------------
# INCLUDE_DIRECTORIES
#-----------------------------------------------------------------------------
include_directories(
    ${CMAKE_CURRENT_SOURCE_DIR}/include
    ${LINKER_HAND_INCLUDE_DIR}
)

#-----------------------------------------------------------------------------
# EXECUTABLE
#-----------------------------------------------------------------------------
add_executable(my_project src/main.cpp)
target_link_libraries(my_project ${LINKER_HAND_LIB} pthread)

add_executable(toolset_example examples/toolset_example.cpp)
target_link_libraries(toolset_example ${LINKER_HAND_LIB} pthread)

add_executable(action_group_show_l10 examples/action_group_show_l10.cpp)
target_link_libraries(action_group_show_l10 ${LINKER_HAND_LIB} pthread)

#-----------------------------------------------------------------------------
# INSTALL TARGETS
#-----------------------------------------------------------------------------
# 安装头文件
install(DIRECTORY include/
    DESTINATION include/linkerhand-cpp-sdk
    FILES_MATCHING PATTERN "*.h"
)

# 安装库文件
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR})
    install(DIRECTORY lib/${LIB_SUBDIR}/
        DESTINATION lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
        FILES_MATCHING PATTERN "*.so*"
    )
endif()

#-----------------------------------------------------------------------------
# PACKAGE CONFIGURATION
#-----------------------------------------------------------------------------
include(CMakePackageConfigHelpers)

# 创建包配置文件
write_basic_package_version_file(
    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfigVersion.cmake"
    VERSION ${PROJECT_VERSION}
    COMPATIBILITY AnyNewerVersion
)

# 设置包配置变量（用于 configure_file）
set(PACKAGE_INCLUDE_INSTALL_DIR "include/linkerhand-cpp-sdk")
set(PACKAGE_LIB_INSTALL_DIR "lib/linkerhand-cpp-sdk/${LIB_SUBDIR}")

# 创建包配置文件模板
configure_file(
    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/LinkerHandCPPSDKConfig.cmake.in"
    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfig.cmake"
    @ONLY
)

# 安装包配置文件
install(FILES
    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfig.cmake"
    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfigVersion.cmake"
    DESTINATION lib/cmake/LinkerHandCPPSDK
)

#-----------------------------------------------------------------------------
# TESTING
#-----------------------------------------------------------------------------
# 添加选项以启用/禁用测试
option(BUILD_TESTING "Build the testing tree" ON)

# 如果启用测试，包含测试子目录
if(BUILD_TESTING)
    add_subdirectory(tests)
endif()