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CMakeLists.txt
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####################################################################################################################
## Autonomy Software ##
## 24.05.00 - Build 001 ##
## Mars Rover Design Team ##
## Copyright 2024 - All Rights Reserved ##
####################################################################################################################
## Set CMake Minimum Version
cmake_minimum_required(VERSION 3.24.3)
## Enforce Using GCC 10 / G++ 10
execute_process(
COMMAND gcc -dumpversion
OUTPUT_VARIABLE GCC_VERSION
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(NOT GCC_VERSION VERSION_EQUAL "10.0")
message(FATAL_ERROR "Only GCC 10.0 is allowed! Detected GCC version ${GCC_VERSION}.")
endif()
## C++ and CUDA Version
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CUDA_STANDARD 20)
set(CMAKE_CUDA_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20")
## Project Name and Version
project(Autonomy_Software VERSION 24.05.00 LANGUAGES CXX CUDA)
## CMake Policies
cmake_policy(SET CMP0146 OLD) # Allows use of "FindCUDA" function
cmake_policy(SET CMP0153 OLD) # Allows use of "Exec_Program" function
####################################################################################################################
## Options ##
####################################################################################################################
## Enable or Disable Simulation Mode
option(BUILD_SIM_MODE "Enable Simulation Mode" OFF)
## Enable or Disable Code Coverage Mode
option(BUILD_CODE_COVERAGE "Enable Code Coverage Mode" OFF)
## Enable or Disable Coverage Watch Mode
option(BUILD_COVERAGE_WATCH "Enable Code Coverage Watch Mode" ON)
## Enable or Disable Verbose Makefile
option(BUILD_VERBOSE_MODE "Enable Verbose Makefile" OFF)
## Enable or Disable Tests Mode
option(BUILD_TESTS_MODE "Enable Tests Mode" OFF)
## Enable or Disable Examples Mode
option(BUILD_EXAMPLES_MODE "Enable Examples Mode" OFF)
## Enable or Disable ZED SDK Shared Linking Mode
option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON)
## Enable or Disable RoveComm Cross-Compile Mode
option(RC_CROSS_COMPILE "Cross-Compile RoveComm for Windows and Linux" OFF)
## Enable or Disable Printing All CMake Variables
option(LIST_ALL_VARS "Print all CMake Variables" OFF)
####################################################################################################################
## Configuration Based on Options ##
####################################################################################################################
message("-- Autonomy System Options:")
## Simulation Mode
if (BUILD_SIM_MODE)
message("-- [x]: Sim Mode: Enabled")
add_compile_definitions(__AUTONOMY_SIM_MODE__=1)
set(EXE_NAME "${PROJECT_NAME}_Sim")
else()
message("-- [ ]: Sim Mode: Disabled")
add_compile_definitions(__AUTONOMY_SIM_MODE__=0)
set(EXE_NAME "${PROJECT_NAME}")
endif()
## Code Coverage Mode
if (BUILD_CODE_COVERAGE)
message("-- [x]: Code Coverage: Enabled")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g -fprofile-arcs -ftest-coverage --coverage")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O0 -g -fprofile-arcs -ftest-coverage --coverage")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
else()
message("-- [ ]: Code Coverage: Disabled")
endif()
## Verbose Makefile
if (BUILD_VERBOSE_MODE)
message("-- [x]: Verbose Makefile: Enabled")
set(CMAKE_VERBOSE_MAKEFILE TRUE CACHE BOOL "Verbose output" FORCE)
else()
message("-- [ ]: Verbose Makefile: Disabled")
endif()
## Build Unit and Integration Tests
if (BUILD_TESTS_MODE)
message("-- [x]: Build Unit and Integration Tests: Enabled")
include(CTest)
enable_testing()
else()
message("-- [ ]: Build Unit and Integration Tests: Disabled")
endif()
## Build Examples
if (BUILD_EXAMPLES_MODE)
message("-- [x]: Build Examples: Enabled")
else()
message("-- [ ]: Build Examples: Disabled")
endif()
## ZED SDK Shared Linking
if (LINK_SHARED_ZED)
message("-- [x]: ZED SDK Shared Linking: Enabled")
set(ZED_LIBS ${ZED_LIBRARIES} CUDA::toolkit)
else()
message("-- [ ]: ZED SDK Shared Linking: Disabled")
if (MSVC)
message(FATAL_ERROR "ZED SDK static libraries not available on Windows")
endif()
endif()
## RoveComm Cross-Compile
if (RC_CROSS_COMPILE)
message("-- [x]: RoveComm Cross-Compile: Enabled")
else()
message("-- [ ]: RoveComm Cross-Compile: Disabled")
set(BUILD_WIN OFF CACHE BOOL "Disable Windows Cross-Compile Mode for Autonomy Software" FORCE)
endif()
## Print All CMake Variables
if (LIST_ALL_VARS)
message("-- [x]: Print All CMake Variables: Enabled")
else()
message("-- [ ]: Print All CMake Variables: Disabled")
endif()
####################################################################################################################
## Dependencies and Libraries ##
####################################################################################################################
# Configure BSThreadPool
add_compile_definitions(BS_THREAD_POOL_ENABLE_PAUSE=1)
add_compile_definitions(BS_THREAD_POOL_ENABLE_PRIORITY=1)
add_compile_definitions(BS_THREAD_POOL_ENABLE_WAIT_DEADLOCK_CHECK=1)
## Find RoveComm
include_directories(external/rovecomm/src)
add_subdirectory(external/rovecomm)
add_compile_definitions(__ROVECOMM_LIBRARY_MODE__=1)
## Determine if shared or static libraries will be used.
if (NOT LINK_SHARED_ZED AND MSVC)
message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows")
endif()
## Find Threads
find_package(Threads REQUIRED)
## Find OpenMP
find_package(OpenMP REQUIRED)
## Find Quill
find_package(quill REQUIRED)
## Find LibDataChannel
find_package(LibDataChannel REQUIRED)
## Fine nlohmann JSON.
find_package(nlohmann_json 3.2.0 REQUIRED)
## Find OpenSSL
find_package(OpenSSL REQUIRED)
## Find FFMPEG.
find_package(PkgConfig REQUIRED)
pkg_check_modules(FFMPEG REQUIRED IMPORTED_TARGET libavcodec libavformat libavutil libswscale libswresample libavdevice libavfilter libpostproc SvtAv1Enc)
include_directories(${FFMPEG_INCLUDE_DIRS})
## Find Google Test
find_package(GTest CONFIG REQUIRED)
include(GoogleTest)
add_library(GTest::GTest INTERFACE IMPORTED)
target_link_libraries(GTest::GTest INTERFACE gtest_main)
## Find Eigen3.
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
## Find OpenCV.
find_package(OpenCV REQUIRED)
## Find Geographic Lib.
find_package(GeographicLib REQUIRED)
## Find ZEDSDK. Add as system package to supress library warnings.
find_package(ZED 4 REQUIRED)
include_directories(SYSTEM ${ZED_INCLUDE_DIRS})
## Find CUDA. Must match ZEDSDK version. Add as system package to supress library warnings.
find_package(CUDAToolkit ${ZED_CUDA_VERSION} REQUIRED)
include_directories(SYSTEM ${CUDAToolkit_INCLUDE_DIRS})
## Find PyTorch.
set(CAFFE2_USE_CUDNN "1")
set(TORCH_CUDA_ARCH_LIST "8.0 8.6 8.9 9.0")
find_package(Torch REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
## Find flatbuffers. This is a dependency of tensorflow.
find_package(Flatbuffers REQUIRED)
## Find Abseil. This is a dependency of tensorflow.
find_package(absl REQUIRED)
set(ABSL_LIBRARY_DIRS absl::algorithm
absl::base
absl::debugging
absl::flat_hash_map
absl::flags
absl::memory
absl::meta
absl::numeric
absl::random_random
absl::strings
absl::synchronization
absl::time
absl::utility
)
## Find TensorflowLite.
find_package(TENSORFLOWLITE REQUIRED PATHS "external/tensorflow/")
include_directories(SYSTEM ${TENSORFLOWLITE_INCLUDE_DIRS})
## Find Libedgetpu. This is used for interfacing with all Coral devices.
find_package(LIBEDGETPU REQUIRED PATHS "external/tensorflow/")
include_directories(SYSTEM ${LIBEDGETPU_INCLUDE_DIRS})
## Define libraries for ZED. Optionally static or dynamic.
if (LINK_SHARED_ZED)
set(ZED_LIBS ${ZED_LIBRARIES} CUDA::toolkit)
else()
set(ZED_LIBS ${ZED_LIBRARIES_STATIC_RELEASE} CUDA::toolkit)
endif()
## Add special flag if compiling on aarch64.
if (CMAKE_SYSTEM_PROCESSOR MATCHES aarch64)
add_definitions(-DJETSON_STYLE)
endif()
## Check if all variables should be listed.
if (LIST_ALL_VARS)
get_cmake_property(_variableNames VARIABLES)
list (SORT _variableNames)
foreach (_variableName ${_variableNames})
message(STATUS "${_variableName}=${${_variableName}}")
endforeach()
endif()
####################################################################################################################
## Build Executable ##
####################################################################################################################
## Search Project Directories for CPP Files
file(GLOB_RECURSE SRC CONFIGURE_DEPENDS "src/*.cpp")
file(GLOB_RECURSE Examples_SRC CONFIGURE_DEPENDS "examples/*/*.cpp")
file(GLOB_RECURSE External_SRC CONFIGURE_DEPENDS "external/src/*.cpp")
file(GLOB_RECURSE Tools_SRC CONFIGURE_DEPENDS "tools/*.cpp")
if (BUILD_EXAMPLES_MODE)
add_executable(${EXE_NAME} ${External_SRC} ${SRC} ${Examples_SRC} ${Tools_SRC})
else()
add_executable(${EXE_NAME} ${External_SRC} ${SRC} ${Tools_SRC})
endif()
## Compile Options
if (MSVC)
target_compile_options(${EXE_NAME} PRIVATE /W4 /WX)
else()
target_compile_options(${EXE_NAME} PRIVATE -Wall -Wextra -Wpedantic)
endif()
## Link Libraries
set(AUTONOMY_LIBRARIES Threads::Threads
OpenMP::OpenMP_CXX
Eigen3::Eigen
RoveComm_CPP
quill::quill
${OPENSSL_LIBRARIES}
PkgConfig::FFMPEG
LibDataChannel::LibDataChannel
nlohmann_json::nlohmann_json
${OpenCV_LIBS}
${GeographicLib_LIBRARIES}
${ZED_LIBS}
${TORCH_LIBRARIES}
flatbuffers::flatbuffers
${ABSL_LIBRARY_DIRS}
${TENSORFLOWLITE_LIBS}
${LIBEDGETPU_LIBS}
gcov
)
target_link_libraries(${EXE_NAME} PRIVATE ${AUTONOMY_LIBRARIES})
####################################################################################################################
## Installation and Tests ##
####################################################################################################################
## Tests Mode
if (BUILD_TESTS_MODE)
## Find Unit and Integration Tests
file(GLOB_RECURSE UTests_SRC CONFIGURE_DEPENDS "tests/Unit/src/*.cc")
file(GLOB_RECURSE ITests_SRC CONFIGURE_DEPENDS "tests/Integration/src/*.cc")
file(GLOB Runner_SRC CONFIGURE_DEPENDS "tests/main.cc")
## Find Source Files Required for Tests
file(GLOB_RECURSE Algorithms_SRC CONFIGURE_DEPENDS "src/algorithms/*.cpp")
file(GLOB_RECURSE Drivers_SRC CONFIGURE_DEPENDS "src/drivers/*.cpp")
file(GLOB_RECURSE Vision_SRC CONFIGURE_DEPENDS "src/vision/*.cpp")
file(GLOB Network_SRC CONFIGURE_DEPENDS "src/AutonomyNetworking.cpp")
file(GLOB Logging_SRC CONFIGURE_DEPENDS "src/AutonomyLogging.cpp")
file(GLOB Globals_SRC CONFIGURE_DEPENDS "src/AutonomyGlobals.cpp")
list(LENGTH UTests_SRC UnitTests_LEN)
list(LENGTH ITests_SRC IntegrationTests_LEN)
string(TIMESTAMP CURRENT_TIMESTAMP "%Y%m%d-%H%M%S")
message("-- Current Timestamp: ${CURRENT_TIMESTAMP}")
if (UnitTests_LEN GREATER 0)
add_executable(${EXE_NAME}_UnitTests ${Runner_SRC} ${UTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})
foreach(test_file ${UTests_SRC})
get_filename_component(test_name ${test_file} NAME_WE)
add_test(NAME UTest_${test_name} COMMAND ${EXE_NAME}_UnitTests --gtest_filter=${test_name}Test*.* --timestamp=${CURRENT_TIMESTAMP})
set_tests_properties(UTest_${test_name} PROPERTIES LABELS "UTest")
endforeach()
else()
message("No Unit Tests!")
endif()
if (IntegrationTests_LEN GREATER 0)
add_executable(${EXE_NAME}_IntegrationTests ${Runner_SRC} ${ITests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})
foreach(test_file ${ITests_SRC})
get_filename_component(test_name ${test_file} NAME_WE)
add_test(NAME ITest_${test_name} COMMAND ${EXE_NAME}_IntegrationTests --gtest_filter=${test_name}Test*.* --timestamp=${CURRENT_TIMESTAMP})
set_tests_properties(ITest_${test_name} PROPERTIES LABELS "iTest")
endforeach()
else()
message("No Integration Tests!")
endif()
if (BUILD_CODE_COVERAGE AND BUILD_COVERAGE_WATCH)
add_custom_target(run_coverage ALL
COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure
COMMAND gcovr --root ${CMAKE_SOURCE_DIR} --xml-pretty --output Coverage.xml
COMMAND lcov -c -d . -o coverage.info
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "Running tests and generating coverage reports..."
VERBATIM
)
# Ensure dependencies for the run_coverage target. Tests must be built first.
if (UnitTests_LEN GREATER 0 AND IntegrationTests_LEN GREATER 0)
add_dependencies(run_coverage ${EXE_NAME}_UnitTests ${EXE_NAME}_IntegrationTests)
elseif (UnitTests_LEN GREATER 0)
add_dependencies(run_coverage ${EXE_NAME}_UnitTests)
elseif (IntegrationTests_LEN GREATER 0)
add_dependencies(run_coverage ${EXE_NAME}_IntegrationTests)
else()
message("No Tests to Run! run_coverage target will not be created.")
set_target_properties(run_coverage PROPERTIES EXCLUDE_FROM_ALL TRUE)
endif()
endif()
endif()
####################################################################################################################
## Final Build Configuration ##
####################################################################################################################
message("-- Final Autonomy Software Configuration Summary")
message("-- Executable Name: ${EXE_NAME}")
message("-- Simulation Mode: ${BUILD_SIM_MODE}")
message("-- Tests Mode: ${BUILD_TESTS_MODE}")
message("-- Examples Mode: ${BUILD_EXAMPLES_MODE}")
message("-- Code Coverage Mode: ${BUILD_CODE_COVERAGE}")
message("-- Verbose Makefile: ${BUILD_VERBOSE_MODE}")
message("-- ZED SDK Shared Linking Mode: ${LINK_SHARED_ZED}")