From 3fde55010827a83768a7accceeb751d2c9fe1278 Mon Sep 17 00:00:00 2001 From: Isaac Date: Mon, 4 Nov 2024 18:13:48 -0800 Subject: [PATCH] Undo clang-format on CMakeLists --- src/CMakeLists.txt | 132 ++++++++++++++++++++++----------------------- 1 file changed, 66 insertions(+), 66 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 14a1f742..707e3ed8 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,5 +1,5 @@ -cmake_minimum_required(VERSION 3.13) #Latest versions of Ubuntu should have at least 3.16; -#argparse library requires 3.12.4 currently +cmake_minimum_required(VERSION 3.13) # Latest versions of Ubuntu should have at least 3.16; + # argparse library requires 3.12.4 currently set(CMAKE_CXX_STANDARD 17) # 11 For the json library, 17 for std library features set(CMAKE_CXX_STANDARD_REQUIRED ON) @@ -8,14 +8,13 @@ project(Rover LANGUAGES CXX C) include(FetchContent) -#If a build type was not explicitly specified, default to "RelWithDebInfo"(Same optimization -#as the "Release" configuration but with debugging symbols). +# If a build type was not explicitly specified, default to "RelWithDebInfo" (Same optimization +# as the "Release" configuration but with debugging symbols). # -#To change, you can pass - DCMAKE_BUILD_TYPE = ... where... is the configuration you would like -#to use.For example, if you want to do a full debug build(little to no optimization, with -#debugging symbols), \ - add - DCMAKE_BUILD_TYPE = Debug to your `cmake` command.You may want to do -#a full debug build if code you want to debug gets optimized out by the compiler. +# To change, you can pass -DCMAKE_BUILD_TYPE=... where ... is the configuration you would like +# to use. For example, if you want to do a full debug build (little to no optimization, with +# debugging symbols), add -DCMAKE_BUILD_TYPE=Debug to your `cmake` command. You may want to do +# a full debug build if code you want to debug gets optimized out by the compiler. set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "The type of build to perform.") set(AVAILABLE_BUILD_TYPES "Debug" "Release" "RelWithDebInfo" "MinSizeRel") set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${AVAILABLE_BUILD_TYPES}) @@ -24,17 +23,17 @@ Building ${CMAKE_BUILD_TYPE} configuration...\n\ Add -DCMAKE_BUILD_TYPE=... to change\n\ ========================================") -#Generate a compile_commands.json file by default unless explicitly disabled. -#This allows editors like Visual Studio Code to be able to index the project correctly and -#locate header files and libraries. +# Generate a compile_commands.json file by default unless explicitly disabled. +# This allows editors like Visual Studio Code to be able to index the project correctly and +# locate header files and libraries. if(NOT CMAKE_EXPORT_COMPILE_COMMANDS) set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE STRING "Enable/Disable output of compile commands during generation." FORCE) endif() ##====== Module settings ====== -#These variables control whether various modules are enabled or disabled.The goal is to allow -#a user to selectively exclude modules that they do not need. +# These variables control whether various modules are enabled or disabled. The goal is to allow +# a user to selectively exclude modules that they do not need. set(GPS "ARDUPILOT" CACHE STRING "GPS interface to use.") set(AVAILABLE_GPS "USB" "ARDUPILOT" "NONE") set_property(CACHE GPS PROPERTY STRINGS ${AVAILABLE_GPS}) @@ -61,37 +60,38 @@ message(" World Interface:\t${WORLD_INTERFACE}") message("========================================") ##====== Dependencies ====== -#Some of these are optional depending on module settings above. +# Some of these are optional depending on module settings above. -#Get the Eigen linear algebra library.Eigen's CMake config includes its headers as user -#headers instead of system headers by default, so explicitly force them to be system includes -#here to avoid the compiler spamming warnings at us for stuff in the Eigen headers. +# Get the Eigen linear algebra library. Eigen's CMake config includes its headers as user +# headers instead of system headers by default, so explicitly force them to be system includes +# here to avoid the compiler spamming warnings at us for stuff in the Eigen headers. find_package(Eigen3 REQUIRED NO_MODULE) include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR}) include_directories("/usr/local/include") -#Find the WebSocket++ library and Boost(provides the ASIO backend for Websocket++ and also -#provides the program_options argument parser).Only the `system` component of Boost is -#currently required. +# Find the WebSocket++ library and Boost (provides the ASIO backend for Websocket++ and also +# provides the program_options argument parser). Only the `system` component of Boost is +# currently required. find_package(websocketpp REQUIRED) find_package(Boost REQUIRED COMPONENTS system) -#Find Frozen, library used for constexpr immutable containers +# Find Frozen, library used for constexpr immutable containers find_package(frozen REQUIRED) -#Frozen is just an interface library, only containing headers and some CMake settings.It -#should be fine to "link" the library to every target, since if the headers are not included, -#it will not have any effect on size or performance.This will help us not have to worry about -#making sure the headers are available in every file that includes Constants.h, for example. +# Frozen is just an interface library, only containing headers and some CMake settings. It +# should be fine to "link" the library to every target, since if the headers are not included, +# it will not have any effect on size or performance. This will help us not have to worry about +# making sure the headers are available in every file that includes Constants.h, for example. link_libraries(frozen::frozen) -#Find argparse, library used for parsing command line arguments +# Find argparse, library used for parsing command line arguments find_package(argparse REQUIRED) -#Find the JSON library + +# Find the JSON library find_package(nlohmann_json 3.2.0 REQUIRED) -#Find the CAN library; contains packet and protocol definitions and does not -#actually require physical CAN to be present. +# Find the CAN library; contains packet and protocol definitions and does not +# actually require physical CAN to be present. FetchContent_Declare( HindsightCAN GIT_REPOSITORY https://github.com/huskyroboticsteam/HindsightCAN.git @@ -103,7 +103,7 @@ FetchContent_Declare(LoguruGitRepo GIT_REPOSITORY "https://github.com/emilk/loguru" GIT_TAG "master" ) -#set any loguru compile - time flags before calling MakeAvailable() +# set any loguru compile-time flags before calling MakeAvailable() set(LOGURU_WITH_STREAMS TRUE) set(CMAKE_POSITION_INDEPENDENT_CODE ON) FetchContent_MakeAvailable(LoguruGitRepo) # defines target 'loguru::loguru' @@ -116,13 +116,13 @@ if(WITH_TESTS) find_package(Catch2 REQUIRED) endif() -#Libraries needed to interface with real - life sensors.If we aren't using the real world -#interface, these aren't needed. +# Libraries needed to interface with real-life sensors. If we aren't using the real world +# interface, these aren't needed. if(WORLD_INTERFACE STREQUAL "REAL") if(GPS STREQUAL "USB") -#Find pkg - config(needed for libgps, as it doesn't have CMake configuration) + # Find pkg-config (needed for libgps, as it doesn't have CMake configuration) find_package(PkgConfig REQUIRED) -#Find the libgps USB GPS library. + # Find the libgps USB GPS library. pkg_check_modules(libgps REQUIRED libgps) endif() endif() @@ -136,7 +136,7 @@ add_library(camera SHARED ) target_link_libraries(camera PUBLIC ${OpenCV_LIBS}) -#shared library for utility code +# shared library for utility code add_library(utils SHARED utils/core.cpp utils/random.cpp @@ -155,22 +155,22 @@ add_library(utils SHARED target_link_libraries(utils ${OpenCV_LIBS}) ## ====== CAN Interfaces ======= -#Stub CAN interface is used for the tests(and for the Rover if -#CAN is disabled) and the real CAN interface is used for the Rover if CAN is -#enabled. +# Stub CAN interface is used for the tests (and for the Rover if +# CAN is disabled) and the real CAN interface is used for the Rover if CAN is +# enabled. -#Common CAN source files +# Common CAN source files -#** DON'T MAKE THIS SHARED** -#Making this library shared causes some memory fuckery -#No clue why but CAN I / O goes to shit.Don't do it. +# **DON'T MAKE THIS SHARED** +# Making this library shared causes some memory fuckery +# No clue why but CAN I/O goes to shit. Don't do it. add_library(can_interface STATIC) target_sources(can_interface PRIVATE CAN/CANMotor.cpp CAN/CANUtils.cpp ) -#Hardware specific source files +# Hardware specific source files target_sources(can_interface PRIVATE CAN/CAN.cpp) target_link_libraries(can_interface PUBLIC @@ -195,20 +195,20 @@ else() endif() ## ====== World Interfaces ======= -#hardware - agnostic utilities and common code for world interface +# hardware-agnostic utilities and common code for world interface add_library(world_interface_core STATIC world_interface/gps_common_interface.cpp -#ar / Detector.cpp -#ar / MarkerSet.cpp -#ar / MarkerPattern.cpp -#ar / Tag.cpp -#ar / read_landmarks.cpp + #ar/Detector.cpp + #ar/MarkerSet.cpp + #ar/MarkerPattern.cpp + #ar/Tag.cpp + #ar/read_landmarks.cpp world_interface/motor/base_motor.cpp ) target_include_directories(world_interface_core SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS}) target_link_libraries(world_interface_core PUBLIC ${vision_libs} opencv_aruco ${OpenCV_LIBS} utils camera) -#CAN library(above) requires some utilities from this +# CAN library (above) requires some utilities from this target_link_libraries(can_interface PUBLIC utils) add_library(stub_world_interface STATIC @@ -268,9 +268,9 @@ add_library(constants SHARED Constants.cpp) link_libraries(constants) add_executable(Rover Rover.cpp) -#** DON'T MAKE THIS SHARED** -#Making this library shared causes some memory fuckery -#No clue why but CAN I / O goes to shit.Don't do it. +# **DON'T MAKE THIS SHARED** +# Making this library shared causes some memory fuckery +# No clue why but CAN I/O goes to shit. Don't do it. add_library(rover_common STATIC Globals.cpp control_interface.cpp @@ -307,38 +307,38 @@ target_link_libraries(TunePID ${vision_libs}) if(WITH_TESTS) add_executable(tests Tests.cpp -#AR Detection tests -#ar / DetectorTests.cpp -#ar / MarkerSetTests.cpp -#Camera tests -#../ tests / camera / CameraParamsTests.cpp -#GPS tests + # AR Detection tests + # ar/DetectorTests.cpp + # ar/MarkerSetTests.cpp + # Camera tests + # ../tests/camera/CameraParamsTests.cpp + # GPS tests ../tests/gps/GPSDatumTest.cpp ../tests/gps/GPSConverterTest.cpp -#Controller tests + # Controller tests ../tests/control/TrapezoidalVelocityProfileTest.cpp ../tests/control/JacobianControllerTest.cpp ../tests/control/PIDControllerTest.cpp ../tests/control/PlanarArmControllerTest.cpp -#Kinematics tests + # Kinematics tests ../tests/kinematics/DiffDriveKinematicsTest.cpp ../tests/kinematics/SwerveDriveKinematicsTest.cpp ../tests/kinematics/PlanarArmFKTest.cpp ../tests/kinematics/FabrikSolver2DTest.cpp -#Filter tests + # Filter tests ../tests/filters/RollingAvgFilterTest.cpp ../tests/filters/EKFTest.cpp ../tests/filters/MultiSensorEKFTest.cpp ../tests/filters/StateSpaceUtilsTest.cpp -#Command tests + # Command tests ../tests/commands/DriveToWaypointCommandTest.cpp -#Util tests + # Util tests ../tests/util/CoreTest.cpp ../tests/util/DataTest.cpp ../tests/util/MathTest.cpp ../tests/util/TimeTest.cpp ../tests/util/SchedulerTest.cpp -#Protocol / teleop tests + # Protocol/teleop tests ../tests/kinematics/DiffWristKinematicsTest.cpp) target_link_libraries(tests